Surroundings monitoring apparatus for an automotive vehicle
First Claim
1. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:
- monitoring means for detecting objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and for outputting positional information of the traveling vehicle in a predetermined detection coordinate system;
vehicle identifying means for classifying the travelling vehicle and objects other than the travelling vehicle; and
road geography predicting means for predicting a road curvature value on the basis of a position of the travelling vehicle, in accordance with an output of said monitoring means and an output of said vehicle identifying means, and lane information of said travelling vehicle.
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Abstract
A surroundings monitoring apparatus for an automotive vehicle, which may readily predict a road geography such as a road radius only by lane information of a vehicle and a relative position, includes a radar head 1 for detecting objects that are present around the subject vehicle and for outputting the positional information of the objects in a predetermined detection coordinate system, a vehicle identifying device (step S3) for classifying the vehicles travelling along the road and objects other than the vehicles out of the objects and a road geography prediction device (step S4) for predicting the road geography based upon the position of the travelling vehicles and the lane information in accordance with an output of the radar head and an output of the vehicle identifying device (step S3).
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Citations
16 Claims
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1. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:
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monitoring means for detecting objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and for outputting positional information of the traveling vehicle in a predetermined detection coordinate system;
vehicle identifying means for classifying the travelling vehicle and objects other than the travelling vehicle; and
road geography predicting means for predicting a road curvature value on the basis of a position of the travelling vehicle, in accordance with an output of said monitoring means and an output of said vehicle identifying means, and lane information of said travelling vehicle. - View Dependent Claims (2, 3, 4, 5)
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6. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:
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monitoring means for detecting objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and for outputting positional information of the traveling vehicle in a predetermined detection coordinate system;
vehicle identifying means for classifying the travelling vehicle and objects other than the travelling vehicle; and
road geography predicting means for predicting a road geography value on the basis of a position of the travelling vehicle, in accordance with an output of said monitoring means and an output of said vehicle identifying means, and lane information of said travelling vehicle; and
wherein said monitoring means includes a subject vehicle movement detecting means for detecting a movement of the subject vehicle, said road geography predicting means predicts another road geography value, along which the subject vehicle travels, in accordance with the movement of the subject vehicle, and the prediction value of the road geography along which the subject vehicle travels is compared with the prediction value of the road geography based upon the lane information and the position of the travelling vehicle. - View Dependent Claims (7, 8, 9)
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10. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:
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a monitor which detects objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and which outputs positional information of the traveling vehicle in a predetermined detection coordinate system;
a vehicle identifier which classifies the travelling vehicle and objects other than the travelling vehicle; and
a road geography predictor which predicts a road geography value on the basis of a position of the travelling vehicle, in accordance with an output of said monitor and an output of said vehicle identifier, and lane information of said travelling vehicle; and
wherein said monitor includes a subject vehicle movement detector which detects a movement of the subject vehicle, said road geography predictor predicts another road geography value, along which the subject vehicle travels, in accordance with the movement of the subject vehicle, and the prediction value of the road geography along which the subject vehicle travels is compared with the prediction value of the road geography based upon the lane information and the position of the travelling vehicle. - View Dependent Claims (11, 12, 13)
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14. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:
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a monitor which detects objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and which outputs positional information of the traveling vehicle in a predetermined detection coordinate system;
a vehicle identifier which classifies the travelling vehicle and objects other than the travelling vehicle; and
a road geography predictor which predicts a radius of curvature, R, of the road on the basis of a position of the travelling vehicle, in accordance with an output of said monitor and an output of said vehicle identifier, and lane information of said travelling vehicle. - View Dependent Claims (15, 16)
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16. The surroundings monitoring apparatus according to claim 14, wherein said lane information is determined based on a previous radius of the road curvature predicted by said road geography predictor in a previous iteration.
Specification