Method of selecting a preceding vehicle, a preceding vehicle selecting apparatus, and a recording medium for selecting a preceding vehicle
First Claim
1. A method of selecting one of recognized objects as a preceding vehicle of a subject vehicle, comprising the steps of:
- recognizing said objects in front of said subject vehicle;
obtaining relative positions and relative velocities of said recognized objects;
classifying said objects into stationary objects and moving objects on the basis of relative velocities of said objects to said subject vehicle;
calculating a curvature of the lane on which said subject vehicle is traveling, on the basis of a turning condition and the velocity of said subject vehicle;
calculating a probability that each of said moving objects travels on the same lane as said subject vehicle on the basis of said curvature and said relative position of each of said moving objects;
recognizing a shape of the road, including the lane, in front of said subject vehicle, on the basis of distances to said stationary objects and angles of said stationary objects in the width direction of said subject vehicle and detecting a degree of recognizing said shape on the basis of said relative positions of said stationary objects and each of said moving objects;
detecting a possibility that each of said moving objects exists on the same lane as said subject vehicle on the basis of the recognized shape of the road and said degree;
calculating a compensation value for compensating said probability on the basis of the detected possibility;
compensating said probability with said compensation value; and
selecting one of said moving objects as the preceding vehicle on the basses of the compensated probability.
1 Assignment
0 Petitions
Accused Products
Abstract
The radius of the curvature of the lane on which a subject vehicle is traveling, is calculated in accordance with the turning condition of the subject vehicle and the velocity of the subject vehicle is obtained on the basis of the steering angle, and the yaw rate. An instantaneous probability of the same lane that the recognized object target exists on the same lane is calculated. In this operation, the instantaneous probability is compensated. That is, the road shape is recognized with delineator or the like. The instantaneous probability of the same lane is compensated on the basis of the recognized road shape. The probability of the same lane is calculated after a predetermined filtering process with the compensated instantaneous probability of the same lane. The preceding vehicle is selected on the basis of the probability of the same lane.
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Citations
17 Claims
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1. A method of selecting one of recognized objects as a preceding vehicle of a subject vehicle, comprising the steps of:
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recognizing said objects in front of said subject vehicle;
obtaining relative positions and relative velocities of said recognized objects;
classifying said objects into stationary objects and moving objects on the basis of relative velocities of said objects to said subject vehicle;
calculating a curvature of the lane on which said subject vehicle is traveling, on the basis of a turning condition and the velocity of said subject vehicle;
calculating a probability that each of said moving objects travels on the same lane as said subject vehicle on the basis of said curvature and said relative position of each of said moving objects;
recognizing a shape of the road, including the lane, in front of said subject vehicle, on the basis of distances to said stationary objects and angles of said stationary objects in the width direction of said subject vehicle and detecting a degree of recognizing said shape on the basis of said relative positions of said stationary objects and each of said moving objects;
detecting a possibility that each of said moving objects exists on the same lane as said subject vehicle on the basis of the recognized shape of the road and said degree;
calculating a compensation value for compensating said probability on the basis of the detected possibility;
compensating said probability with said compensation value; and
selecting one of said moving objects as the preceding vehicle on the basses of the compensated probability.
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2. A preceding vehicle selecting apparatus for a vehicle comprising:
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turning detection means for detecting a turning condition of a subject vehicle;
curvature calculation means for calculating a curvature of the lane on which said subject vehicle is traveling, on the basis of the detected turning condition and a velocity of said vehicle;
radar means for emitting a transmission signal within a predetermined angle range, in front of said vehicle, extending in a width direction of said vehicle and detecting distances to objects reflecting said transmission signal and angles of said object in said width direction of on the basis of the reflected transmission signal;
object recognizing means for obtaining relative positions and relative velocities of said objects to said vehicle on the basis of the distances and the angles in said width direction from said radar means and classifying said objects into stationary objects and moving objects on the basis of said relative velocities;
the-same-lane probability calculation means for calculating a probability that each of said moving objects exists on the same lane as said subject vehicle, on the basis of the curvature from said curvature calculation means and the relative position of each of said moving objects from said object recognition means;
road shape recognition means for extracting a part of said stationary objects which are effective for recognizing a shape of said road on the basis of said relative positions of said stationary objects, recognizing a shape of said road in front of said subject vehicle on the basis of said relative positions of said extracted stationary objects, and detecting a degree that said shape has been recognized in accordance with said relative positions of said stationary objects and each of said moving objects;
the-same-lane judging means for judging the possibility that each of said moving objects exists on the same lane as said vehicle on the basis of said recognized road shape and said degree;
compensation value calculation means for calculating a compensation value for compensating said probability of each of said moving objects on the basis of the judging result by said the-same-lane judging means;
compensation means for compensating said probability from said the-same-lane probability calculation means with said compensation value for each of said moving objects; and
preceding vehicle selection means for selecting the preceding vehicle of said vehicle from said moving objects on the basis of probabilities from said compensation means. - View Dependent Claims (3, 4, 5, 6, 7, 12, 13, 14)
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- 8. A preceding vehicle selection apparatus as claimed in 2, wherein said road shape reorganization means recognizes edges of said road, and said the-same-lane judging means judges the possibility that each of said moving objects exists on the same lane as said vehicle on the basis of each of said recognized edges and said degree, and judges a priority of said possibility on the basis of said degree every said recognized edge, and said compensation value calculation means calculates a compensation value for compensating said probability of each of said moving objects on the basis of the judging result of said the-same-lane judging means of which said priority judged for one of said recognized edges is higher than that for the other of said recognized edges.
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15. A recoding medium readable by a computer for recording programs for a preceding vehicle selection apparatus for a vehicle comprising:
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turning detection means for detecting a turning condition of a subject vehicle;
curvature calculation means for calculating a curvature of the lane on which said subject vehicle is traveling, on the basis of the detected turning condition and a velocity of said vehicle;
radar means for emitting a transmission signal within a predetermined angle range, in front of said vehicle, extending in a width direction of said vehicle and detecting distances to objects reflecting said transmission signal and angles of said object in said width direction of on the basis of the reflected transmission signal;
object recognizing means for obtaining relative positions and relative velocities of said objects to said vehicle on the basis of the distances and the angles in said width direction from said radar means and classifying said objects into stationary objects and moving objects on the basis of said relative velocities;
the-same-lane probability calculation means for calculating a probability of existence of each of said moving objects on the same lane as said subject vehicle on the basis of the curvature from said curvature calculation means and the relative positions of each of said moving objects from said object recognition means;
road shape recognition means for extracting a part of said stationary objects which are effective for recognizing a shape of said road on the basis of said relative positions of said stationary objects, recognizing a shape of said road on the basis of said relative positions of said extracted stationary objects, and detecting a degree that said shape has been recognized, in accordance with said relative positions of said stationary objects and each of said moving objects;
the-same-lane judging means for judging the possibility that each of said moving objects exists on the same lane as said vehicle on the basis of said recognized road shape and said degree;
compensation value calculation means for calculating a compensation value for compensating said the-same-lane probability of each of said moving objects on the basis of the judging result by said the-same-lane judging means;
compensation means for compensating said the-same-lane probability from said the-same-lane probability calculation means with said compensation value for each of said moving objects from said compensation value calculation means; and
preceding vehicle selection means for selecting the preceding vehicle of said vehicle from said moving objects on the basis of the-same-lane probabilities from said compensation means.
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16. A preceding vehicle selecting apparatus for a vehicle comprising:
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a yaw rate sensor for detecting a turning condition of a vehicle;
a curvature calculation device for calculating a curvature of a lane on which said vehicle is traveling based upon said detected turning condition and a velocity of said vehicle;
a radar detection device for emitting a transmission signal within a predetermined angle in front of said vehicle and extending in a width direction of said vehicle, for detecting distances to objects reflecting said transmission signal and for detecting angles of said objects in said width direction based upon said reflected transmission signal;
an object recognition device for classifying said objects into stationary objects and moving objects based upon their respective velocities;
a probability calculation device for calculating a probability that a predetermined number of said moving objects exists in a same lane as said vehicle based upon said curvature calculated by said curvature calculation device;
a road shape recognizing device for extracting stationary objects which are effective for recognizing a shape of said road based upon relative positions of said extracted stationary objects, for recognizing a shape of said road in front of said vehicle based upon said relative positions of said extracted stationary objects and for detecting a degree that said shape has been recognized in accordance with said relative positions of said extracted stationary objects and each of said moving objects;
a lane judging device for judging whether said predetermined number of said moving objects exists in said same lane as said vehicle based upon said recognized road shape and said degree;
a preceding vehicle selection device for selecting a preceding vehicle from said moving objects based upon said calculated probability. - View Dependent Claims (17)
a compensation calculation device for calculating a compensation value for each of said predetermined number of said moving objects judged to exist in said same lane as said vehicle; and
a compensation device for compensating said probability with said compensation value for each of said predetermined number of said moving objects, wherein said preceding vehicle selection device is further for selecting said preceding vehicle from said moving objects based upon said compensation values and said calculated probability.
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Specification