Preceding-vehicle detecting apparatus, own-vehicle controlling apparatus, and preceding-vehicle detecting method
First Claim
1. A preceding-vehicle detecting apparatus comprising:
- a recognizer configured to recognize a measuring-target point group which is assumable to be a preceding vehicle; and
a decider configured to decide, the measuring-target point group having been continuously recognized by the recognizing part over a significant period of time, to be the preceding vehicle, wherein the recognizer comprises;
a transmitting part emitting scan waves in a forward direction of an own vehicle;
a receiving part receiving reflected waves of the scan waves;
a measuring-target-point setting part setting measuring-target points based on the reflected waves;
a distance calculating part calculating a distance from the own vehicle to each measuring-target point and the position of the measuring-target point, based on the reflected waves;
a distance-change calculating part calculating changes between the distances in a previous cycle and those in a current cycle, respectively;
a relative-velocity calculating part calculating a relative velocity of each measuring-target point with respect to the own vehicle, based on the applicable distance change;
a by-velocity group generating part grouping the measuring-target points by relative velocities, thereby generating by-velocity groups;
a measuring-target-point-group generating part single-connecting measuring-target points with each other in each by-velocity group based on positions of the measuring-target points, thereby generating measuring-target point groups, respectively; and
a measuring-target-point-group extracting part extracting those measuring-target point groups among the measuring-target point groups, which meet the conditions for preceding vehicle, respectively; and
wherein the decider comprises a temporal continuity judging part regarding that measuring-target point group as a preceding vehicle, which has been continuously extracted a first prescribed number of times or more times.
1 Assignment
0 Petitions
Accused Products
Abstract
To provide a preceding-vehicle detecting apparatus, own-vehicle controlling apparatus and preceding-vehicle detecting method capable of detecting a preceding vehicle in a more reliable manner, a preceding-vehicle detecting apparatus (1) comprises: a millimeter wave radar (11); a measuring-target-point-group generating part (131) setting measuring-target points based on reflected waves, and single-connecting those measuring-target points having the same relative velocities to thereby generate measuring-target point groups, respectively; a group-relative-velocity determining part (132) extracting those measuring-target point groups which meets conditions for preceding vehicle, respectively; and a temporal continuity judging part (133) regarding those measuring-target point groups as preceding vehicles, each of which has a number of detected times equal to or larger than a prescribed value (N1).
-
Citations
21 Claims
-
1. A preceding-vehicle detecting apparatus comprising:
-
a recognizer configured to recognize a measuring-target point group which is assumable to be a preceding vehicle; and a decider configured to decide, the measuring-target point group having been continuously recognized by the recognizing part over a significant period of time, to be the preceding vehicle, wherein the recognizer comprises; a transmitting part emitting scan waves in a forward direction of an own vehicle; a receiving part receiving reflected waves of the scan waves; a measuring-target-point setting part setting measuring-target points based on the reflected waves; a distance calculating part calculating a distance from the own vehicle to each measuring-target point and the position of the measuring-target point, based on the reflected waves; a distance-change calculating part calculating changes between the distances in a previous cycle and those in a current cycle, respectively; a relative-velocity calculating part calculating a relative velocity of each measuring-target point with respect to the own vehicle, based on the applicable distance change; a by-velocity group generating part grouping the measuring-target points by relative velocities, thereby generating by-velocity groups; a measuring-target-point-group generating part single-connecting measuring-target points with each other in each by-velocity group based on positions of the measuring-target points, thereby generating measuring-target point groups, respectively; and a measuring-target-point-group extracting part extracting those measuring-target point groups among the measuring-target point groups, which meet the conditions for preceding vehicle, respectively; and wherein the decider comprises a temporal continuity judging part regarding that measuring-target point group as a preceding vehicle, which has been continuously extracted a first prescribed number of times or more times. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. An own-vehicle controlling apparatus, comprising:
-
a recognizer configured to recognize a measuring-target point group which is assumable to be a preceding vehicle; a decider configured to decide, the measuring-target point group having been continuously recognized by the recognizing part over a significant period of time, to be the preceding vehicle; a lane detector configured to detect a lane on which an own vehicle is cruising; and an own-vehicle controller configured to conduct a cruising control of the own vehicle correspondingly to a running state of a preceding vehicle, when the preceding vehicle is present on the lane and an object is present between the preceding vehicle and the own vehicle, wherein the recognizer comprises; a transmitting part emitting scan waves in a forward direction of an own vehicle; a receiving part receiving reflected waves of the scan waves; a measuring-target-point setting part setting measuring-target points based on the reflected waves; a distance calculating part calculating a distance from the own vehicle to each measuring-target point and the position of the measuring-target point, based on the reflected waves; a distance-change calculating part calculating changes between the distances in a previous cycle and those in a current cycle, respectively; a relative-velocity calculating part calculating a relative velocity of each measuring-target point with respect to the own vehicle, based on the applicable distance change; a by-velocity group generating part grouping the measuring-target points by relative velocities, thereby generating by-velocity groups; a measuring-target-point-group generating part single-connecting measuring-target points with each other in each by-velocity group based on positions of the measuring-target points, thereby generating measuring-target point groups, respectively; and a measuring-target-point-group extracting part extracting those measuring-target point groups among the measuring-target point groups, which meet the conditions for preceding vehicle, respectively; and wherein the decider comprises a temporal continuity judging part regarding that measuring-target point group as a preceding vehicle, which has been continuously extracted a first prescribed number of times or more times. - View Dependent Claims (15, 16, 17)
-
-
18. A preceding-vehicle recognizing method, comprising:
-
recognizing a measuring-target point group which is assumable to be a preceding vehicle; and deciding, the measuring-target point group having been continuously recognized over a significant period of time, to be the preceding vehicle, wherein the recognizing comprises; emitting scan waves in a forward direction of an own vehicle; receiving reflected waves of the scan waves; setting measuring-target points based on the reflected waves; calculating a distance from the own vehicle to each measuring-target point and the position of the measuring-target point, based on the reflected waves; calculating changes between the distances in a previous cycle and those in a current cycle, respectively; calculating a relative velocity of each measuring-target point with respect to the own vehicle, based on the applicable distance change; grouping the measuring-target points by relative velocities, thereby generating by-velocity groups; single-connecting measuring-target points with each other in each by-velocity group based on positions of the measuring-target points, thereby generating measuring-target point groups, respectively; and extracting those measuring-target point groups among the measuring-target point groups, which meet the conditions for preceding vehicle, respectively; and wherein the deciding comprises regarding that measuring-target point group as a preceding vehicle, which has been continuously extracted a first prescribed number of times or more times. - View Dependent Claims (19)
-
-
20. A preceding-vehicle detecting apparatus comprising:
-
recognizing means for recognizing a measuring-target point group which is assumable to be a preceding vehicle; and deciding means for deciding, the measuring-target point group having been continuously recognized by the recognizing part over a significant period of time, to be the preceding vehicle, wherein the recognizing means comprises; transmitting means for emitting scan waves in a forward direction of an own vehicle; receiving means for receiving reflected waves of the scan waves; measuring-target-point setting means for setting measuring-target points based on the reflected waves; distance calculating means for calculating a distance from the own vehicle to each measuring-target point and the position of the measuring-target point, based on the reflected waves; distance-change calculating means for calculating changes between the distances in a previous cycle and those in a current cycle, respectively; relative-velocity calculating means for calculating a relative velocity of each measuring-target point with respect to the own vehicle, based on the applicable distance change; velocity-layered-group generating means for grouping the measuring-target points by relative velocities, thereby generating by-velocity groups; measuring-target-point-group generating means for single-connecting measuring-target points with each other in each by-velocity group based on positions of the measuring-target points, thereby generating measuring-target point groups, respectively; and measuring-target-point-group extracting means for extracting those measuring-target point groups among the measuring-target point groups, which meet the conditions for preceding vehicle, respectively; and wherein the deciding means comprises temporal continuity judging means for regarding that measuring-target point group as a preceding vehicle, which has been continuously extracted a first prescribed number of times or more times. - View Dependent Claims (21)
-
Specification