Preceding-vehicle detecting apparatus, own-vehicle controlling apparatus, and preceding-vehicle detecting method

• US 7,224,309 B2
• Filed: 12/07/2004
• Issued: 05/29/2007
• Est. Priority Date: 12/09/2003
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Shimomura, Noriko
• Primary Examiner(s): Sotomayor; John B.
• Application Number:
  US11/004,902
• Publication Number:
  US 20050122251A1
• Time in Patent Office: 903 Days
• Field of Search: 342 70- 72, 340/903, 340/435, 340/436, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders

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).

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.

2. The preceding-vehicle detecting apparatus as claimed in claim 1, wherein the conditions for preceding vehicle include:

a condition to have a relative velocity within a prescribed reference velocity range when the own vehicle velocity is larger than an own vehicle prescribed reference velocity; and

a condition to have a relative velocity in a direction away from the own vehicle when the own vehicle velocity is at the own vehicle reference velocity or lower.

3. The preceding-vehicle detecting apparatus as claimed in claim 2, wherein the reference velocity range has its maximum value obtained by multiplying the own vehicle velocity by a prescribed ratio.

4. The preceding-vehicle detecting apparatus as claimed in claim 1, wherein the temporal continuity judging part estimates that each of the measuring-target point groups has been continuously extracted, even when the measuring-target point group has not been continuously extracted that number of times which is equal to or less than a second prescribed number of times.

5. The preceding-vehicle detecting apparatus as claimed in claim 4, wherein the second prescribed number of times is smaller, as the number of measuring-target points constituting the measuring target-point group is larger.

6. The preceding-vehicle detecting apparatus as claimed in claim 1, further comprising:

a measuring-target-point extracting part extracting those specific points from the measuring-target points, which meet the conditions for preceding vehicle, respectively; and

wherein the measuring-target-point-group generating part generates the measuring-target point groups, from the specific points only.

7. The preceding-vehicle detecting apparatus as claimed in claim 6, further comprising a noise-occurrence-frequency detecting part dividing a phase space into divisional regions, and detecting a noise-occurrence frequency in each divisional region;

and

wherein the first prescribed number of times is set for each divisional region, and

wherein the first prescribed number of times set for that noise region among the divisional region which has the noise-occurrence frequency larger than a prescribed reference frequency, is set to be larger than the first prescribed number of times set for that ordinary region among the divisional regions which is other than the noise region.

8. The preceding-vehicle detecting apparatus as claimed in claim 6, further comprising a noise-occurrence-frequency detecting part dividing a phase space into divisional regions, and detecting a noise-occurrence frequency in each divisional region;

and

wherein the condition for a preceding vehicle is set for each divisional region, and

wherein the condition for a preceding vehicle set for that noise region among the divisional region which has the noise-occurrence frequency larger than a prescribed reference frequency, is stricter than the condition for a preceding vehicle set for that ordinary region among the divisional regions which is other than the noise region.

9. The preceding-vehicle detecting apparatus as claimed in claim 7, wherein in the noise regions, the specific points include measuring-target points meeting the conditions for running objects, in addition to those measuring-target points meeting the conditions for preceding vehicle;

and

wherein the measuring-target-point-group extracting part extracts those among the measuring-target point groups which meet the conditions for the running objects, in addition to extraction of the measuring-target point groups meeting the conditions for preceding vehicle.

10. The preceding-vehicle detecting apparatus as claimed in claim 7, further comprising an intensity detecting part detecting intensities of the measuring-target points, respectively, and

wherein the conditions for preceding vehicle to be set for the noise regions include a condition that the measuring-target point has an intensity equal to or larger than a prescribed reference intensity.

11. The preceding-vehicle detecting apparatus as claimed in claim 7, wherein the first prescribed number of times and the condition for a preceding vehicle both to be set for the ordinary region, are applied to that measuring-target point group which has been once regarded as a preceding vehicle, even when the measuring-target point group has entered the noise region.

12. The preceding-vehicle detecting apparatus as claimed in claim 1, wherein the scan waves have frequencies which are substantially the same as frequencies of millimeter wave radars.

13. The preceding-vehicle detecting apparatus as claimed in claim 1, wherein the first prescribed number of times is set as a larger value, for a smaller number of measuring-target points constituting an associated measuring-target point group in the current cycle.

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.

15. The own-vehicle controlling apparatus as claimed in claim 14, wherein the own-vehicle controller decelerates the own vehicle or conducts preparation for deceleration thereof, when the preceding vehicle is present on the lane, an object is present between the preceding vehicle and the own vehicle, and the relative velocity of the preceding vehicle becomes equal to or less than a prescribed reference velocity.

16. The own-vehicle controlling apparatus as claimed in claim 14, wherein the own-vehicle controller conducts preparation of starting for the own vehicle, when the preceding vehicle is present on the lane, an object is present between the preceding vehicle and the own vehicle, and the relative velocity of the preceding vehicle is in a direction away from the own vehicle during stoppage of the own vehicle.

17. The own-vehicle controlling apparatus as claimed in claim 14, wherein the first prescribed number of times is set as a larger value, for a smaller number of measuring-target points constituting an associated measuring-target point group in the current cycle.

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.

19. The preceding-vehicle detecting method as claimed in claim 18, wherein the first prescribed number of times is set as a larger value, for a smaller number of measuring-target points constituting an associated measuring-target point group in the current cycle.

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.

21. The preceding-vehicle detecting apparatus as claimed in claim 20, wherein the first prescribed number of times is set as a larger value, for a smaller number of measuring-target points constituting an associated measuring-target point group in the current cycle.