Vehicle external recognition system and related method
First Claim
1. A vehicle external recognition system comprising:
- a relative position detecting section detecting an object ahead of a vehicle as a detected object to detect a relative position relationship between the detected object and the vehicle;
a relative velocity calculating section calculating a relative velocity between the detected object and the vehicle based on the relative position relationship detected by the relative position detecting section by using an initial value that is preset, wherein the relative velocity calculating section calculates a plurality of relative velocity candidates based on a plurality of different initial values that are preset;
a vehicle velocity detecting section detecting a velocity of the vehicle;
a motion attribute discriminating section discriminating a motion attribute, indicative of a motion state of the detected object, based on the relative velocity calculated by the relative velocity calculating section and the velocity detected by the vehicle velocity detecting section; and
a relative velocity determining section selecting a relative velocity candidate, associated with the motion attribute discriminated by the motion attribute discriminating section, from among the plurality of relative velocity candidates calculated by the relative velocity calculating section, and determining the relative velocity candidate as a relative velocity between the detected object and the vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
A vehicle external recognition system is provided with: a relative position detecting section detecting an object ahead of a vehicle as a detected object to detect a relative position relationship between the detected object and the vehicle, a relative velocity calculating section calculating a relative velocity between the detected object and the vehicle based on the relative position relationship detected by the relative position detecting section by using an initial value that is preset, a vehicle velocity detecting section detecting a velocity of the vehicle, and a motion attribute discriminating section discriminating a motion attribute, indicative of a motion state of the detected object, based on the relative velocity calculated by the relative velocity calculating section and the velocity detected by the vehicle velocity detecting section.
4 Citations
11 Claims
-
1. A vehicle external recognition system comprising:
-
a relative position detecting section detecting an object ahead of a vehicle as a detected object to detect a relative position relationship between the detected object and the vehicle; a relative velocity calculating section calculating a relative velocity between the detected object and the vehicle based on the relative position relationship detected by the relative position detecting section by using an initial value that is preset, wherein the relative velocity calculating section calculates a plurality of relative velocity candidates based on a plurality of different initial values that are preset; a vehicle velocity detecting section detecting a velocity of the vehicle; a motion attribute discriminating section discriminating a motion attribute, indicative of a motion state of the detected object, based on the relative velocity calculated by the relative velocity calculating section and the velocity detected by the vehicle velocity detecting section; and a relative velocity determining section selecting a relative velocity candidate, associated with the motion attribute discriminated by the motion attribute discriminating section, from among the plurality of relative velocity candidates calculated by the relative velocity calculating section, and determining the relative velocity candidate as a relative velocity between the detected object and the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A vehicle external recognition system comprising:
-
a relative position detecting section detecting an object ahead of a vehicle and a relative distance from the vehicle to the detected object; a relative velocity calculating section setting a preset initial value as a relative velocity between the vehicle and the detected object immediately after first detecting the detected object and calculating the relative velocity based on the preset initial value and the detected relative position thereafter; a vehicle velocity detecting section detecting a velocity of the vehicle; and a motion attribute discriminating section discriminating a motion state of the detected object based on the relative velocity and the velocity of the vehicle; wherein the preset initial value is equal to zero.
-
-
10. A method for vehicle external recognition comprising:
-
detecting an object ahead of a vehicle and a relative distance from the vehicle to the detected object; setting a preset initial value as a relative velocity between the vehicle and the detected object immediately after first detecting the detected object; calculating the relative velocity based on the preset initial value and a detected relative position thereafter; detecting a velocity of the vehicle; and discriminating a motion state of the detected object based on the relative velocity and the velocity of the vehicle; wherein the preset initial value is equal to a value of a relative velocity between the vehicle and the detected object when the detected object is moving at the same velocity as the velocity of the vehicle.
-
-
11. A method for vehicle external recognition comprising:
-
detecting an object ahead of a vehicle and a relative distance from the vehicle to the detected object; setting a preset initial value as a relative velocity between the vehicle and the detected object immediately after first detecting the detected object; calculating the relative velocity based on the preset initial value and a detected relative position thereafter; detecting a velocity of the vehicle; and discriminating a motion state of the detected object based on the relative velocity and the velocity of the vehicle; wherein the preset initial value is equal to a value of a relative velocity between the vehicle and the detected object when the detected object is stationary.
-
Specification