Vehicular control object determination system and vehicular travel locus estimation system
First Claim
1. A vehicular control object determination system comprising:
- an object detector detecting an object that is present in the direction of travel of a vehicle;
a vehicle speed sensor detecting a vehicle speed;
a yaw rate sensor detecting a yaw rate;
a first travel locus estimator operatively coupled to the vehicle speed sensor and the yaw rate sensor, the first travel locus estimator estimating a future travel locus of the vehicle based on the vehicle speed detected by the vehicle speed sensor and the yaw rate detected by the yaw rate sensor;
a control object determiner determining a control object based on a detection result obtained by the object detector, a travel locus estimated by the first travel locus estimator, and predetermined control object determination conditions;
a travel locus calculator calculating a past travel locus of the vehicle;
a second travel locus estimator estimating a future travel locus of the vehicle based on the calculated past travel locus; and
a locus correlation degree calculator determining a degree of correlation between the travel locus estimated by the first travel locus estimator and the travel locus estimated by the second travel locus estimator;
the control object determiner modifying the control object determination conditions based on an output of the locus correlation degree calculator.
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Abstract
In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.
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Citations
10 Claims
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1. A vehicular control object determination system comprising:
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an object detector detecting an object that is present in the direction of travel of a vehicle; a vehicle speed sensor detecting a vehicle speed; a yaw rate sensor detecting a yaw rate; a first travel locus estimator operatively coupled to the vehicle speed sensor and the yaw rate sensor, the first travel locus estimator estimating a future travel locus of the vehicle based on the vehicle speed detected by the vehicle speed sensor and the yaw rate detected by the yaw rate sensor; a control object determiner determining a control object based on a detection result obtained by the object detector, a travel locus estimated by the first travel locus estimator, and predetermined control object determination conditions; a travel locus calculator calculating a past travel locus of the vehicle; a second travel locus estimator estimating a future travel locus of the vehicle based on the calculated past travel locus; and a locus correlation degree calculator determining a degree of correlation between the travel locus estimated by the first travel locus estimator and the travel locus estimated by the second travel locus estimator; the control object determiner modifying the control object determination conditions based on an output of the locus correlation degree calculator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification