Vehicle travel control apparatus
First Claim
1. A vehicle travel control apparatus comprising:
- an object detector which detects an object that exists in an advancing direction of a present vehicle;
a yaw-rate detector which detects the yaw-rate of the present vehicle;
a vehicle speed detector which detects the speed of the present vehicle;
a movement path estimator which estimates the movement path of the present vehicle, based on the output of the yaw-rate detector and the output of the vehicle speed detector;
a preceding vehicle assignment device which assigns the object as a preceding vehicle;
a travel controller which performs a follow-travel control targeting the preceding vehicle;
a still object determination device which determines whether the object detected by the object detector is a still object; and
a stable-movement-state determination device which determines whether the present vehicle is, in a stable-movement-state, based on the output of the yaw-rate detector, wherein the preceding vehicle assignment device maintains the previous preceding vehicle assignment when;
the present vehicle performs the follow-travel control targeting the preceding vehicle;
the object detected at a position between the preceding vehicle and the present vehicle is determined to be the still object by the still object determination device;
the present vehicle is determined to be in the stable-movement-state by the stable-movement-state determination device; and
the stable-movement-state determination device determines that the present vehicle is in the stable-movement-state, when the absolute value of the integral value of the yaw-rate over a predetermined period is equal to or less than a predetermined value.
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Accused Products
Abstract
A vehicle travel control apparatus including an object detector, a yaw-rate detector, a vehicle speed detector, a movement path estimator, a preceding vehicle assignment device, a travel controller, a still object determination device, and a stable-movement-state determination device, wherein the preceding vehicle assignment device avoids assigning the object as the preceding vehicle, or assigns the object as the preceding vehicle after waiting for a predetermined time, when: the present vehicle performs the follow-travel control targeting the preceding vehicle; the object detected at a position between the preceding vehicle and the present vehicle is determined to be the still object by the still object determination device; and the present vehicle is determined to be in the stable-movement-state by the stable-movement-state determination device.
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Citations
8 Claims
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1. A vehicle travel control apparatus comprising:
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an object detector which detects an object that exists in an advancing direction of a present vehicle; a yaw-rate detector which detects the yaw-rate of the present vehicle; a vehicle speed detector which detects the speed of the present vehicle; a movement path estimator which estimates the movement path of the present vehicle, based on the output of the yaw-rate detector and the output of the vehicle speed detector; a preceding vehicle assignment device which assigns the object as a preceding vehicle; a travel controller which performs a follow-travel control targeting the preceding vehicle; a still object determination device which determines whether the object detected by the object detector is a still object; and a stable-movement-state determination device which determines whether the present vehicle is, in a stable-movement-state, based on the output of the yaw-rate detector, wherein the preceding vehicle assignment device maintains the previous preceding vehicle assignment when; the present vehicle performs the follow-travel control targeting the preceding vehicle; the object detected at a position between the preceding vehicle and the present vehicle is determined to be the still object by the still object determination device; the present vehicle is determined to be in the stable-movement-state by the stable-movement-state determination device; and the stable-movement-state determination device determines that the present vehicle is in the stable-movement-state, when the absolute value of the integral value of the yaw-rate over a predetermined period is equal to or less than a predetermined value. - View Dependent Claims (2, 3, 4)
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5. A vehicle travel control apparatus comprising;
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an object detector which detects an object that exists in an advancing direction of a present vehicle; a yaw-rate detector which detects the yaw-rate of the present vehicle; a vehicle speed detector which detects the speed of the present vehicle; a movement path estimator which estimates the movement path of the present vehicle, based on the output of the yaw-rate detector and the output of the vehicle speed detector; a preceding vehicle assignment device which assigns the object as a preceding vehicle; a travel controller which performs a follow-travel control targeting the preceding vehicle; a still object determination device which determines whether the object detected by the object detector is a still object; and a stable-movement-state determination device which determines whether the present vehicle is in a stable-movement-state, based on the output of the yaw-rate detector, wherein the preceding vehicle assignment device maintains the previous preceding vehicle assignment when; the present vehicle performs the follow-travel control targeting the preceding vehicle; the object detected at a position between the preceding vehicle and the present vehicle is determined to be the still object by the still object determination device; the present vehicle is determined to be in the stable-movement-state by the stable-movement-state determination device; and the stable-movement-state determination device determines that the present vehicle is in a stable-movement-state, when the absolute value of a lateral movement amount of the present vehicle in a predetermined period, calculated based on the yaw-rate and the speed of the present vehicle, is equal to or less than a predetermined value. - View Dependent Claims (6, 7, 8)
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Specification