Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus
First Claim
1. A vehicle surroundings monitoring apparatus, comprising:
- frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said second traveling path.
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Accused Products
Abstract
A vehicle surroundings monitoring apparatus inputs images taken by a stereoscopic camera, vehicle speeds, steering wheel rotation angles, yaw rates and ON-OFF signals of a turn signal switch. An own travailing path C is calculated from an own traveling path A obtained from lane markers and side walls and an own traveling path B obtained from yaw rates of the own vehicle. Further, a new own traveling path E is calculated from the own traveling path C and a trace of a preceding vehicle, in which case where there is no possibility of a lane change of the preceding vehicle and the turn signal switch is turned off and the absolute value of the steering wheel rotation angle is smaller than a specified value and a present own traveling path is calculated from the own travailing path E and a previous own traveling path. In other cases, the present own traveling path is calculating from the travailing path C and the previous own traveling path.
152 Citations
16 Claims
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1. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said second traveling path. - View Dependent Claims (2, 3, 4, 5)
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6. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path, said second traveling path and said third traveling path. - View Dependent Claims (7, 8, 9, 10)
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11. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle;
fourth own traveling path calculating means for calculating a fourth traveling path of said own vehicle based on said first own traveling path and said third own traveling path; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said fourth traveling path and said second traveling path when a preestablished condition is satisfied. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification