A preceding-vehicle determination apparatus includes: a vehicle speed sensor that detects a speed of a host vehicle; a preceding-vehicle detection sensor that detects a position of a preceding vehicle ahead of the host vehicle; a steering angle sensor that detects a steering angle of the host vehicle; a low speed determination unit that determines whether or not the vehicle speed of the host vehicle detected by the vehicle speed sensor is equal to or lower than a determination threshold value; a curvature-radius estimation unit that estimates a curvature radius R of a road, on which the host vehicle is traveling, based on the steering angle, when the vehicle speed is equal to or lower than the determination threshold value; a coordinate conversion unit that converts, based on the curvature radius R, the position of the preceding vehicle in a first coordinate system in which a curve corresponding to the curvature radius R is used as a reference to a position in a second coordinate system in which a straight line along a straight traveling direction of the host vehicle is used as a reference; and a host-vehicle-lane probability calculation unit that calculates a probability that the preceding vehicle is present on a host-vehicle lane, based on the position of the preceding vehicle in the second coordinate system.
PRECEDING-VEHICLE DETERMINATION APPARATUS AND VEHICLE CONTROL SYSTEM
VORRICHTUNG ZUR BESTIMMUNG EINES VORAUSFAHRENDEN FAHRZEUGS UND FAHRZEUGSTEUERUNGSSYSTEM
APPAREIL DE DÉTERMINATION DE VÉHICULE PRÉCÉDENT ET SYSTÈME DE COMMANDE DE VÉHICULE
06.01.2021
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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