PROBLEM TO BE SOLVED: To suppress an influence of a yaw rate sensor measurement error, thus determining the possibility of a preceding vehicle existing in the lane travelled by a vehicle itself.SOLUTION: A preceding-vehicle determination apparatus 1, including a low-speed determination part 31, estimates a curve radius R of a travelling road of a vehicle itself 2 on the basis of a steering angle in a case where a vehicular speed of the vehicle itself is equal to or lower than a determination threshold. This enables estimation of the curve radius R without using a yaw rate. In a case where the vehicular speed of the vehicle itself is equal to or lower than the determination threshold, even if the curve radius R of the travelling road of the vehicle itself is estimated based on the steering angle, an influence of an error can be suppressed. Further in the preceding-vehicle determination apparatus 1, a position of a preceding vehicle 3 is converted into a position in a second coordinate system in which a straight line Lalong a straight travel direction Y of the vehicle itself 2 as reference, making it possible to reduce a calculation load greatly comparably to a case of converting an entire coordinate system.SELECTED DRAWING: Figure 6

    【課題】ヨーレイトセンサの測定誤差の影響を抑制して、先行車が自車線に存在する確率を判定すること。【解決手段】先行車判定装置1は、低速判定部31を備え、自車両2の車速が判定閾値以下である場合に、ステアリング角に基づいて、自車両の走行路の曲率半径Rを推定する。これにより、ヨーレイトを用いずに曲率半径Rを推定することができる。自車両の車速が判定閾値以下である場合には、ステアリング角に基づいて自車両の走行路の曲率半径Rを推定しても、誤差による影響を抑制することができる。また、先行車判定装置1では、先行車3の位置を、自車両2の直進方向Yに沿う直線LPCを基準とする第2座標系の位置に変換することで、座標系全体を変換する場合と比較して、計算負荷を大幅に減らすことができる。【選択図】図6


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    Titel :

    PRECEDING-VEHICLE DETERMINATION APPARATUS AND VEHICLE CONTROL SYSTEM


    Weitere Titelangaben:

    先行車判定装置及び車両制御システム


    Beteiligte:

    Erscheinungsdatum :

    2018-10-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    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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