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
2021-01-06
Patent
Electronic Resource
English
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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