| 摘要 |
PURPOSE: A rear side vehicle sensing apparatus is provided to precisely sense a rear or side vehicle by using an integrated map of line width and driving trace as a standard for sensing a vehicle. CONSTITUTION: A rear side vehicle sensing apparatus comprises a front camera(101), a lane recording unit(103), a vehicle state sensor(105), a driving trace calculating unit(107), a rear radar(109), and a control unit(111). The front camera is attached to the front side of the vehicle and recognizes information about a road and a lane. The vehicle state sensor measures at least one of a steering angle, steering angular velocity, wheel velocity, vehicle velocity, wheel slip, vehicle acceleration and vehicle slope. The driving trace calculating unit calculates the driving trace of the vehicle by using the measured vehicle state. The rear radar senses a first vehicle which approaches toward the front or back side of the vehicle. The control part generates an integrated map by integrating the lane information and the driving trace. [Reference numerals] (101) Front camera; (103) Lane recording unit; (107) Driving trace calculating unit; (109) Rear radar; (111) Control unit; (113) Output unit; (50) Wheel sensor; (51) G sensor; (52) Steering wheel sensor; (53) Velocity sensor |
