| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To precisely estimate the center position of a preceding vehicle even to the preceding vehicle travelling on a lane adjacent to the cruising lane of a vehicle. <P>SOLUTION: The distance from an own vehicle to the preceding vehicle and the azimuth of the vehicle preceding the own vehicle are detected (step 10), and the position of the preceding vehicle in the longitudinal direction of the own vehicle and the center position in the width direction of the preceding vehicle with respect to the width direction of the own vehicle are calculated from the detected distance and azimuth (Step S20). The turning radius of the own vehicle is estimated in the step S30, and the rotary angle around the perpendicular direction of the preceding vehicle with respect to the own vehicle is calculated by taking the turning radius R into consideration (Step S40). Then, the amount of side position correction is obtained by fitting a relative angle to a map that is prepared in advance and shows the relationship between the relative angle and the amount of side position correction of the preceding vehicle, and the center position in the width direction of the preceding vehicle is corrected (Step S50), thus precisely estimating the center position of the preceding vehicle that travels on a lane adjacent to the own vehicle. <P>COPYRIGHT: (C)2004,JPO&NCIPI</p> |
