METHOD FOR ESTIMATING RELATIVE SPEED BETWEEN VEHICLE AND CONCERNING OBSTACLE

摘要

PURPOSE:To surely obtain the relative speed between a vehicle and an actually existing obstacle by labeling the data of a plurality of concerning obstacles obtained from a distance measuring unit and eliminating noise data. CONSTITUTION:An obstacle position estimating means 39 expands the position of an objective obstacle on X-Y coordinates 50 (with the X in the width direction and Y in the length direction of a vehicle) by using signals from a distance measuring unit 32, gives temporary labels, for example, No.1-No.3 to the obstacle data expanded by setting the position of its own vehicle at the origin (0, 0), and finds the width, length, and center of gravity of the obstacle at every label. A predicting arithmetic section 51 predicts the width, length, and center of gravity of the obstacle at every proper label based on the data properly labeled by means of a comparing arithmetic section 52 and a relative velocity vector obtained by means of a relative velocity vector calculating section 53. The section 52 compares the current data with predicted data and gives proper labels only to the current data having the position of center of gravity corresponding to the position of center of gravity of the predicted data and the section 53 eliminate noise data by calculating the relative velocity vector of each proper label.