Preceding vehicle identification apparatus and preceding vehicle identification method

A preceding vehicle identification method performed by a processor for identifying a preceding vehicle ahead of a subject vehicle in an intersection, the method comprising the steps of:

• acquiring an anticipated route along which the subject vehicle is expected to travel at a future time;
• defining an estimated region comprising a region within which no lane is identifiable and an unidentified preceding vehicle is estimated to exist, the estimated region further comprising a scheduled travel region and an acceptable error range, the scheduled travel region comprising a region corresponding to a width of the subject vehicle in a width direction of the anticipated route, the acceptable error range comprising a margin of error in predicting a position of the unidentified preceding vehicle, wherein the acceptable error range is added to the scheduled travel region of the subject vehicle;
• when there is a plurality of other vehicles in the intersection, determining whether an overlapping proportion between the estimated region and an existing region of each of the plurality of other vehicles exceeds a threshold range;
• and
• identifying one of the plurality of other vehicles as the preceding vehicle when determining that an area condition is met, wherein the area condition is met when the overlapping proportion of the one of the plurality of other vehicles exceeds the threshold range, wherein
• the subject vehicle is controlled to follow the identified preceding vehicle.

A preceding vehicle identification apparatus to identify a preceding vehicle ahead of a subject vehicle in an intersection, the apparatus comprising:

• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• define an estimated region comprising a region within which no lane is identifiable and an unidentified preceding vehicle is expected to exist, the estimated region including an entrance of the intersection and an exit of the intersection of a travel-scheduled section for the subject vehicle;
• eliminate, from the estimated region, a restricted region where travel restriction is recommended due to a traffic rule;
• and
• when there is a plurality of other vehicles in the intersection, determine whether an overlapping proportion between a reduced estimated region, which is defined by eliminating the restricted region from the estimated region, and an existing region of each of the plurality of other vehicles exceeds a threshold range;
• and
• identify one of the plurality of other vehicles as the preceding vehicle when determining that an area condition is met, wherein the area condition is met when the overlapping proportion of the one of the plurality of other vehicles exceeds the threshold range, wherein
• the subject vehicle is controlled to follow the identified preceding vehicle.

A preceding vehicle identification method performed by a processor for identifying a preceding vehicle ahead of a subject vehicle in an intersection, the method comprising the steps of:

• defining an estimated region comprising a region within which no lane is identifiable and an unidentified preceding vehicle is expected to exist, the estimated region including an entrance of the intersection and an exit of the intersection of a travel-scheduled section for the subject vehicle;
• eliminating, from the estimated region, a restricted region where travel restriction is recommended due to a traffic rule;
• when there is a plurality of other vehicles in the intersection, determining whether an overlapping proportion between a reduced estimated region, which is defined by eliminating the restricted region from the estimated region, and an existing region of each of the plurality of other vehicles exceeds a threshold range;
• and
• identify one of the plurality of other vehicles as the preceding vehicle when determining that an area condition is met, wherein the area condition is met when the overlapping proportion of the one of the plurality of other vehicles exceeds the threshold range, wherein
• identifying, as the preceding vehicle, an other vehicle upon determining that the other vehicle exists in a reduced estimated region that is defined by eliminating the restricted region from the estimated region, wherein
• the subject vehicle is controlled to follow the identified preceding vehicle.