Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus

A vehicle surroundings monitoring apparatus, comprising:

• frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
• first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
• third own traveling path calculating means for calculating a third traveling path of an own vehicle based on traveling conditions of said own vehicle;
• and
• final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said third traveling path;

A vehicle surroundings monitoring apparatus, comprising:

• frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
• preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
• first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
• second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
• third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle;
• and
• final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path, said second traveling path and said third traveling path.

A vehicle surroundings monitoring apparatus, comprising:

• frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
• preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
• first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
• second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
• third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle;
• fourth own traveling path calculating means for calculating a fourth traveling path of said own vehicle based on said first own traveling path and said third own traveling path;
• and
• final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said fourth traveling path and said second traveling path when a preestablished condition is satisfied.