System for distinguishing a vehicle traveling ahead based on an adjustable probability distribution

A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

• distance determining means for determining a distance to an object present in a given forward detectable range;
• curvature determining means for determining a curvature of a road on which the system vehicle is moving;
• preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;
• preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;
• target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means;
• and
• speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means.

A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

• distance determining means for determining a distance to an object present in a given forward detectable range;
• curvature determining means for determining a curvature of a road on which the system vehicle is moving;
• preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;
• preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;
• target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means;
• and
• speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means,
• wherein the target speed determining means includes means for determining a basic change rate of speed for the system vehicle based on factors including a preselected relationship with a difference between the distance to the object and a target distance to the object and a relative speed between the system vehicle and the object, and means for correcting the basic change rate of speed using at least a correction value that is defined based on factors including the probability determined by the preceding vehicle probability determining means and the relative speed to determine the target speed.

A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

• distance determining means for determining a distance to an object present in a given forward detectable range;
• curvature determining means for determining a curvature of a road on which the system vehicle is moving;
• preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;
• preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;
• target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means;
• and
• speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means,
• wherein the target speed determining means includes means for determining a basic change rate of speed for the system vehicle based on a preselected relationship with a difference between the distance to the object and a target distance to the object and a relative speed between the system vehicle and the object, and means for correcting the basic change rate of speed using at least a first correction value defined based on factors including the probability determined by the preceding vehicle probability determining means and the relative speed and a second correction value defined based on factors including the distance to the object to determine the target speed.

A system for detecting a probability of a preceding vehicle ahead of a system vehicle equipped with the system, the system comprising:

• distance determining means for determining a distance between the system vehicle and an object detected ahead of the system vehicle and located within a preselected detection range;
• curve determining means for determining a degree of a curve in a road on which the system vehicle is traveling;
• probability distribution defining means for defining a probability distribution which indicates a higher probability when the object is present at a central portion of a lane in which the system vehicle is traveling than when the object is away from the central portion of the lane in a lateral direction;
• and
• probability determining means for determining a probability that the object is a preceding vehicle based on factors including the distance derived by the distance determining means, the degree of the curve determined by the curve determining means, and the probability distribution defined by the probability distribution defining means, the probability determining means providing a signal based on the determined probability.