On-vehicle apparatus, preceding vehicle position determining apparatus, and preceding vehicle position determining method

A preceding vehicle position determining apparatus comprising:

• a relative position information acquiring device that acquires relative position information related to a relative position between a host vehicle and a second vehicle that is traveling ahead of the host vehicle, and error information related to an error in the relative position, via communication;
• a preceding vehicle detecting device that detects a position of each of a plurality of vehicles, including the position of the second vehicle;
• and
• a preceding vehicle identifying device that (i) identifies the position of the second vehicle, by comparing the relative position based on the relative position information acquired by the relative position information acquiring device, with the position detected by the preceding vehicle position detecting device, by using a threshold varied in accordance with the error information, and (ii) lowers the threshold if it determines that a tolerance range of the relative position between the host vehicle and the second vehicle overlaps a tolerance range of a relative position between the host vehicle and any other vehicle in the plurality of vehicles, each of the tolerance ranges indicating a range within which the respective vehicles are likely to exist.

A method of identifying a preceding vehicle, comprising:

• acquiring relative position information related to a relative position between a host vehicle and second vehicle that is traveling ahead of the host vehicle, and error information related to an error in the relative position, via a communication device;
• detecting a position of each of a plurality of vehicles, including the position of the second vehicle;
• identifying the position of the second vehicle by using a processor to compare the relative position information with the detected position, and by using a threshold varied in accordance with the error information;
• and
• lowering the threshold if a tolerance range of the relative position between the host vehicle and the second vehicle overlaps a tolerance range of a relative position between the host vehicle and any other vehicle in the plurality of vehicles, each of the tolerance ranges indicating a range within which the respective vehicles are likely to exist.