EXTERNAL RECOGNITION DEVICE FOR VEHICLE

Japanese Patent JP3925332

B2

PROBLEM TO BE SOLVED: To avoid the execution of the processing of a subsequent stage based on the detection result of a sensor with low recognition precision in the detection of the position information of a detecting object by use of a plurality of sensors.
SOLUTION: The position information to the same detecting object detected by a laser radar 12 and a CCD camera 14 is differentially calculated to calculate the relative speed (steps S1-S6). A sensor smaller in the dispersion value of the relative speed is selected, and the difference between the position information in the previous detection by the sensor and the position information of this detection value is added to the previously calculated integrated value, and the result is taken as this integrated value (steps S7-S10). Further, according to the difference in the dispersion value of the relative speed in the state where each sensor can be regarded to precisely detect a preceding vehicle in a linear road with a minimized dispersion value of position information, the characteristic of a differential computing element for relative speed calculation for the CCD camera 14 is adjusted to the direction of minimizing the difference in dispersion value (steps S13-S16).

Taku Takahama
Takeshi Kimura

JP2002195820A

June 06, 2007

July 04, 2002

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Nissan Motor Co., Ltd

B60R21/00; G08G1/16; B60R1/00; G01S13/93; G01S17/93; G06T1/00; G06T7/20; G06T7/60; H04N7/18; (IPC1-7): G08G1/16; B60R21/00; G06T1/00; G06T7/20; G06T7/60; H04N7/18; //B60R1/00; G01S13/93; G01S17/93

JP2001118200A
JP4260836A
JP11091398A
JP9096674A
JP2000355235A

Tetsuya Mori
Yoshiaki Naito
Cui Shu Tetsu

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