Title:
ENVIRONMENT RECOGNITION DEVICE FOR VEHICLE
Document Type and Number:
Japanese Patent JP3146809
Kind Code:
B2
Abstract:
PURPOSE: To obtain a high direction accuracy for a vehicle even if the mounting angle accuracy of an environment recognition means is not set especially high.
CONSTITUTION: The environment recognition means 1 mounted on a vehicle detects the relative direction and the distance to the object. A means 6 for determining the direction of an optical axis extracts information about the road shape from detection data, and determines the direction of the optical axis of the environment recognition means 1 assuming that the road shape is a straight line, and stores it in a means 7 for storing the estimation value on the direction of the optical axis. Then, when a means 5 for detecting straight- line driving detects that the straight-line driving state continues for a specified time based on the output of a steering angle detection means 3 and a driving vehicle speed detection means 4, a means 8 for updating optical axis direction data obtains the optical axis direction estimation value estimated before a specific time from the means 7 for storing the estimation value of the direction of optical axis, sets the optical axis direction estimation value as optical axis direction data, and then corrects the direction of the object detected by the environment recognition means 1 by a direction correction means 2.
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Inventors:
Tomohiro Yamamura
Application Number:
JP28749093A
Publication Date:
March 19, 2001
Filing Date:
October 22, 1993
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
B60W30/00; G08G1/16; G01S11/12; G01S17/93; (IPC1-7): G01S17/93
Domestic Patent References:
| JP6160510A | ||||
| JP7209414A |
Attorney, Agent or Firm:
Kimio Kikutani (3 outside)