US5841366A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Traveling-path deduction apparatus and method for vehicles
Assignee: Mazda Motor Corp
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Filing: 1996-07-18
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Granted: 1998-11-24
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Expires: 2016-07-18
Abstract
Abstract A traveling-path temporary-setting unit 21 sets a plurality of temporary traveling paths with different curvatures, and a calculation unit 22 calculates distances between the temporary traveling paths and preceding vehicles detected by a radar unit 1. In case of a properly-set temporary traveling path, the path and running loci of the preceding vehicles are on a concentric circle. In this case, the preceding vehicles are running along this temporary traveling path, and a time change amount of calculated distances is approximately "0". A traveling-path determination unit 23 determines, one temporary traveling path having the minimum time change amount in the distances, as a traveling path of the vehicle.
Inventors
- 👤 Yasunori Yamamoto
- 👤 Ayumu Doi
- 👤 Tomohiko Adachi
- 👤 Tohru Yoshioka
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 17:40
CPC Classifications
G; G01; G01S; G01S17/00; G01S17/88; G01S17/93; G01S17/931; G01S13/00; G01S13/88; G01S13/93; G01S13/931; G01S2013/932; G01S2013/9327; G01S2013/93271; G01S2013/9329
Claims Analysis
Total Claims: 39
Claim 1
Independent Claim
128 words
A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising: (a) object detection means for detecting the positions of objects existing ahead of the vehicle; (b) traveling-path temporary-setting means for setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection by said object detection means; (c) distance calculation means for calculating distances between the temporary traveling path set by said traveling-path temporary-setting means and the objects detected by said object detection means; and (d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means.
Claim 2
Dependent Claim
128 words
A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising: (a) object detection means for detecting the positions of objects existing ahead of the vehicle; (b) traveling-path temporary-setting means for setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection by said object detection means; (c) distance calculation means for calculating distances between the temporary traveling path set by said traveling-path temporary-setting means and the objects detected by said object detection means; and (d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means.
Claim 3
Dependent Claim
58 words
The traveling-path deduction apparatus according to claim 1, wherein in a case where said traveling-path temporary-setting means sets a plurality of temporary traveling paths with different curvatures, said traveling-path deduction means deduces a temporary traveling path having the minimum time change amount in the distances calculated by said distance calculation means, as the traveling path of the vehicle.
Claim 4
Dependent Claim
24 words
The traveling-path deduction apparatus according to claim 2, wherein said traveling-path temporary-setting means simultaneously sets the plurality of temporary traveling paths with different curvatures.
Claim 5
Dependent Claim
24 words
The traveling-path deduction apparatus according to claim 2, wherein said traveling-path temporary-setting means sequentially sets the plurality of temporary traveling paths with different curvatures.
Claim 6
Dependent Claim
46 words
The traveling-path deduction apparatus according to claim 4, wherein said traveling-path deduction means deduces a temporary traveling path having a time change amount in the distances, calculated by said distance calculation means, equal to a predetermined value or less, as the traveling path of the vehicle.
Claim 7
Dependent Claim
42 words
The traveling-path deduction apparatus according to claim 4, wherein said traveling-path temporary-setting means sets the plurality of temporary traveling paths with different curvatures, in incremental order of time change amount in the distances calculated by said distance calculation means, one by one.
Claim 8
Dependent Claim
52 words
The traveling-path deduction apparatus according to claim 4, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.
Claim 9
Dependent Claim
52 words
The traveling-path deduction apparatus according to claim 6, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.
Claim 10
Dependent Claim
39 words
The traveling-path deduction apparatus according to claim 1, further comprising preceding-vehicle discrimination means for discriminating a running object among objects existing within the traveling path deduced by said traveling-path deduction means, closest to the vehicle, as a preceding vehicle.
Claim 11
Dependent Claim
133 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the temporary traveling path set at said traveling path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step.
Claim 12
Dependent Claim
133 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the temporary traveling path set at said traveling path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step.
Claim 13
Dependent Claim
62 words
The traveling-path deduction method according to claim 10, wherein in a case where a plurality of temporary traveling paths are set with different curvatures at said traveling-path temporary-setting step, a temporary traveling path, having the minimum time change amount in the distances calculated at said distance calculation step, is deduced as the traveling path of the vehicle at said traveling-path deduction step.
Claim 14
Dependent Claim
38 words
The traveling-path deduction method according to claim 10, wherein in a case where a plurality of temporary traveling paths are set at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.
Claim 15
Dependent Claim
26 words
The traveling-path deduction method according to claim 11, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.
Claim 16
Dependent Claim
26 words
The traveling-path deduction method according to claim 11, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are sequentially set with different curvatures.
Claim 17
Dependent Claim
48 words
The traveling-path deduction method according to claim 14, wherein at said traveling-path deduction step, a temporary traveling path, having a time change amount in the distances calculated at said distance calculation step, equal to a predetermined value or less, is deduced as the traveling path of the vehicle.
Claim 18
Dependent Claim
44 words
The traveling-path deduction method according to claim 14, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are set with different curvatures, in incremental order of time change amount in the distances calculated at said distance calculation step, one by one.
Claim 19
Dependent Claim
54 words
The traveling-path deduction method according to claim 14, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.
Claim 20
Dependent Claim
54 words
The traveling-path deduction method according to claim 16, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.
Claim 21
Dependent Claim
40 words
The traveling-path deduction method according to claim 10, further comprising a preceding-vehicle discrimination step of discriminating a running object among objects existing within the traveling path deduced at said traveling-path deduction step, closest to the vehicle, as a preceding vehicle.
Claim 22
Dependent Claim
164 words
A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising: (a) object detection means for detecting the positions of objects existing ahead of the vehicle; (b) traveling-path temporary-setting means for setting a plurality of temporary traveling paths as respective lines having predetermined different curvatures, extending from the vehicle as an original point, based on results of detection by said object detection means; (c) distance calculation means for calculating distances between the respective plurality of temporary traveling paths set by said traveling-path temporary-setting means and the objects detected by said object detection means; and (d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means, and wherein said traveling-path deduction means deduces a temporary traveling path having the minimum time change amount in the distances calculated by said distance calculation means, as the traveling path of the vehicle.
Claim 23
Dependent Claim
164 words
A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising: (a) object detection means for detecting the positions of objects existing ahead of the vehicle; (b) traveling-path temporary-setting means for setting a plurality of temporary traveling paths as respective lines having predetermined different curvatures, extending from the vehicle as an original point, based on results of detection by said object detection means; (c) distance calculation means for calculating distances between the respective plurality of temporary traveling paths set by said traveling-path temporary-setting means and the objects detected by said object detection means; and (d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means, and wherein said traveling-path deduction means deduces a temporary traveling path having the minimum time change amount in the distances calculated by said distance calculation means, as the traveling path of the vehicle.
Claim 24
Dependent Claim
24 words
The traveling-path deduction apparatus according to claim 20, wherein said traveling-path temporary-setting means simultaneously sets the plurality of temporary traveling paths having different curvatures.
Claim 25
Dependent Claim
24 words
The traveling-path deduction apparatus according to claim 20, wherein said traveling-path temporary-setting means sequentially sets the plurality of temporary traveling paths having different curvatures.
Claim 26
Dependent Claim
46 words
The traveling-path deduction apparatus according to claim 22, wherein said traveling-path deduction means deduces a temporary traveling path having a time change amount in the distances, calculated by said distance calculation means, equal to a predetermined value or less, as the traveling path of the vehicle.
Claim 27
Dependent Claim
42 words
The traveling-path deduction apparatus according to claim 22, wherein said traveling-path temporary-setting means sets the plurality of temporary traveling paths having different curvatures, in incremental order of time change amount in the distances calculated by said distance calculation means, one by one.
Claim 28
Dependent Claim
52 words
The traveling-path deduction apparatus according to claim 22, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.
Claim 29
Dependent Claim
52 words
The traveling-path deduction apparatus according to claim 24, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.
Claim 30
Dependent Claim
162 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein a temporary traveling path, having the minimum time change amount in the distances calculated at said distance calculation step, is deduced as the traveling path of the vehicle.
Claim 31
Dependent Claim
162 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein a temporary traveling path, having the minimum time change amount in the distances calculated at said distance calculation step, is deduced as the traveling path of the vehicle.
Claim 32
Dependent Claim
150 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling-path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.
Claim 33
Dependent Claim
150 words
A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising: (a) an object detection step of detecting the positions of objects existing ahead of the vehicle; (b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step; (c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling-path temporary-setting step and the objects detected at said object detection step; and (d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.
Claim 34
Dependent Claim
26 words
The traveling-path deduction method according to claim 27, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.
Claim 35
Dependent Claim
26 words
The traveling-path deduction method according to claim 27, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are sequentially set with different curvatures.
Claim 36
Dependent Claim
48 words
The traveling-path deduction method according to claim 30, wherein at said traveling-path deduction step, a temporary traveling path, having a time change amount in the distances calculated at said distance calculation step, equal to a predetermined value or less, is deduced as the traveling path of the vehicle.
Claim 37
Dependent Claim
44 words
The traveling-path deduction method according to claim 30, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are set with different curvatures, in incremental order of time change amount in the distances calculated at said distance calculation step, one by one.
Claim 38
Dependent Claim
54 words
The traveling-path deduction method according to claim 30, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.
Claim 39
Dependent Claim
55 words
The traveling-path deduction method according to claim 32, wherein at said traveling path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling paths shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.
References Cited (Backward Citations)
US5377106A
Cited
JPH04282724A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-11-23 | 2002-05-25 | 2002-11-24 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-11-23 | 2006-05-25 | 2006-11-24 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-11-23 | 2010-05-25 | 2010-11-24 | $7700.00 | Window Closed / Lapsed |