CENTER AXIS DEVIATION CALCULATION DEVICE, CENTER AXIS DEVIATION CORRECTION DEVICE FOR OBSTACLE DETECTION DEVICE FOR VEHICLES AND VEHICLE INTERVAL CONTROLLER

摘要

PROBLEM TO BE SOLVED: To facilitate correction of center axis of obstacle detection device for vehicles by calculating the deviation of the center axis against the vehicle. SOLUTION: Obstacles detected as moving objects are front cars 93 in many cases. When the self car 91 is going straight ahead, a front car 93 is detected just in front of the self car 91 in many cases. If the light axis 95 (center axis) of a transmission and reception part is facing straight ahead of the self car 91, the front car 93 should be detected on the light axis 95. If the light axis 95 is deflected, the front car 93 is detected in the position shifted for m from the light axis 95. In this case, the bias degree of the light axis 95 is =-m. Depending on whether the component of relative velocity vector of the obstacle is within a specific range, the data of vehicles running on the neighboring lane and data of vehicle running on a curve are excluded to improve the calculation accuracy.