Patent ID: 9421980
Filing Date: 2016-08-23
CPC Classification: B60W

Claim Text:
1. A preceding vehicle selection apparatus installed in a host vehicle, for detecting a preceding vehicle as a vehicle located ahead of the host vehicle within a travel path of the host vehicle, the host vehicle incorporating a sensor producing a speed detection signal expressing a current value of running speed of the host vehicle, and a turning motion detection section producing a turning detection signal relating to a rate of turning motion of the host vehicle, the apparatus including a variation value detection section configured for obtaining a value of variation of the turning detection signal from the turning motion detection section with respect to time; a target object detection section configured for detecting objects located within a region ahead of the host vehicle as respective target objects and for producing output signals expressing values of relative distance and relative direction angle of each of the target objects with respect to the host vehicle; a probability calculation section configured to a selection section configured for selecting one of the detected target objects as a preceding vehicle, based upon the values of host vehicle path probability respectively calculated for the detected target objects; wherein the probability calculation section is configured to: compare the value of variation of the turning detection signal with respect to time with a predetermined adjustment threshold value; and, when the value of variation of the turning detection signal with respect to time exceeds the adjustment threshold value, adjust coefficients of filtering that is applied in calculating the host vehicle path probability, to widen a range of high-frequency signal components that are excluded by the filtering.