Patent ID: 9507016
Filing Date: 2016-11-29
CPC Classification: B60K,B60W,G01S

Claim Text:
1. A preceding vehicle selection apparatus comprising: object detecting means that detects an object ahead of an own vehicle, and determines, for each object ahead, (i) a relative position and a relative speed in relation to the own vehicle and (ii) width information indicating a lateral width of the object ahead; lateral position correcting means that corrects a lateral position of the object ahead with reference to a traveling direction of the own vehicle, using the width information of the object ahead; own vehicle lane probability calculating means that calculates an own vehicle lane probability for each object ahead, based on the relative position of the object ahead of which the lateral position has been corrected by the lateral position correcting means, the own vehicle lane probability being a probability of the object ahead being present in the same lane as the own vehicle; preceding vehicle selecting means that selects a preceding vehicle from the objects ahead based on the own vehicle lane probability calculated by the own vehicle lane probability calculating means; and correction amount adjusting means that, based on a value of a correlated parameter that has correlation with error in the lateral position or error in the width information, reduces a correction amount of the lateral position as error in the lateral position or error in the width information becomes large.