Patent ID: 6035053
Filing Date: 2000-03-07
Classification: B60K,B60Q,B60T,G01S,G06K

Abstract:
A moving subject recognizing system for recognizing a subject moving toward a forward path of a vehicle equipped with the moving subject recognizing system to avoid a collision between the moving subject and the vehicle, said moving subject recognizing system comprising:scanning means for scanning a predetermined forward field including a traveling path in which the vehicle travels to acquire data of moving subjects in said forward field based on scanning echoes; andrecognizing means for detecting a transverse velocity of a moving subject moving in a direction transverse to said traveling path of the vehicle and determining a longitudinal distance of said moving subject in a direction of said traveling path based on said data, determining a variation of said longitudinal distance, said variation being defined as the difference between the longest and the shortest longitudinal distance of a specific extent recognizable as a moving subject from the vehicle along the traveling path, comparing said transverse velocity and said variation of said longitudinal distance with a predetermined first and a second threshold value, respectively, and recognizing that there is a danger that said moving subject enters said traveling path when said transverse velocity is greater than said first threshold value and said variation of said longitudinal distance is smaller than said second threshold value.