Patent ID: 8718899

Claim:
A driver assistance system comprising: a RADAR system; a video system; and a vehicle control system, the vehicle control system including a processor configured to: identify a first object as a target vehicle when both the RADAR system and the video system detect the first object in a driving lane occupied by a host vehicle, identify a second as a non-target-vehicle when the video system detects the second object in the driving lane and the RADAR system does not detect the second object in the driving lane, track position and speed of the target vehicle, operate the host vehicle based at least in part on position and speed of the target vehicle; receive an indication from the RADAR system that a previously detected target vehicle in the driving lane occupied by the host vehicle is decelerating, and release the previously detected target vehicle as a target vehicle and cease monitoring of the previously detected target vehicle when a velocity of the previously detected target vehicle is below a threshold and the previously detected target vehicle exits the driving lane occupied by the host vehicle, wherein the RADAR system is configured to determine the velocity of the previously detected target vehicle.