Patent ID: 7974778

Claim:
A vehicular travel locus estimation system comprising: an object detector detecting a plurality of objects that are present in a direction of travel of a vehicle; a vehicle speed sensor configured to detect a vehicle speed; a yaw rate sensor configured to detect a yaw rate; a first travel locus estimator operatively coupled to the vehicle speed sensor and the yaw rate sensor, the first travel locus estimator estimating a first future travel locus of the vehicle based on at least the vehicle speed detected by the vehicle speed sensor and the yaw rate detected by the yaw rate sensor; a travel locus calculator calculating a past travel locus of the vehicle; a second travel locus estimator estimating a second future travel locus of the vehicle based on the calculated past travel locus; a control object determiner determining a control object; a stationary state determiner determining whether the vehicle is in a substantially stationary state; and an estimated travel locus output providing the first future travel locus estimated by the first travel locus estimator to the control object determiner when the stationary state determiner determines that the vehicle is not in a substantially stationary state and providing the second future travel locus estimated by the second travel locus estimator instead of the first future travel locus estimated by the first travel locus estimator to the control object determiner when the stationary state determiner determines that the vehicle is in a substantially stationary state; wherein the control object determiner is configured to determine the control object from the plurality of objects based on the first future travel locus if the vehicle is not in a substantially stationary state and on the second future travel locus if the vehicle is in a substantially stationary state.