Patent Document ID: 20010037165
Application ID: 09816068
Patent Status: 0

Claim One:
1. A method of selecting one of recognized objects as a preceding vehicle of a subject vehicle, comprising the steps of: recognizing said objects in front of said subject vehicle; obtaining relative positions and relative velocities of said recognized objects; classifying said objects into stationary objects and moving objects on the basis of relative velocities of said objects to said subject vehicle; calculating a curvature of the lane on which said subject vehicle is traveling, on the basis of a turning condition and the velocity of said subject vehicle; calculating a probability that each of said moving objects travels on the same lane as said subject vehicle on the basis of said curvature and said relative position of each of said moving objects; recognizing a shape of the road, including the lane, in front of said subject vehicle, on the basis of distances to said stationary objects and angles of said stationary objects in the width direction of said subject vehicle and detecting a degree of recognizing said shape on the basis of said relative positions of said stationary objects and each of said moving objects; detecting a possibility that each of said moving objects exists on the same lane as said subject vehicle on the basis of the recognized shape of the road and said degree; calculating a compensation value for compensating said probability on the basis of the detected possibility; compensating said probability with said compensation value; and selecting one of said moving objects as the preceding vehicle on the basses of the compensated probability.