Abstract: A transmission wave is applied to a predetermined range in a width-wise direction of a vehicle. Objects ahead of the vehicle are recognized on the basis of reflected waves resulting from reflections of the transmission wave. Calculation is made as to a position of each of the objects and also a lane-sameness probability for each of the objects that the object and the subject vehicle are on a same lane. Object information pieces corresponding to the respective objects represent the calculated positions of the objects and the calculated lane-sameness probabilities for the objects. In cases where at least two objects become substantially equal in position, the two objects are recognized as a single object. One is selected from the two objects which relates to a calculated lane-sameness probability equal to or higher than a predetermined value. The single object takes over an object information piece corresponding to the selected object.

Abstract: A method and apparatus of measuring a distance to a reflection object is disclosed. A sensitivity time control (STC) process is applied to a received signal from the reflection object to provide an STC-processed signal. The radar apparatus includes a controller. The controller obtains a quantity corresponding to the distance from a transmission time of the transmission signal and a detection time of the STC-processed signal. The quantity is corrected by using a first correction value associated with the intensity of the STC-processed reflection signal to provide a corrected quantity. The corrected quantity is further corrected by using a second correction value associated with the corrected quantity and the intensity of the STC-processed reflection signal to correct the error regardless of the intensity of the STC-processed reflection signal.

Abstract: A radar device operates for emitting a detection wave ahead of a vehicle, and detecting objects in response to echoes of the emitted detection wave. A reflector detecting device operates for detecting reflectors among the objects detected by the radar device. The detected reflectors are located along a road. A reflector-row extracting device operates for, in cases where there are a plurality of rows of the reflectors detected by the reflector detecting device in one side of the vehicle, extracting one from among the reflector rows. A road-shape recognizing device operates for recognizing a shape of the road on the basis of the reflector row extracted by the reflector-row extracting device.

Abstract: A transmission wave is applied to a predetermined angular range in a width-wise direction of a vehicle. A position of each object and a relative speed of the object are detected on the basis of the reflected wave. A determination is made as to whether each object is moving or stationary on the basis of the detected relative speed of the object and a speed of the vehicle. For at least one of right-hand and left-hand sides of the vehicle, calculation is given of a vehicle width-wise direction position where each stationary object effective for road shape recognition passes through the related side of the vehicle. The calculated vehicle width-wise direction position is memorized. A line connecting the memorized vehicle width-wise direction position and the detected position of the currently handled object corresponding to the effective stationary object is recognized as a road edge.

Abstract: A transmission wave is applied to a predetermined angular range in a width-wise direction of a vehicle. Object-unit data pieces containing at least data pieces representing distances to objects in correspondence with vehicle-width-wise direction angles are generated on the basis of a reflected wave. A determination is made as to whether each object is moving or stationary on the basis of a speed of the vehicle and a relative speed of the object. From the object-unit data pieces, ones are extracted which are effective for road shape recognition on the basis of a result of determining whether each object is moving or stationary. Ones of the extracted object-unit data pieces which represent monotonically increasing distances as viewed along one of clockwise and counterclockwise angle directions are grouped to generate data representing a road-side-object group. A road edge is recognized on the basis of the data representing the road-side-object group.

Abstract: A forward electromagnetic wave is generated in accordance with a succession of pseudo random noise code signals. An echo electromagnetic wave caused by reflection of the forward electromagnetic wave at an object is converted into a received signal. Direct-current and low-frequency components are removed from the received signal to generate a filtering-resultant signal. The filtering-resultant signal is compared with a preset decision reference voltage to generate a binary signal. The binary signal is sampled into received data. Calculation is made as to a correlation between the received data and the pseudo random noise code signal. The distance to the object is computed on the basis of the calculated correlation. The pseudo random noise code signal is repetitively generated to produce a succession of the pseudo random noise code signals during a surplus time covering a stabilization time taken by the received signal to stabilize in direct-current voltage level.

Abstract: The radius of the curvature of the lane on which a subject vehicle is traveling, is calculated in accordance with the turning condition of the subject vehicle and the velocity of the subject vehicle is obtained on the basis of the steering angle, and the yaw rate. An instantaneous probability of the same lane that the recognized object target exists on the same lane is calculated. In this operation, the instantaneous probability is compensated. That is, the road shape is recognized with delineator or the like. The instantaneous probability of the same lane is compensated on the basis of the recognized road shape. The probability of the same lane is calculated after a predetermined filtering process with the compensated instantaneous probability of the same lane. The preceding vehicle is selected on the basis of the probability of the same lane.

Abstract: A code generating device operates for generating a pseudo random noise code having a sequence of a predetermined number of chips each being in one of first and second logic states different from one another. A code monitoring device operates for detecting at least a preset number of successive chips in the first logic state in the pseudo random noise, and for changing at least one among the detected preset number of successive chips to the second logic state to convert the pseudo random noise code into a transmission signal. A driving device operates for activating and deactivating an electromagnetic wave generating device in response to the transmission signal. A receiving device operates for receiving an echo wave caused by reflection of an electromagnetic wave generated by the electromagnetic wave generating device at an object. A distance to the object is detected on the basis of the received echo wave.

Abstract: An object in front of a vehicle is detected. At least one of a steering angle of the vehicle and a yaw rate thereof is detected. First curvature data are generated on the basis of at least one of the detected steering angle and the detected yaw rate. The first curvature data represent a course along which the vehicle will travel. A determination is made as to whether or not the detected object is a stationary object. In cases where the detected object is a stationary object, second curvature data are generated on the basis of the stationary object. The second curvature data represent a course along which the vehicle will travel. The first curvature data and the second curvature data are averaged. Third curvature data are generated in response to a result of the averaging. The third curvature data represent a course along which the vehicle will travel.

Abstract: In a single-to-differential conversion circuit for converting a single signal into a differential signal formed of first and second signal components: a source-grounded (or emitter-grounded) first transistor receives the single signal at the drain (or collector); the gate (or base) and drain (or collector) of the first transistor are connected; the gate (or base) of a source-grounded (or emitter-grounded) second transistor is connected to the gate (or base) of the first transistor; the drain (or collector) of a gate-grounded (or base-grounded) third transistor outputs the first signal component; the source (or emitter) of the third transistor is connected to the drain (or collector) of the first transistor; the drain (or collector) of a gate-grounded (or base-grounded) fourth transistor outputs the second signal component; and the source (or emitter) of the fourth transistor is connected to the drain (or collector) of the second transistor.

Abstract: A coarse measuring circuit measures an approximate measurement object time DU based on a first reference clock CK10. The approximate measurement object time represents a duration from a measurement start time to an input time of measurement object pulse PBr. A fine measuring circuit, cooperating with the coarse measuring circuit and using a shorter reference time, measures a time difference between a change point of the first reference clock CK10 and the input time of measurement object pulse PBr as a correction time DD of the approximate measurement object time DU, thereby obtaining a precise measurement objet time DT.

Abstract: A scanning device periodically changes the direction of the transmission of an electromagnetic wave from an electromagnetic wave generating device. A first driving device operates for repetitively driving the electromagnetic wave generating device a plurality of times per one period of the change of the direction by the scanning device, and thereby for repetitively transmitting a distance measurement electromagnetic wave. A second driving device operates for, before the first driving device drives the electromagnetic wave generating device, driving the electromagnetic wave generating device and thereby transmitting a judgment electromagnetic wave having an energy smaller than that of the distance measurement electromagnetic wave.

Abstract: A distance measurement apparatus includes a transmitting device for transmitting a forward electromagnetic wave. A receiving device operates for receiving an echo wave caused by reflection of the forward electromagnetic wave at an object, and converting the received echo wave into a first received signal. A scattered-wave detecting device operates for detecting a scattered wave reaching the receiving device and caused by reflection of the forward electromagnetic wave at an obstacle which occurs prior to the reflection of the forward electromagnetic wave at the object. A cancel-signal generating device operates for generating a cancel signal to cancel a scattered-wave-corresponding component of the first received signal generated by the receiving device in response to the scattered wave detected by the scattered-wave detecting device.

Abstract: Height-wise positions of objects are detected on the basis of distances to the objects from a vehicle, angles of the objects in a width-wise direction of the vehicle, and angles of the objects in a height-wise direction of the vehicle. A plurality of objects, which satisfy conditions predetermined depending on physical characteristics of delineators, are determined to be objects composing a delineator group. When the detected height-wise position of an object in the delineator group which is nearest to the vehicle corresponds to a predetermined value or less, the delineator group is determined to be a delineator group on a road surface. A determination is made as to whether each object in the on-road-surface delineator group is a non-delineator in response to conditions of the detected height-wise positions of the objects in the on-road-surface delineator group.

Abstract: A radar device operates for emitting a detection wave ahead of a vehicle, and detecting objects in response to echoes of the emitted detection wave. A reflector detecting device operates for detecting reflectors among the objects detected by the radar device. The detected reflectors are located along a road. A reflector-row extracting device operates for, in cases where there are a plurality of rows of the reflectors detected by the reflector detecting device in one side of the vehicle, extracting one from among the reflector rows. A road-shape recognizing device operates for recognizing a shape of the road on the basis of the reflector row extracted by the reflector-row extracting device.

Abstract: An obstacle recognition system for automotive vehicles is provided which is designed to recognize targets such as preceding vehicles to be tracked by a radar by grouping data elements derived through a scan of a frontal detection range using laser pulses. The system determines the radius of a curve in a road on which a system vehicle is traveling and shifts one of the data elements from which the grouping operation is to be initiated as a function of the radius of the curve, thereby enabling the recognition of the targets without decreasing the control reliability even when the system vehicle is turning the curve.

Abstract: A transmission wave is applied to a predetermined range in a width-wise direction of a vehicle. Objects ahead of the vehicle are recognized on the basis of reflected waves resulting from reflections of the transmission wave. Calculation is made as to a position of each of the objects and also a lane-sameness probability for each of the objects that the object and the subject vehicle are on a same lane. Object information pieces corresponding to the respective objects represent the calculated positions of the objects and the calculated lane-sameness probabilities for the objects. In cases where at least two objects become substantially equal in position, the two objects are recognized as a single object. One is selected from the two objects which relates to a calculated lane-sameness probability equal to or higher than a predetermined value. The single object takes over an object information piece corresponding to the selected object.

Abstract: An object in front of a vehicle is detected. At least one of a steering angle of the vehicle and a yaw rate thereof is detected. First curvature data are generated on the basis of at least one of the detected steering angle and the detected yaw rate. The first curvature data represent a course along which the vehicle will travel. A determination is made as to whether or not the detected object is a stationary object. In cases where the detected object is a stationary object, second curvature data are generated on the basis of the stationary object. The second curvature data represent a course along which the vehicle will travel. The first curvature data and the second curvature data are averaged. Third curvature data are generated in response to a result of the averaging. The third curvature data represent a course along which the vehicle will travel.

Abstract: A transmission wave is applied to a predetermined range in a width-wise direction of a subject vehicle. Objects located ahead of the subject vehicle are recognized on the basis of reflected waves which result from reflections of the transmission wave. The reflected waves are converted into a received signal. Detection is made regarding a variation in an intensity of the received signal along a direction corresponding to the width-wise direction of the subject vehicle. The received signal is separated into a first signal portion and a second signal portion on the basis of the detected signal intensity variation. The first signal portion corresponds to a scattered portion of the transmission wave. The second signal portion corresponds to an unscattered portion of the transmission wave. Objects are recognized on the basis of the second signal portion.

Abstract: The radius of the curvature of the lane on which a subject vehicle is traveling, is calculated in accordance with the turning condition of the subject vehicle and the velocity of the subject vehicle is obtained on the basis of the steering angle, and the yaw rate. An instantaneous probability of the same lane that the recognized object target exists on the same lane is calculated. In this operation, the instantaneous probability is compensated. That is, the road shape is recognized with delineator or the like. The instantaneous probability of the same lane is compensated on the basis of the recognized road shape. The probability of the same lane is calculated after a predetermined filtering process with the compensated instantaneous probability of the same lane. The preceding vehicle is selected on the basis of the probability of the same lane.