Abstract: A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.

Abstract: A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.

Abstract: A traveling environment recognition device capable of accurately recognizing a traveling environment of a vehicle. An occupancy grid map that stores an occupancy probability of each obstacle to traveling of the own vehicle for each cell of the occupancy grid map is generated, and the occupancy probability for each cell is updated according to Bayesian inference. More specifically, for each cell of the occupancy grid map, the occupancy probability calculated from information from a radar device, the occupancy probability calculated from information from a communication device, and the occupancy probability calculated from information from a storage device that stores map data are blended to provide an occupancy probability of the obstacles to traveling of the own vehicle, which leads to more accurate traveling environment recognition.

Abstract: A radar unit emits beams, and receives a reflection beam reflected by an object. A position of the object relative to a vehicle and an attribute of the object are recognized based on the emitted beams and the reflection beam. A coordinate position of the vehicle in an absolute coordinate is calculated based on a traveling amount of the vehicle, and a coordinate position of the object is calculated based on the calculated position of the vehicle and the position of the object relative to the vehicle. A road environment of the vehicle is recognized based on the coordinate positions and the attribute of the object.

Abstract: An object recognition apparatus performs a sweep of a scanned region by transmitting scanning wave beams at respective scan angles and successive timings, derives a received-wave signal strength value and reflection location corresponding to each scan wave beam during the sweep, and assigns a set of mutually adjacent reflection locations as a segment. A corresponding range value of the segment is calculated, expressing an estimated distance of a detected object. A threshold value is derived in accordance with the segment range, a region of the segment in which the signal strength values exceed the threshold value is extracted, and the width of the extracted region is designated as the width of the detected object.

Abstract: A traveling environment recognition device capable of accurately recognizing a traveling environment of a vehicle. An occupancy grid map that stores an occupancy probability of each obstacle to traveling of the own vehicle for each cell of the occupancy grid map is generated, and the occupancy probability for each cell is updated according to Bayesian inference. More specifically, for each cell of the occupancy grid map, the occupancy probability calculated from information from a radar device, the occupancy probability calculated from information from a communication device, and the occupancy probability calculated from information from a storage device that stores map data are blended to provide an occupancy probability of the obstacles to traveling of the own vehicle, which leads to more accurate traveling environment recognition.

Abstract: An object recognition apparatus performs a sweep of a scanned region by transmitting scanning wave beams at respective scan angles and successive timings, derives a received-wave signal strength value and reflection location corresponding to each scan wave beam during the sweep, and assigns a set of mutually adjacent reflection locations as a segment. A corresponding range value of the segment is calculated, expressing an estimated distance of a detected object. A threshold value is derived in accordance with the segment range, a region of the segment in which the signal strength values exceed the threshold value is extracted, and the width of the extracted region is designated as the width of the detected object.

Abstract: An apparatus having a laser radar is used to recognize a pedestrian by detecting a position of reflective objects, mapping the objects in a two-dimensional coordinate system, determining whether the objects are moving, and grouping moving objects closely located with each other. Based on a size of an object group, the pedestrian associated with the object group is accurately recognized.

Abstract: A radar unit emits beams, and receives a reflection beam reflected by an object. A position of the object relative to a vehicle and an attribute of the object are recognized based on the emitted beams and the reflection beam. A coordinate position of the vehicle in an absolute coordinate is calculated based on a traveling amount of the vehicle, and a coordinate position of the object is calculated based on the calculated position of the vehicle and the position of the object relative to the vehicle. A road environment of the vehicle is recognized based on the coordinate positions and the attribute of the object.

Abstract: An apparatus having a laser radar is used to recognize a pedestrian by detecting a position of reflective objects, mapping the objects in a two-dimensional coordinate system, determining whether the objects are moving, and grouping moving objects closely located with each other. Based on a size of an object group, the pedestrian associated with the object group is accurately recognized.

Abstract: A preceding vehicle recognition apparatus detects positions of two reflectors provided on a preceding vehicle from individual received signals each representing a signal reflected by the reflectors. The apparatus further detects position of an area of rear face of the preceding vehicle by integrating a plurality of received signals each representing a signal reflected by the body of the preceding vehicle. Thus, even when only one of the two reflectors is detected or both reflectors cannot be detected, the width of the preceding vehicle can be found. By using the width of the preceding vehicle, it is possible to keep track of the movement of the same preceding vehicle with a high degree of reliability.

Abstract: A preceding vehicle recognition apparatus detects positions of two reflectors provided on a preceding vehicle from individual received signals each representing a signal reflected by the reflectors. The apparatus further detects position of an area of rear face of the preceding vehicle by integrating a plurality of received signals each representing a signal reflected by the body of the preceding vehicle. Thus, even when only one of the two reflectors is detected or both reflectors cannot be detected, the width of the preceding vehicle can be found. By using the width of the preceding vehicle, it is possible to keep track of the movement of the same preceding vehicle with a high degree of reliability.

Abstract: Automatic acceleration/deceleration control for an automotive vehicle is provided which may be used in an automatic deceleration system and a vehicle-to-obstacle distance control system.The automatic acceleration/deceleration control determines a brake pressure control command when decelerating the vehicle based on a deceleration difference between a target deceleration and an actual deceleration of the vehicle and adjusts the brake pressure acting on a wheel of the vehicle in response to the brake pressure control command to decelerate the vehicle so that the actual deceleration agrees with the target deceleration. The automatic acceleration/deceleration control further corrects the brake pressure control command by modifying the deceleration difference for compensating for a time delay between output of the brake pressure control command and a time when the vehicle is actually decelerated.

Abstract: A distance measuring system for an automotive vehicle is provided. The distance measuring system outputs laser pulse signals at given angular intervals over an object detectable zone, and receives a signal produced by reflection of one of the outputted signals from a reflective object to determine the distance to the object. The distance measuring system also includes an object type determining function of determining a type of the object present in the object detectable zone. When there are a plurality of signals produced by dispersion of a single shot of the laser pulse signals, and when distances derived by signals reflected from most of the object detectable zone show given shorter distance values, the object present in the object detectable zone is identified as a particle such as snow or fog floating in the air.