Abstract: A preceding vehicle selection apparatus estimates a curvature of a traveling road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead. Based on the estimated curvature and the determined relative position, an own vehicle lane probability instantaneous value for each object ahead is repeatedly determined. An own vehicle lane probability is determined by performing a filter calculation on the calculated own vehicle lane probability instantaneous value. Based on the determined own vehicle lane probability, a preceding vehicle is selected. Characteristics of the filter calculation are set such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.

Abstract: A preceding vehicle selection apparatus detects an object ahead of the own vehicle, and determines a relative position and a relative speed in relation to the own vehicle for each object ahead. Based on detection results of the object ahead, a lateral movement speed of the object ahead is determined. Based on the calculated lateral movement speed, the lateral position of the object ahead with reference to a traveling direction of the own vehicle is corrected. Based on the relative position of the object ahead of which the lateral position has been corrected, an own vehicle lane probability for each object ahead is calculated. Based on the calculated probability, a preceding vehicle from the objects ahead is selected. Based on a distance to the object ahead, the lateral position of the object ahead is corrected such that an amount of correction in the lateral position decreases as the distance increases.

Abstract: A preceding vehicle selection apparatus estimates a curvature of a road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle. Based on the curvature and the relative position, an own vehicle lane probability instantaneous value is determined. This instantaneous value is a probability of the object ahead being present in the same vehicle lane as the own vehicle. By a filter calculation on the instantaneous value, an own vehicle lane probability is determined. Based on the own vehicle lane probability, a preceding vehicle is selected. An inter-vehicle time required for the own vehicle to reach a detection position of the object ahead is calculated. Based on the inter-vehicle time, characteristics of the filter calculation are changed such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases.

Abstract: An apparatus that detects creeping of radar waves includes: a transmitter transmitting radar waves; a receiver receiving incoming waves from a target; a distance detecting unit detecting a first distance which is a distance up to the target; a speed derivation unit deriving a relative speed relative to the target; a distance estimating unit estimating, based on the relative speed, a second distance which is a distance up to the target; and a creeping detecting unit determining whether or not a creeping has occurred in accordance with whether or not the differential distance representing a deviation quantity between the first distance and the second distance is larger than or equal to a predetermined threshold.

Abstract: When a vehicle runs along a curved path, successive values of a speed limit are calculated based on the yaw rate of the vehicle, and values of acceleration demand are calculated and applied to control the actual vehicle speed based on the speed limit. If commencement of oscillation of the yaw rate and acceleration demand is detected, due to running along the curved path, guard processing is applied to the values of speed limit used to calculate the acceleration demand or is applied to the acceleration demand, such as to prevent the acceleration demand from varying in a direction that would increase the speed limit. Instability of deceleration control due to the oscillation is thereby substantially suppressed.

Abstract: A control request arbitration apparatus of a vehicle includes respective sections for selecting one of a plurality of position control requests generated by control request apparatuses, for converting the selected position control request to a converted speed control request, for selecting one of a plurality of speed control requests including the converted speed control request, for converting the selected speed control request to a converted acceleration control request, and for selecting one of a plurality of acceleration control requests including the converted acceleration control request. Since position/acceleration and speed/acceleration conversion sections become unnecessary in control request apparatuses, the total of these sections becomes independent of the number of control request apparatuses.

Abstract: A control request arbitration apparatus of a vehicle includes respective sections for selecting one of a plurality of position control requests generated by control request apparatuses, for converting the selected position control request to a converted speed control request, for selecting one of a plurality of speed control requests including the converted speed control request, for converting the selected speed control request to a converted acceleration control request, and for selecting one of a plurality of acceleration control requests including the converted acceleration control request. Since position/acceleration and speed/acceleration conversion sections become unnecessary in control request apparatuses, the total of these sections becomes independent of the number of control request apparatuses.