Vehicle traveling control apparatus
A vehicle traveling control apparatus for a vehicle identifies a mobile object as a crossing mobile object if the supplementary angle of the angle formed between the velocity vector of the mobile object and the traveling direction of the vehicle is greater than a threshold. In a case where the supplementary angle was equal to or less than the threshold before the identification as the crossing mobile object and where a lateral position of the crossing mobile object is equal to or less than a distance threshold at the time of the identification, or in a case where the size of the crossing mobile object has been less than a predetermined value for a predetermined period of time or longer and where the lateral position is equal to or less than the distance threshold at the time of the identification, the crossing mobile object is excluded from emergency braking targets.
1. A vehicle traveling control apparatus to be applied to a vehicle, the vehicle traveling control apparatus comprising:
a radar device configured to detect a mobile object in every predetermined frame cycle;
a mobile object recognizing unit configured to recognize an approach of the mobile object to the vehicle;
a crossing mobile object identifying unit configured to
calculate a velocity vector of the mobile object on a basis of a moving direction of the mobile object measured in a number of latest frames previously set, and
identify the mobile object as a crossing mobile object in a case where a supplementary angle of an angle formed by the velocity vector with respect to a traveling direction of the vehicle is greater than a predetermined angle threshold;
an emergency brake controlling unit configured to execute emergency braking to stop the vehicle in a case where there is a possibility of contact between the crossing mobile object and the vehicle; and
an exclusion determining unit configured to exclude the crossing mobile object from control targets of the emergency braking in a case where the supplementary angle of the angle formed by the velocity vector of the mobile object was equal to or less than the predetermined angle threshold before the mobile object is identified as the crossing mobile object and where a lateral position of the crossing mobile object with respect to the vehicle is equal to or less than a predetermined distance threshold at time the mobile object is identified as the crossing mobile object, or in a case where a size of the mobile object identified as the crossing mobile object has been maintained less than a predetermined value for a predetermined period of time or longer and where the lateral position of the crossing mobile object with respect to the vehicle is equal to or less than the predetermined distance threshold at the time the mobile object is identified as the crossing mobile object.
2. The vehicle traveling control apparatus according to claim 1 , wherein
the exclusion determining unit is configured to refrain from making a determination as to whether the crossing mobile object is to be excluded after the emergency braking is executed by the emergency brake controlling unit.
3. A vehicle traveling control apparatus to be applied to a vehicle, the vehicle traveling control apparatus comprising circuitry configured to
recognize, on a basis of information received from a radar device configured to detect a mobile object in every predetermined frame cycle, an approach of the mobile object to the vehicle,
calculate a velocity vector of the mobile object on a basis of a moving direction of the mobile object measured in a number of latest frames previously set,
identify the mobile object as a crossing mobile object in a case where a supplementary angle of an angle formed by the velocity vector with respect to a traveling direction of the vehicle is greater than a predetermined angle threshold,
execute emergency braking to stop the vehicle in a case where there is a possibility of contact between the crossing mobile object and the vehicle, and
exclude the crossing mobile object from control targets of the emergency braking in a case where the supplementary angle of the angle formed by the velocity vector of the mobile object was equal to or less than the predetermined angle threshold before the mobile object is identified as the crossing mobile object and where a lateral position of the crossing mobile object with respect to the vehicle is equal to or less than a predetermined distance threshold at time the mobile object is identified as the crossing mobile object, or in a case where a size of the mobile object identified as the crossing mobile object has been maintained less than a predetermined value for a predetermined period of time or longer and where the lateral position of the crossing mobile object with respect to the vehicle is equal to or less than the predetermined distance threshold at the time the mobile object is identified as the crossing mobile object.