JP4555699B2 - Leading vehicle recognition device - Google Patents

Description

  The present invention includes an object detection means for detecting an object in the traveling direction of the own vehicle, a yaw rate sensor for detecting the yaw rate of the own vehicle, a vehicle speed sensor for detecting the vehicle speed of the own vehicle, and a yaw rate and a vehicle speed sensor detected by the yaw rate sensor. Predicted trajectory estimating means for estimating the predicted trajectory of the own vehicle based on the detected vehicle speed, and preceding vehicle recognition means for recognizing the preceding vehicle based on the detection result of the object detecting means and the estimated result of the predicted trajectory estimating means. The present invention relates to a preceding vehicle recognition device.

  In an ACC (Adaptive Cruise Control) system or the like, a control target area having a predetermined width is set on both the left and right sides of the future predicted trajectory of the host vehicle, and the host vehicle follows the preceding vehicle existing in the control target area. It is recognized as a control target. This control target region is set as a belt-like region in which a future predicted trajectory of the host vehicle is estimated from the vehicle speed and yaw rate of the host vehicle, and a predetermined width is added to both the left and right sides of the predicted trajectory.

Japanese Patent Application Laid-Open No. 2004-228561 describes a technique that corrects the output of the yaw rate sensor and outputs a correct neutral value when the vehicle is traveling straight by using an average value obtained by detecting the output of the yaw rate sensor over a predetermined time. ing.
Japanese Patent No. 3164672

  Incidentally, the yaw rate detected by the yaw rate sensor is inevitably affected by noise and temperature drift, and the yaw rate may be erroneously detected as shown in FIG. 9 even though the vehicle is traveling straight ahead. is there. As a result, as shown in FIG. 10 (A), the vehicle is traveling in a straight line and the predicted trajectory should be a straight line. However, as shown in FIG. 10 (B), the predicted trajectory is curved due to erroneous detection of the yaw rate. There is a possibility that the preceding vehicle in the adjacent lane may be erroneously detected as the control object instead of the preceding vehicle in the own lane that is the original control target.

  Further, the device described in Patent Document 1 has a problem that a predetermined time is required for correction because it is necessary to calculate the time average value of the yaw rate in order to correct the output of the yaw rate sensor.

  The present invention has been made in view of the above-described circumstances. By correcting the future predicted trajectory of the own vehicle by compensating for the output error of the yaw rate sensor, the preceding vehicle to be controlled can be accurately recognized. For the purpose.

In order to achieve the above object, according to the first aspect of the present invention, an object detecting means for detecting an object in the traveling direction of the own vehicle, a yaw rate sensor for detecting the yaw rate of the own vehicle, and the vehicle speed of the own vehicle are obtained. A vehicle speed sensor to detect, a prediction trajectory estimation means for estimating a predicted trajectory of the host vehicle based on a yaw rate detected by the yaw rate sensor and a vehicle speed detected by the vehicle speed sensor, a detection result of the object detection means, and an estimation result of the prediction trajectory estimation means A preceding vehicle recognition device comprising a preceding vehicle recognition means for recognizing a preceding vehicle based on the position of the plurality of preceding vehicles recognized by the preceding vehicle recognition means and the estimation result of the prediction trajectory estimation means. comprising the predicted trajectory compensation constant means for correcting the estimated track of the preceding vehicle detection means, among the plurality of the preceding vehicle detected by the object detecting means, to the prediction locus estimator Recognizing a preceding vehicle within a predetermined distance in the left-right direction from the estimated trajectory of the own vehicle, and the predicted trajectory correcting means selects at least two of the recognized preceding vehicles as determination reference vehicles, When it is determined that each determination reference vehicle is traveling in an adjacent lane based on the deviation amount of the left-right direction position of the determination reference vehicle with respect to the own vehicle position, Based on the relative distance from the vehicle, the intermediate position of each judgment reference vehicle is calculated, and by comparing the predicted trajectory of the own vehicle with the intermediate position, which side of the intermediate position the predicted trajectory of the own vehicle is located is determined. A preceding vehicle recognition device is proposed that makes a determination and corrects the predicted trajectory of the host vehicle so as to pass a point that has moved a predetermined distance from the intermediate position to the determined side .

According to the invention described in claim 2 , the object detecting means for detecting an object in the traveling direction of the own vehicle, the yaw rate sensor for detecting the yaw rate of the own vehicle, the vehicle speed sensor for detecting the vehicle speed of the own vehicle, and the yaw rate Predicted trajectory estimation means for estimating the predicted trajectory of the host vehicle based on the yaw rate detected by the sensor and the vehicle speed detected by the vehicle speed sensor, and the preceding vehicle is recognized based on the detection result of the object detection means and the estimation result of the predicted trajectory estimation means In the preceding vehicle recognition device comprising the preceding vehicle recognition means, the prediction for correcting the predicted trajectory of the own vehicle based on the positions of the plurality of preceding vehicles recognized by the preceding vehicle recognition means and the estimation result of the predicted trajectory estimation means. comprising a trajectory correction constant means, the preceding vehicle detection means, among the plurality of the preceding vehicle detected by the object detecting means, the vehicle of the pre-estimated by the anticipated course estimation means While recognizing a preceding vehicle within a predetermined distance in the left-right direction from the trajectory, the predicted trajectory correcting means selects at least two of the recognized preceding vehicles as determination reference vehicles, and own vehicles of these determination reference vehicles When it is determined that each determination reference vehicle is traveling in a lane that sandwiches the own vehicle travel lane based on the deviation amount of the left and right direction position relative to the position, the left and right position of each determination reference vehicle A preceding vehicle recognition device is proposed , which calculates an intermediate position of each determination reference vehicle based on the relative distance and corrects the predicted trajectory of the own vehicle so as to pass through the intermediate position .

According to the invention described in claim 3 , in addition to the configuration of claim 1 or claim 2 , the predicted trajectory correction unit is configured to adjust the deviation amount of the selected horizontal position of the plurality of determination reference vehicles. When it is determined that each determination reference vehicle is traveling in the same lane, the vehicle closest to the host vehicle is excluded from the determination reference vehicle, and then the plurality of determination reference vehicles are selected again. A preceding vehicle recognition device is proposed.

According to the invention described in claim 4 , in addition to the configuration of claim 1 or claim 2 , the predetermined distance in the left-right direction in which the preceding vehicle recognition means recognizes the preceding vehicle has a lane width of approximately 1. A preceding vehicle recognition device is proposed that is characterized by a width that is five times larger.

According to the invention described in claim 5, in addition to any of item 1 arrangement of claims 1 to 4, wherein the predicted trajectory correction means, among the recognized preceding vehicle, from the vehicle A preceding vehicle recognition device is proposed, wherein at least two vehicles having a relative distance within a predetermined value are selected as the determination reference vehicles.
According to the invention described in claim 6, in addition to any one of claims 1 to 4, wherein the predicted trajectory correction means relative to the vehicle among the recognized preceding vehicle A preceding vehicle recognition device is proposed in which two vehicles having the smallest distance are selected as the determination reference vehicles.

  The radar device 14 of the embodiment corresponds to the object detection means of the present invention.

  According to the configuration of the first aspect, the predicted trajectory estimation unit estimates the predicted trajectory of the own vehicle based on the yaw rate detected by the yaw rate sensor and the vehicle speed detected by the vehicle speed sensor, and the detection result of the object detection unit and the predicted trajectory estimation unit Based on the estimation result, the preceding vehicle recognition means recognizes a plurality of preceding vehicles, and the predicted trajectory correction means corrects the predicted trajectory of the own vehicle based on the positions of the plurality of preceding vehicles and the estimation result of the prediction trajectory estimation means. Therefore, even if the predicted locus is erroneously estimated due to the output error of the yaw rate sensor, the preceding vehicle to be controlled can be correctly recognized by correcting the predicted locus in the correct direction.

In addition, when it is determined that each determination reference vehicle is traveling in an adjacent lane based on the deviation amount of the left-right position with respect to the own vehicle position of at least two determination reference vehicles, the left-right position of each determination reference vehicle Based on the vehicle and the relative distance from the host vehicle, the intermediate position of the determination reference vehicle (that is, the boundary position between adjacent lanes) is calculated, and the predicted track of the host vehicle is compared with the predicted track of the host vehicle and the intermediate position. Is determined to be on the intermediate position, and the predicted trajectory of the vehicle is corrected so as to pass through a point that has moved from the intermediate position by a predetermined distance (for example, half of the lane width) to the determined side. Even if the predicted trajectory is erroneously estimated due to the output error of the yaw rate sensor, the predicted trajectory can be corrected with high accuracy.

According to the configuration of claim 2 , the predicted trajectory estimation means estimates the predicted trajectory of the own vehicle based on the yaw rate detected by the yaw rate sensor and the vehicle speed detected by the vehicle speed sensor, and the detection result of the object detection means and the predicted trajectory estimation means Based on the estimation result, the preceding vehicle recognition means recognizes a plurality of preceding vehicles, and the predicted trajectory correction means corrects the predicted trajectory of the own vehicle based on the positions of the plurality of preceding vehicles and the estimation result of the prediction trajectory estimation means. Therefore, even if the predicted locus is erroneously estimated due to the output error of the yaw rate sensor, the preceding vehicle to be controlled can be correctly recognized by correcting the predicted locus in the correct direction.

In addition, if it is determined that each determination reference vehicle is traveling in a lane that sandwiches the own vehicle travel lane based on the deviation amount of the lateral position relative to the own vehicle position of the determination reference vehicle, Based on the position in the left-right direction of the vehicle and the relative distance from the own vehicle, the intermediate position of each judgment reference vehicle (that is, the center position of the vehicle lane) is calculated, and the own vehicle is predicted to pass through the intermediate position. Since the trajectory is corrected, even if the predicted trajectory is erroneously estimated due to the output error of the yaw rate sensor, the predicted trajectory can be accurately corrected.

According to the configuration of claim 3 , when it is determined that a plurality of determination reference vehicles are traveling in the same lane, the boundary position between adjacent lanes is calculated even if the intermediate position of the determination reference vehicles is calculated. It is not possible to correct the predicted trajectory of the own vehicle by eliminating the above-mentioned problems by selecting a plurality of judgment reference vehicles again after excluding the vehicle closest to the own vehicle from the reference vehicle. Can do.

According to the configuration of the fourth aspect , since the predetermined distance in the left-right direction in which the preceding vehicle recognition means recognizes the preceding vehicle is set to a width that is approximately 1.5 times the lane width, three lanes including the own vehicle traveling lane are selected. Can be recognized.

According to the configuration of the fifth aspect , among the recognized preceding vehicles, at least two vehicles having a relative distance from the own vehicle within a predetermined value are selected as the determination reference vehicles. It is possible to select a determination reference vehicle having a high detection accuracy by and to accurately correct the predicted trajectory of the own vehicle.

According to the configuration of the sixth aspect , since two of the recognized preceding vehicles having the smallest relative distance from the own vehicle are selected as the determination reference vehicles, the detection accuracy by the object detection means is the highest near the own vehicle. By selecting the determination reference vehicle, the predicted trajectory of the host vehicle can be corrected with higher accuracy.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 8 show an embodiment of the present invention. FIG. 1 is a block diagram of a control system of an ACC system. FIGS. 5 to 8 are first to fourth partial views of the operation explanatory diagram.

  As shown in FIG. 1, an ACC (adaptive cruise) that keeps a preset inter-vehicle distance and follows the preceding vehicle when there is a preceding vehicle, and runs at a constant speed at a preset vehicle speed when there is no preceding vehicle. The control system includes a predicted trajectory estimation unit M1, a control target area setting unit M2, a preceding vehicle recognition unit M3, a predicted trajectory correction unit M4, a control target value determination unit M5, and a vehicle control unit M6. .

  A vehicle speed sensor 11 and a yaw rate sensor 12 are connected to the predicted trajectory estimation means M1, a radar device 14 is connected to the preceding vehicle recognition means M3, and a display 15, a deceleration actuator 16 and an acceleration actuator 17 are connected to the vehicle control means M6. Is done.

  The predicted trajectory estimation means M1 estimates the future predicted trajectory of the host vehicle based on the vehicle speed detected by the vehicle speed sensor 11 and the yaw rate of the host vehicle detected by the yaw rate sensor 12. That is, by calculating the turning radius of the host vehicle from the current vehicle speed and yaw rate, and connecting the arc of the turning radius with the current traveling direction of the host vehicle, a future predicted trajectory of the host vehicle can be estimated.

  The control target area setting unit M2 has a width obtained by adding a predetermined width (5.4 m in the embodiment) to the left and right sides of the future predicted trajectory of the host vehicle estimated by the predicted trajectory estimating unit M1, and the front of the host vehicle. A belt-like control target region having a length up to a predetermined distance (100 m in the embodiment) is set. The predetermined width of 5.4 m corresponds to 1.5 times the lane width of 3.6 m, and thus the width of the control target area corresponds to the width of the three lanes. The predetermined distance of 100 m corresponds to a distance at which the radar device 14 can reliably detect the preceding vehicle.

  The preceding vehicle recognition unit M3 determines, as a control target, any preceding vehicle that exists in the control target region set by the control target region setting unit M2 among the plurality of preceding vehicles detected by the radar device 14.

  The predicted trajectory correction means M4 is for correcting the estimation error of the predicted trajectory caused by the error in the yaw rate detected by the yaw rate sensor 12, and includes a determination reference vehicle selection unit, a right and left position of the determination reference vehicle, and a distance data calculation unit. , An intermediate position calculation unit, a position comparison unit, and a correction value output unit. The function of the predicted trajectory correction unit M4 will be described in detail later.

  The control target value determining means M5 determines a target vehicle speed, a target acceleration / deceleration, a target inter-vehicle distance, etc., which are parameters for causing the host vehicle to follow the controlled vehicle. Then, the vehicle control means M6 drives the deceleration actuator 16 and the acceleration actuator 17 based on the control target value determined by the control target value determination means M5, and opens and closes the throttle valve or operates the brake device to follow the traveling control. In addition to executing the constant speed running control, the current control state of the vehicle is displayed on the display 15 to notify the driver.

  Next, the function of the predicted trajectory correction means M4 will be described based on the flowcharts of FIGS. 2 to 4 and the operation explanatory diagrams of FIGS.

  First, a target (preceding vehicle) is detected by the radar device 14 in step S1, and a future predicted trajectory of the own vehicle is estimated from the yaw rate and vehicle speed in step S2 (see FIG. 5A). In the following step S3, a control target area having a width of 5.4 m is set on each of the left and right sides of the predicted trajectory and 100 m ahead of the own vehicle, and two or more preceding vehicles exist in the control target area. It is determined whether or not to do. If two or more preceding vehicles do not exist in the control target area in step S3, they exist in the preceding vehicle recognition range corresponding to the lane width having a width of 1.8 m on each of the left and right sides of the predicted trajectory in step S4. The preceding vehicle to be controlled (if present) is set as the control target preceding vehicle, and information on the control target preceding vehicle (information set by the control target value setting means M5) is output to the vehicle control means M6 in step S5.

  When there are two or more preceding vehicles in the control target area in step S3, for example, as shown in FIG. 5B, there are three preceding cars A, B, and C in the control target area. In step S6, among the three preceding vehicles A, B, and C, the two preceding vehicles A and B are selected as the determination reference vehicles from the side closer to the own vehicle. The selection of the determination reference vehicles A and B is performed by the determination reference vehicle selection unit of the predicted trajectory correction means M4, and the position data and distance data of the two determination reference vehicles A and B are calculated by the predicted trajectory correction means. This is performed in the position data and distance data calculation unit of the determination reference vehicle of M4.

  In this way, among the plurality of preceding vehicles existing in the control target area, the two vehicles whose relative distance from the own vehicle is within a predetermined value and closest to the own vehicle are selected as the determination reference vehicles A and B. Therefore, it is possible to accurately detect the positions of the determination reference vehicles A and B by the radar device 14 and correct the predicted trajectory described later with high accuracy.

  In the following step S7, if the position difference in the left-right direction between the two determination reference vehicles A and B is 2.8 m or less, the two determination reference vehicles A and B are traveling in the same lane in step S8. In step S9, the preceding vehicle A closest to the host vehicle is deleted from the determination reference vehicle among the two determination reference vehicles A and B, and the process returns to step S3.

  In this way, when the two determination reference vehicles A and B are traveling in the same lane, the intermediate position (detailed later) of the two determination reference vehicles A and B is calculated. Since the position of the white line between the adjacent lanes cannot be detected, it cannot be used for correcting the predicted trajectory. Therefore, the prediction trajectory described later can be corrected with high accuracy by deleting the determination reference vehicle closest to the own vehicle and selecting two new determination reference vehicles A and B existing in different lanes.

  When calculating the intermediate position between the two judgment reference vehicles A and B, the smaller the distance in the front-rear direction between the two judgment reference vehicles A and B (the parallel running state is most desirable), the calculation accuracy is higher. However, as described above, by deleting the determination reference vehicle closest to the host vehicle and selecting two new determination reference vehicles A and B existing in different lanes, two new determination criteria The possibility that the distance in the front-rear direction between the vehicles A and B is reduced can be increased.

  In step S7, the position difference in the left-right direction of the two determination reference vehicles A and B exceeds 2.8 m, and in step S10, the position difference in the left-right direction of the two determination reference vehicles A and B is 6. If it is 0 m or less, it is determined in step S11 that the two determination reference vehicles A and B are traveling in adjacent lanes (see FIG. 5C).

  In the subsequent step S12, the intermediate position of the two determination reference vehicles A and B is calculated (see FIG. 6D), and if the predicted locus is on the right side of the intermediate position in step S13 (see FIG. 6E). In step S14, the left and right positions of the predicted trajectory on the same distance data as the intermediate position are corrected by 1.8 m (half the lane width) to the right from the intermediate position (see FIG. 6F). Conversely, if the predicted trajectory is on the left side of the intermediate position in step S13, the left and right positions of the predicted trajectory on the same distance data as the intermediate position are set to 1.8 m (lane width) from the intermediate position to the left side in step S15. Half) Correct.

  In step S16, a new predicted trajectory is calculated so as to pass through the right and left positions of the corrected predicted trajectory (see FIG. 7G). In step S17, 1.8 m is added to each of the left and right sides of the new predicted trajectory. A preceding vehicle (if any) present in the preceding vehicle recognition range corresponding to the width of the lane having the width is set as the preceding vehicle to be controlled (see FIG. 7H), and information on the preceding vehicle to be controlled is output in step S18. To do.

  The predicted trajectory can be corrected in this way for the following reason. That is, the intermediate position between the two judgment reference vehicles A and B traveling in adjacent lanes becomes the white line position at the boundary between the adjacent lanes, but the predicted trajectory of the own vehicle is changed from the position of the white line to the lane width 3. This is because by correcting by 1.8 m which is half of 6 m, the predicted trajectory can be corrected along the traveling lane of the own vehicle and the output error of the yaw rate sensor 12 can be compensated.

  On the other hand, if the position difference in the left-right direction of the two determination reference vehicles A and B exceeds 6.0 m in step S10, the two determination reference vehicles A and B change their lanes in step S19. It is determined that the vehicle is traveling on both lanes. In step S20, an intermediate position between the two determination reference vehicles A and B is calculated, and in step S21, the left and right positions of the predicted locus on the same distance data as the intermediate position are corrected to the intermediate position (FIG. 8I). reference). In a subsequent step S22, a new predicted trajectory is calculated so as to pass through the left and right positions of the corrected predicted trajectory, and in step S23, a preceding lane width equivalent having a width of 1.8 m on each of the left and right sides of the new predicted trajectory. The preceding vehicle existing in the vehicle recognition range (if present) is set as the preceding vehicle to be controlled, and information on the preceding vehicle to be controlled is output in step S24.

  The predicted trajectory can be corrected in this way for the following reason. That is, the intermediate position of the two judgment reference vehicles A and B traveling on both the left and right lanes sandwiching the lane of the own vehicle will be the center position of the lane of the own vehicle, so the predicted trajectory is two. This is because the output error of the yaw rate sensor 12 can be compensated by correcting the vehicle so that it passes through an intermediate position between the determination reference vehicles A and B.

  The calculation of the intermediate position is performed in the intermediate position calculation unit of the predicted trajectory correction unit M4, the position comparison between the intermediate position and the predicted trajectory is performed in the position comparison calculation unit of the predicted trajectory correction unit M4, and Output of the correction values for the left and right positions is performed in the correction value output unit of the predicted trajectory correction means M4.

  According to the present embodiment, in addition to the above-described effects, the following additional effects can be obtained. That is, as shown in FIG. 8 (J), the yaw rate is not detected during straight running immediately before the host vehicle enters the corner, so the predicted trajectory is linear, but the road ahead of the host vehicle is curved. In addition, the predicted trajectory may become inconsistent with the actual travel trajectory on the corner. However, since the positional relationship between the determination reference vehicles A and B and the predicted trajectory is the same as that in FIG. 6E described above, the determination that the predicted trajectory is corrected along the direction of the corner and is present in the own lane. It is possible to reliably determine the reference vehicle B as the control subject preceding vehicle.

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  For example, although the ACC system has been described in the embodiment, the present invention can be applied to a preceding vehicle recognition device for a vehicle for any use other than the ACC system.

ACC system control system block diagram First part of the flowchart explaining the operation Second part of the flowchart explaining the operation Third part of the flowchart explaining the operation First part of the action diagram Second diagram of action explanatory diagram 3rd partial diagram of action explanation 4th figure of action explanation Graph showing the output of the yaw rate sensor when the vehicle is running straight The figure explaining the influence of the output error of the yaw rate sensor

11 Vehicle speed sensor 12 Yaw rate sensor 14 Radar device (object detection means)
M1 Predicted trajectory estimating means M3 Preceding vehicle recognizing means M4 Predicted trajectory correction determining means

Claims (6)

Object detection means (14) for detecting an object in the traveling direction of the vehicle;
A yaw rate sensor (12) for detecting the yaw rate of the vehicle;
A vehicle speed sensor (11) for detecting the speed of the host vehicle;
A predicted trajectory estimating means (M1) for estimating a predicted trajectory of the host vehicle based on the yaw rate detected by the yaw rate sensor (12) and the vehicle speed detected by the vehicle speed sensor (11);
Preceding vehicle recognition means (M3) for recognizing a preceding vehicle based on the detection result of the object detection means (14) and the estimation result of the predicted trajectory estimation means (M1);
In the preceding vehicle recognition device equipped with
Provided with a predicted trajectory correcting means (M4) for correcting the predicted trajectory of the own vehicle based on the positions of the plurality of preceding vehicles recognized by the preceding vehicle recognizing means (M3) and the estimation result of the predicted trajectory estimating means (M1) ;
The preceding vehicle recognition means (M3) is a predetermined distance in the left-right direction from the predicted trajectory of the host vehicle estimated by the predicted trajectory estimation means (M1) among the plurality of preceding vehicles detected by the object detection means (14). While recognizing the preceding car inside,
The predicted trajectory correction means (M4) selects at least two of the recognized preceding vehicles as the determination reference vehicles, and makes each determination based on the deviation amount of the left and right direction positions of these determination reference vehicles with respect to the own vehicle position. When it is determined that the reference vehicle is traveling in an adjacent lane, the intermediate position of each determination reference vehicle is calculated based on the horizontal position of each determination reference vehicle and the relative distance from the host vehicle, By comparing the predicted trajectory of the host vehicle and the intermediate position, it is determined which side of the predicted trajectory of the host vehicle is located at the intermediate position, and a point moved by a predetermined distance from the intermediate position is passed to the determined side. A preceding vehicle recognition device characterized by correcting the predicted trajectory of the vehicle. And object detecting means (14) for detecting an object in the vehicle traveling direction,
A yaw rate sensor (12) for detecting the yaw rate of the vehicle;
A vehicle speed sensor (11) for detecting the speed of the host vehicle;
A predicted trajectory estimating means (M1) for estimating a predicted trajectory of the host vehicle based on the yaw rate detected by the yaw rate sensor (12) and the vehicle speed detected by the vehicle speed sensor (11);
Preceding vehicle recognition means (M3) for recognizing a preceding vehicle based on the detection result of the object detection means (14) and the estimation result of the predicted trajectory estimation means (M1);
In the preceding vehicle recognition device equipped with
Provided with a predicted trajectory correcting means (M4) for correcting the predicted trajectory of the own vehicle based on the positions of the plurality of preceding vehicles recognized by the preceding vehicle recognizing means (M3) and the estimation result of the predicted trajectory estimating means (M1) ;
The preceding vehicle recognition means (M3) is a predetermined distance in the left-right direction from the predicted trajectory of the host vehicle estimated by the predicted trajectory estimation means (M1) among the plurality of preceding vehicles detected by the object detection means (14). While recognizing the preceding car inside,
The predicted trajectory correction means (M4) selects at least two of the recognized preceding vehicles as the determination reference vehicles, and makes each determination based on the deviation amount of the left and right direction positions of these determination reference vehicles with respect to the own vehicle position. When it is determined that the reference vehicle is traveling in a lane with the own vehicle lane in between, the intermediate position of each determination reference vehicle is determined based on the lateral position of each determination reference vehicle and the relative distance from the own vehicle. A preceding vehicle recognition apparatus characterized by calculating a position and correcting a predicted trajectory of the own vehicle so as to pass through the intermediate position . Before SL predicted trajectory correction means (M4), when the criterion vehicle based on the deviation of the position in the lateral direction of the plurality of decision reference vehicle said selected is determined to be traveling on the same lane, the own The preceding vehicle recognition apparatus according to claim 1 or 2 , wherein the plurality of determination reference vehicles are selected again after the vehicle closest to the vehicle is excluded from the determination reference vehicles. Predetermined length of the front SL preceding vehicle recognizing means (M3) is the lateral direction recognizes the preceding vehicle is characterized in that the width was about 1.5 times the lane width, according to claim 1 or claim 2 Preceding vehicle recognition device. Before SL predicted trajectory correction means (M4), of the recognized preceding vehicle, characterized in that the relative distance from the vehicle to select at least two vehicles within a predetermined value as the criterion vehicle, wherein preceding vehicle detection device according to any one of claims 1 to claim 4. Before SL predicted trajectory correction means (M4) is characterized in that the relative distance from the vehicle among the recognized preceding vehicle selects the smallest two as the criterion vehicle, claims 1 to 4 The preceding vehicle recognition apparatus of any one of these.

Images