US 12,227,174 B2
Vehicle traveling control apparatus
Hideki Sugawara, Tokyo (JP); Takahiro Furuya, Tokyo (JP); Anfen Ye, Tokyo (JP); Kazuki Yamaguchi, Tokyo (JP); Wataru Matsudate, Tokyo (JP); Hayato Hori, Tokyo (JP); Takayuki Sato, Tokyo (JP); and Ryo Nakagawa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jan. 3, 2023, as Appl. No. 18/149,266.
Claims priority of application No. 2022-007411 (JP), filed on Jan. 20, 2022; and application No. 2022-200352 (JP), filed on Dec. 15, 2022.
Prior Publication US 2023/0227029 A1, Jul. 20, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/095 (2013.01); B60W 2510/18 (2013.01); B60W 2554/4049 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A vehicle traveling control apparatus to be applied to a vehicle, the vehicle traveling control apparatus comprising:
a sensor configured to radiate a signal wave from the vehicle toward a surrounding region of the vehicle, receive a reflected signal wave of the radiated signal wave, and thereby perform detection of a target in the surrounding region of the vehicle at every measurement cycle; and
a traveling control processor configured to control traveling of the vehicle when a possibility that the target detected by the sensor and the vehicle come into contact with each other is determined as being present, wherein
the traveling control processor configured to function as
an identification unit configured to identify whether the target detected by the sensor is a ghost or a real object based on results of the detection for a first number of measurement cycles, and when the target is identified as the real object and where the possibility that the target and the vehicle come into contact with each other is determined as being present, cause a first traveling control to be executed, the first number being two or greater, and
a tentative identification calculation unit configured to determine whether the target detected by the sensor is the ghost or the real object based on results of the detection for a second number of measurement cycles, and when the target is determined as the ghost and the possibility that the target and the vehicle come into contact with each other is determined as being present, cause a second traveling control to be executed, the second number being less than the first number, the second traveling control being different from the first traveling control.