{
  "$type": "site.standard.document",
  "description": "A vehicle travel assistance apparatus includes a traveling environment information acquiring unit, a preceding vehicle recognizing unit, a vehicle shadow detector, a front vehicle shadow determining unit, and a second preceding vehicle estimating unit. The vehicle shadow detector detects a vehicle…",
  "path": "/patents/1302165",
  "publishedAt": "2021-10-14T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/04",
    "SUBARU CORPORATION"
  ],
  "textContent": "A vehicle travel assistance apparatus includes a traveling environment information acquiring unit, a preceding vehicle recognizing unit, a vehicle shadow detector, a front vehicle shadow determining unit, and a second preceding vehicle estimating unit. The vehicle shadow detector detects a vehicle shadow of a train of vehicles including a first vehicle shadow of a first preceding vehicle recognized by the preceding vehicle recognizing unit and a front vehicle shadow of a front vehicle traveling in front of the first preceding vehicle based on a brightness difference from a road surface. When the front vehicle shadow determining unit determines that the front vehicle shadow separating from the first vehicle shadow is identified from the vehicle shadow, the second preceding vehicle estimating unit estimates a position of a second preceding vehicle belonging to the train of the vehicles including the first preceding vehicle based on the front vehicle shadow.",
  "title": "VEHICLE TRAVEL ASSISTANCE APPARATUS"
}