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• When there is a splashing water, exhaust
gas, water vapor, sand, smokes, dust, etc.
by a preceding vehicle or an oncoming
vehicle.
• When own vehicle changes the lane and
approaches just behind the preceding
vehicle.
• When the preceding vehicle suddenly
steered, accelerate or deceleration.
• When the preceding vehicle has special
shapes such as carrier cars, side car, etc.
• When the last side of the preceding vehicle
is small (such as trailer), low or irregularity
shapes.
• When the glass on the rear side of the
preceding vehicle is large and the scenery
ahead of the preceding vehicle can be
seen.
• When the preceding vehicle is trailer, and
its loading platform is empty.
• When the preceding vehicle cargo is
protruding from the rear end.
• When the preceding vehicle is diagonally
or sideways.
• When the preceding vehicle is low in
height.
• When there is a wall or the like in front of
the preceding stopped vehicle.
• When the preceding vehicle is tilted such
as loading a heavy load.
• When part of the pedestrians (head, limbs,
etc.) are hidden in luggage, umbrella, hat,
etc.
• When the pedestrian is mixed with the
background and the stereo camera
cannot recognize it as a pedestrian.
• When the pedestrian is stooping,
crouching, lying, waving his hand, running
etc.
• When the pedestrian height is tall or short.
• When the pedestrian carries a big
baggage or pushes a bicycle, hand truck,
etc.
• When the pedestrian is wearing a long
skirt and the feet cannot be seen.
• When multiple pedestrian are gathered
and the stereo camera cannot recognize
it as a pedestrian.
• When there is an obstacles outside the
headlamp irradiation area.
• When the color of the obstacle is similar
to surroundings.
• When the contrast between obstacle and
background is small (e.g black vehicle in
dark forest, white clothed pedestrian in
front of white walls etc.)
• When receiving a strong light (such as
back light of the sun, or the headlamp of
an oncoming vehicle, etc.) from the front.
• When strong light is reflected on the
vehicle, pedestrian or road surface.
• When there is curves, undulating roads
or slopes.
• When there is a puddle or water film on
the road surface.
• When the roads are with bumps and ruffles
such as gravel roads and unpaved roads.
• When passing through banners, flags,
hanging branches or grassy plants.
• When the distance to a vehicle or
pedestrian is extremely short.
• When a vehicle or pedestrian has suddenly
interrupted or jumped out in front of the
own vehicle.
• When approaching the preceding vehicle
or pedestrian while performing rapid
acceleration or steering wheel operation.
• When the preceding vehicle or pedestrian
is not in front of the own vehicle.
• When only a part of the preceding vehicle
is within the recognition area of the stereo
camera.
• When approaching the preceding vehicle
with a small speed difference.
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