JP2024044739A - Driving assist system, driving assist method, and program - Google Patents

Abstract

To highly precisely estimate a position of a detection object to be detected by an imaging unit and radar.SOLUTION: A driving assist system 10 includes a first detection unit 32 that detects an object by having an imaging unit 2 image an object around a vehicle, a second detection unit 33 that detects an object by having a radar 4 radiate a radio wave to the object around the vehicle, an estimation unit 35 that integrates a result of detection by the first detection unit 32 and a result of detection by the second detection unit 33, and performs estimation processing of estimating the position of the object around the vehicle, and a processing change unit 38 that, when a distance between a first position in a vehicle width direction of the object detected by the first detection unit 32 and a second position in the vehicle width direction estimated by the estimation unit 35 is smaller than a predetermined value, continues the estimation processing, and that, when the distance is equal to or larger than the predetermined value, suspends the estimation processing.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving support device, a driving support method, and a program.

Patent Document 1 discloses a driving assistance device that performs sensor fusion processing on the detection results of surrounding objects present around the vehicle detected by an imaging unit and radar, and estimates the position information of the surrounding objects.

Japanese Patent Application Publication No. 2022-129699

When two peripheral objects are located close to each other, there are cases where the imaging unit detects one peripheral object (desired detection object) while the radar detects the other peripheral object. If sensor fusion processing is performed in such a case, the estimated position of the desired sensing object will deviate from its original position.

Therefore, the present invention has been made in consideration of these points, and aims to estimate with high accuracy the position of an object detected by an imaging unit and radar.

In the first aspect of the present invention, the first detection unit detects the object by the imaging unit capturing an image of the object around the vehicle, and the radar detects the object by emitting radio waves to the object around the vehicle. a second detection unit that detects; an estimation unit that integrates the detection results by the first detection unit and the detection result by the second detection unit and performs an estimation process to estimate the position of an object around the vehicle; If the distance between the first position of the object detected by the first detection unit in the vehicle width direction of the vehicle and the second position in the vehicle width direction estimated by the estimation unit is smaller than a predetermined value, A driving support device is provided, comprising: a processing switching unit that continues estimation processing and stops the estimation processing when the distance is equal to or greater than the predetermined value.

The process switching unit may also change the magnitude of the predetermined value depending on the speed of the vehicle.

The first detection unit may detect an azimuth angle of the object from the vehicle, and the estimation unit may estimate the position of the object as the intersection point of a first virtual line along the azimuth angle and a second virtual line extending in the vehicle width direction from the position of the object detected by the second detection unit.

Further, the estimation unit may continue to estimate the position of the object when the relative position of the object with respect to the vehicle changes.

The invention further includes a collision determination unit that determines that there is a probability that the vehicle will collide with the object if the estimated position of the object estimated by the estimation unit is located within a predetermined distance from the vehicle. Good too.

Furthermore, when the distance is equal to or greater than the predetermined value, the processing switching unit may stop the estimation process and prevent the collision determination unit from determining a collision.

In the second aspect of the present invention, the imaging unit includes a first detection unit that detects the object by capturing an image of the object around the vehicle, and a radar that detects the object by emitting radio waves to the object around the vehicle. an estimating unit that integrates the detection results by the first detection unit and the detection result by the second detection unit and performs an estimation process to estimate the position of an object around the vehicle; a collision determination unit that performs a collision determination between the vehicle and the object according to the result of the estimation process; a first position of the object detected by the first detection unit in the vehicle width direction of the vehicle; Provided is a driving support device, comprising: a processing switching unit that controls the collision determination unit to not perform a collision determination when the estimated distance from the second position in the vehicle width direction is equal to or greater than a predetermined value. .

In the third aspect of the present invention, the imaging unit includes a first detection unit that detects an object by capturing an image of the object around the vehicle, and a radar that detects the object by emitting radio waves to the object around the vehicle. an estimating unit that integrates the detection results by the first detection unit and the detection result by the second detection unit and performs an estimation process to estimate the position of an object around the vehicle; a brake control unit that executes brake control to prevent a collision between the vehicle and the object according to a result of the estimation process; a first position of the object detected by the first detection unit in the vehicle width direction of the vehicle; a processing switching unit that controls the brake control unit so as not to perform brake control to prevent the collision when the distance to the second position in the vehicle width direction estimated by the estimation unit is equal to or greater than a predetermined value; The present invention provides a driving support device including:

In a fourth aspect of the present invention, a driving assistance method is provided that includes a first detection step executed by a processor, in which an imaging unit detects an object around the vehicle by capturing an image of the object; a second detection step in which a radar detects the object around the vehicle by emitting radio waves to the object; an estimation step in which the detection result from the first detection step and the detection result from the second detection step are integrated to perform estimation processing to estimate the position of the object around the vehicle; and a process switching step in which, if the distance between a first position in the vehicle width direction of the object detected by the first detection step and a second position in the vehicle width direction of the object estimated by the estimation step is smaller than a predetermined value, the estimation process is continued, and, if the distance is equal to or greater than the predetermined value, the estimation process is stopped.

In a fifth aspect of the present invention, a driving assistance method is provided that includes a first detection step executed by a processor, in which an imaging unit detects an object around the vehicle by capturing an image of the object; a second detection step in which a radar detects the object around the vehicle by emitting radio waves to the object; an estimation step in which the detection result from the first detection step and the detection result from the second detection step are integrated to perform estimation processing to estimate the position of the object around the vehicle; a collision determination step in which a collision determination is performed between the vehicle and the object according to the result of the estimation processing; and a process switching step in which, when the distance between a first position in the vehicle width direction of the object detected by the first detection step and a second position in the vehicle width direction estimated by the estimation step is equal to or greater than a predetermined value, a collision determination is not performed in the collision determination step.

In the sixth aspect of the present invention, the first detection step, executed by the processor, includes a first detection step in which the imaging unit detects the object by capturing an image of the object around the vehicle, and a radar emits radio waves to the object around the vehicle. a second detection step to detect the object by a brake control step of performing brake control to prevent a collision between the vehicle and the object according to the result of the estimation process, and a vehicle width direction of the object of the object detected in the first detection step. If the distance between the first position in the vehicle width direction and the second position in the vehicle width direction estimated in the estimation step is a predetermined value or more, a process switching step of controlling the brake control in the brake control step so as not to perform the brake control. Provided is a driving support method comprising the following.

In the seventh aspect of the present invention, the processor includes a first detection step in which the imaging unit detects an object around the vehicle by capturing an image of the object, and a radar in which the radar emits radio waves to the object around the vehicle. a second detection step of detecting the object in the vehicle; and an estimation step of integrating the detection results of the first detection step and the second detection step to perform an estimation process of estimating the position of the object around the vehicle. step, a distance between a first position in the vehicle width direction of the object detected in the first detection step and a second position of the object in the vehicle width direction estimated in the estimation step is a predetermined value. If the distance is smaller than the predetermined value, the estimation process is continued, and if the distance is equal to or greater than the predetermined value, the estimation process is stopped.

In the eighth aspect of the present invention, the processor includes a first detection step in which the imaging unit detects an object around the vehicle by capturing an image of the object, and a radar in which the radar emits radio waves to the object around the vehicle. a second detection step of detecting the object in the vehicle; and an estimation step of integrating the detection results of the first detection step and the second detection step to perform an estimation process of estimating the position of the object around the vehicle. a collision determination step of performing a collision determination between the vehicle and the object according to the result of the estimation process; a first position of the object detected in the first detection step in the vehicle width direction of the vehicle; to execute a processing switching step of controlling so that the collision determination in the collision determination step is not performed when the distance to the second position in the vehicle width direction estimated in the estimation step is a predetermined value or more; program.

In the ninth aspect of the present invention, the processor includes a first detection step in which the imaging unit detects an object around the vehicle by capturing an image of the object, and a radar in which the radar emits radio waves to the object around the vehicle. a second detection step of detecting the object in the vehicle; and an estimation step of integrating the detection results of the first detection step and the second detection step to perform an estimation process of estimating the position of the object around the vehicle. a brake control step of performing brake control to prevent a collision between the vehicle and the object according to the result of the estimation process; and a brake control step of executing brake control to prevent a collision between the vehicle and the object according to the result of the estimation process, a processing switching step of controlling so that the brake control of the brake control step is not performed when the distance between the first position and the second position in the vehicle width direction estimated by the estimation step is a predetermined value or more; Provide a program to run.

According to the present invention, it is possible to estimate the position of a detection object detected by a camera and a radar device with high accuracy.

FIG. 2 is a diagram showing a configuration of a driving assistance system S. FIG. 11 is a schematic diagram for explaining collision determination. FIG. 3 is a schematic diagram illustrating a case where the detection object of the first detection unit 32 and the detection member of the second detection unit 33 are different. 13 is a schematic diagram for explaining a determination process by a process switching unit 38. FIG. 4 is a flowchart showing the operation of the driving assistance device 10.

<Configuration of driving assistance device>
1 is a diagram showing a configuration of a driving assistance system S. The driving assistance system S is mounted on a vehicle such as a truck. The driving assistance system S includes an imaging unit 2, a radar 4, a brake device 6, and a driving assistance device 10.

The imaging unit 2 is, for example, a camera mounted on a vehicle, and generates a captured image of the surroundings of the vehicle. For example, the imaging unit 2 generates a captured image of an object such as a pedestrian located in front of the vehicle. The imaging unit 2 outputs the generated captured image to the driving support device 10.

Radar 4 is, for example, a millimeter wave radar mounted on a vehicle, and detects objects by emitting radio waves around the vehicle. For example, radar 4 can receive the reflection of radio waves emitted to an object such as a pedestrian located in front of the vehicle, and detect the distance to the object, etc. Radar 4 outputs the detection result to the driving assistance device 10.

The brake device 6 is a braking device that decelerates or stops a running vehicle. The brake device 6 decelerates or stops the vehicle in response to a command from the driving support device 10. For example, when there is a possibility that the vehicle will collide with surrounding objects, the brake device 6 stops the vehicle.

The driving support device 10 estimates the position of surrounding objects while the vehicle is traveling, and controls the vehicle so as not to collide with the objects. Specifically, the driving support device 10 performs fusion processing on the detection results of the imaging unit 2 and the radar 4 to estimate the object's position information. Then, when there is a probability that the vehicle will collide with the object, the driving support device 10 activates the brake device 6. The driving support device 10 has a memory unit 20 and a control unit 30.

The storage unit 20 includes a ROM (Read Only Memory) that stores the computer's BIOS (Basic Input Output System) and the like, and a RAM (Random Access Memory) that serves as a working area. The storage unit 20 is also a large-capacity storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores the OS (Operating System), application programs, and various information referenced when the application programs are executed.

The control unit 30 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). By executing the program stored in the storage unit 20, the control unit 30 controls the first detection unit 32, the second detection unit 33, the collation unit 34, the estimation unit 35, the collision determination unit 36, the brake control unit 37, and the process. It functions as a switching section 38.

The first detection unit 32 detects objects around the vehicle by the imaging unit 2 capturing images of the objects. The first detection unit 32 detects specific detected objects (e.g., pedestrians or other vehicles) from the captured images generated by the imaging unit 2. The specific detected objects are set in advance, and the first detection unit 32 can detect the specific detected objects by, for example, extracting features corresponding to the detected objects from the captured images. The first detection unit 32 also detects the azimuth angle of the object from the vehicle from the captured images.

The second detection unit 33 detects objects around the vehicle when the radar 4 emits radio waves to the objects. For example, the second detection unit 33 detects the distance to the object. Note that the second detection unit 33 can also detect objects other than pedestrians and other vehicles (for example, guardrails, fences, etc.), which are the specific detection objects of the first detection unit 32.

The matching unit 34 matches whether the object detected by the first detection unit 32 and the object detected by the second detection unit 33 are the same object. For example, the matching unit 34 determines the amount of relative positional deviation between the position of the object detected by the first detection unit 32 and the position of the object detected by the second detection unit 33, and determines whether or not they are the same object. Verify. Specifically, the matching unit 34 determines that the object detected by the first detection unit 32 and the object detected by the second detection unit 33 are the same object, if the amount of deviation in relative position is less than or equal to a predetermined threshold. If the relative position shift amount is larger than the threshold value, it is determined that the object detected by the first detection unit 32 and the object detected by the second detection unit 33 are different objects.

The estimating unit 35 performs an estimating process of estimating the fusion position of the object by performing fusion processing using the detection results of the imaging unit 2 and the radar 4 for the object when the matching unit 34 determines that the objects are the same. I do. That is, the estimating unit 35 integrates the detection results by the first detecting unit 32 and the second detecting unit 33, and performs an estimation process to estimate the fusion position of the object around the vehicle. On the other hand, if the matching unit 34 determines that the objects are not the same, the estimating unit 35 does not perform the fusion process.

The estimation unit 35 estimates the fusion position of the object as follows, for example. First, the estimation unit 35 refers to the azimuth of the object detected by the first detection unit 32 from the vehicle (specifically, the center of the front of the vehicle), and connects the vehicle and the object (i.e., the azimuth angle A first virtual line (along the line) is generated. Furthermore, the estimation unit 35 generates a second virtual line extending from the position of the object detected by the second detection unit 33 toward the center line of the vehicle (center line C in FIG. 3) along the vehicle width direction. Then, the estimation unit 35 estimates the intersection of the first virtual line and the second virtual line as the fusion position of the object detected by the first detection unit 32 and the second detection unit 33.

The estimation unit 35 continues to estimate the fusion position of the object when the relative position of the object with respect to the vehicle changes. That is, if at least one of the vehicle and the object is moving, the estimation unit 35 continues to estimate the fusion position of the object with respect to the vehicle.

The collision determination unit 36 determines whether or not there is a probability that the vehicle will collide with the object whose position has been estimated by the estimation unit 35. Specifically, if the fusion position of the object estimated by the estimation unit 35 is located within a predetermined distance from the vehicle, the collision determination unit 36 determines that there is a probability that the vehicle will collide with the object. On the other hand, if the fusion position of the object estimated by the estimation unit 35 is located outside the predetermined distance from the vehicle, the collision determination unit 36 determines that there is no probability that the vehicle will collide with the object.

FIG. 2 is a schematic diagram for explaining collision determination. Here, it is assumed that a pedestrian 100 is located diagonally in front of the vehicle V, and that the position of the pedestrian 100 has been estimated by the estimation unit 35. If the position of the pedestrian 100 estimated by the estimation unit 35 is located within a determination region R in front of the vehicle V, the collision determination unit 36 determines that there is a probability that the vehicle V will collide with the pedestrian 100. On the other hand, if the position of the pedestrian 100 estimated by the estimation unit 35 is located outside the determination region R, the collision determination unit 36 determines that there is no probability that the vehicle V will collide with the pedestrian 100.

The brake control unit 37 operates the brake device 6 to brake the vehicle when the collision determination unit 36 determines that there is a possibility that the vehicle will collide with a surrounding object. The brake control unit 37 can also be said to perform collision prevention control to prevent the vehicle from colliding with a surrounding object according to the position of the surrounding object estimated by the estimation unit 35. By braking the vehicle, the brake control unit 37 can avoid the vehicle colliding with the surrounding object.

By the way, when two objects are located close to each other, there are cases where the imaging unit 2 detects one object (the desired detection object) while the radar 4 detects the other object. If fusion processing is performed in such a case, the fusion position of the desired sensing object will shift from its original position.

3 is a schematic diagram for explaining a case where the detected object of the first detection unit 32 is different from the detection member of the second detection unit 33. Here, it is assumed that a pedestrian 100 and a guard rail 200 are located close to each other in front of the vehicle V. Fig. 3(b) shows a state where the vehicle V moves forward in the traveling direction with respect to Fig. 3(a).
The first detection unit 32 detects the position P1 of the pedestrian 100, which is a specific detected object (pedestrian or other vehicle). On the other hand, the second detection unit 33 detects the position P2 of the guardrail 200 located in front of the pedestrian 100, rather than the pedestrian 100. This is because when the guardrail 200 is located at a position overlapping the pedestrian 100, or when the reflection intensity of the radio waves from the guardrail 200 is greater than the reflection intensity of the radio waves from the pedestrian 100, the second detection unit 33 will detect the guardrail 200 instead.

When the second detection unit 33 detects the guardrail 200, the estimation unit 35 estimates the fusion position P3 as the position of the pedestrian 100, but as shown in FIG. It shifts from the main body position. Then, when the vehicle V moves further, the fusion position P3 shifts further from the original position of the pedestrian 100 and approaches the vehicle V, as shown in FIG. 3(b). Since the collision determination unit 36 makes a collision determination based on the fusion position P3, even if there is actually no probability that the vehicle V will collide with the pedestrian 100, it may mistakenly determine that there is a probability that the vehicle V will collide with the pedestrian 100. As a result, the brake control unit 37 brakes the vehicle V.

In contrast, in this embodiment, in order to prevent erroneous recognition of the detected object, processing is performed to determine whether or not the fusion position is correct. In order to realize such processing, the driving support device 10 includes a processing switching section 38.

The process switching unit 38 performs a process of determining whether to continue or stop the estimation process (fusion process) of the position of the detected object by the estimation unit 35. The process switching unit 38 determines whether to continue or stop the estimation process depending on the distance between the position in the vehicle width direction of the object detected by the first detection unit 32 (hereinafter also referred to as the first position) and the fusion position in the vehicle width direction estimated by the estimation unit 35 (hereinafter also referred to as the second position).

If the distance between the first position and the second position is smaller than a predetermined value, the process switching unit 38 continues the estimation process. On the other hand, if the distance between the first position and the second position in the vehicle width direction is equal to or greater than a predetermined value, the process switching unit 38 stops the estimation process. In other words, if the difference between the first position and the second position is large, the process switching unit 38 stops the fusion process because it is highly likely that the second detection unit 33 has detected an object other than the desired detected object and the fusion position has shifted from the actual position of the detected object.

FIG. 4 is a schematic diagram for explaining the determination process by the process switching unit 38. FIG. 4(a) shows a first position P1 and a second position P3a, and FIG. 4(b) shows a first position P1 and a second position P3b. In FIG. 4(a), the distance L1 between the first position P1 and the second position P3a in the vehicle width direction is smaller than the predetermined value T. In this case, the processing switching section 38 causes the estimation section 35 to continue the estimation processing. On the other hand, in FIG. 4(b), the distance L2 between the first position P1 and the second position P3b in the vehicle width direction is larger than the predetermined value T. In this case, the processing switching section 38 stops the estimation processing by the estimating section 35. The processing switching unit 38 stops the estimation process when the fusion position of the detected object estimated by the estimation unit 35 is closer to the vehicle than the actual position in the vehicle width direction. In addition, although the predetermined value T is 0.3 (m) here, it is not limited to this.

When the distance between the first position and the second position is greater than or equal to the predetermined value T, the processing switching unit 38 stops the estimation process by the estimating unit 35 and prevents the collision determining unit 36 from determining a collision. As a result, even in a situation where there is actually no risk of the vehicle colliding with the sensing object (specifically, a situation where the sensing member is sufficiently far away from the vehicle in the vehicle width direction), the estimation unit 35 can determine the fusion position of the sensing object. It is possible to suppress the collision determination unit 36 from making an erroneous determination that there is a probability that the vehicle will collide with the detected object due to the erroneous recognition of the detected object. As a result, it is possible to prevent a running vehicle from accidentally operating the brake device 6 and stopping the vehicle.

The predetermined value T is a value that is set in advance through experiments, etc., but the predetermined value T does not have to be a constant value (0.3 m). The process switching unit 38 may change the magnitude of the predetermined value T depending on the speed of the vehicle. For example, the process switching unit 38 may increase the predetermined value T as the vehicle speed increases.

<Operation of driving support device>
FIG. 5 is a flowchart showing the operation of the driving support device 10. The flowchart shown in FIG. 5 is continuously performed while the vehicle is running.

First, the first detection unit 32 detects an object from the image captured by the imaging unit 2 capturing an image of the surroundings of the vehicle (step S102). The second detection unit 33 detects an object from the detection result of the radar 4 (step S104). Note that the processes of steps S102 and S104 may be performed simultaneously.

Next, the matching unit 34 determines whether the object detected by the first detection unit 32 and the object detected by the second detection unit 33 are the same object (step S106). If it is determined in step S106 that they are the same object (Yes), the estimation unit 35 performs an estimation process to estimate the fusion position of the detected object (step S108). On the other hand, if it is determined in step S106 that they are not the same object (No), the fusion position is not estimated and the processes of steps S102 and S104 are performed.

Thereafter, the processing switching unit 38 determines that the distance between the first position in the vehicle width direction detected by the first detection unit 32 and the estimated position (second position) in the vehicle width direction estimated by the estimation unit 35 is equal to or greater than a predetermined value. It is determined whether or not (step S110).

If the distance is less than the predetermined value in step S110 (No), the process switching unit 38 continues the estimation process (step S108). On the other hand, if the distance is equal to or greater than the predetermined value in step S110 (Yes), the process switching unit 38 stops the estimation process (step S112).

<Effects of this embodiment>
The driving support device 10 of the embodiment described above integrates the detection result by the first detection unit 32 via the imaging unit 2 and the detection result by the second detection unit 33 via the radar 4, and detects objects around the vehicle. performs estimation processing to estimate the fusion position of . The driving support device 10 also determines that the distance between the first position in the vehicle width direction of the object detected by the first detection unit 32 and the second position (fusion position) in the vehicle width direction estimated by the estimation unit 35 is a predetermined distance. If it is smaller than the value, the estimation process is continued. On the other hand, the driving support device 10 stops the estimation process when the distance between the first position and the second position in the vehicle width direction is equal to or greater than a predetermined value.
As a result, if the object detected by the first detection unit 32 and the object detected by the second detection unit 33 are different, and the fusion position of the detected object deviates greatly from the actual position of the detected object, the estimated Processing can be stopped. As a result, it is possible to prevent a collision determination based on an incorrect fusion position.

In the above embodiment, the estimation process is continued when the distance between the first position in the vehicle width direction of the object detected by the first detection unit 32 and the second position in the vehicle width direction estimated by the estimation unit 35 is smaller than a predetermined value, and the estimation process is stopped when the distance is equal to or greater than the predetermined value. However, it is also possible to control whether or not to execute collision determination or collision prevention control. For example, when the distance between the first position in the vehicle width direction of the object detected by the first detection unit 32 and the second position in the vehicle width direction estimated by the estimation unit 35 is equal to or greater than a predetermined value, the processing switching unit 38 may control the switching of the processing of the collision determination unit 36 so as not to execute collision determination based on the fusion position. Also, when the distance between the first position in the vehicle width direction of the object detected by the first detection unit 32 and the second position in the vehicle width direction estimated by the estimation unit 35 is equal to or greater than a predetermined value, the processing switching unit 38 may control the switching of the processing of the brake control unit 37 so as not to execute brake control based on collision determination, that is, so-called collision prevention control. As a result, if the fusion position of a detected object deviates significantly from the actual position of the detected object, collision judgment based on the fusion position, which is likely to be incorrect, and braking control based on that will not be performed, making it possible to improve driving comfort for the driver.

Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention. For example, all or part of the device can be configured by distributing or integrating functionally or physically in any unit. In addition, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment resulting from the combination also has the effect of the original embodiment.

2 imaging unit 4 radar 10 driving support device 32 first detection unit 33 second detection unit 35 estimation unit 36 collision determination unit 37 brake control unit 38 processing switching unit

Claims (14)

a first detection unit that detects an object by the imaging unit capturing an image of the object around the vehicle;
a second detection unit that detects objects around the vehicle by the radar emitting radio waves to the objects;
an estimating unit that integrates the detection results by the first detection unit and the detection results by the second detection unit and performs an estimation process to estimate the position of an object around the vehicle;
If the distance between the first position of the object detected by the first detection unit in the vehicle width direction of the vehicle and the second position in the vehicle width direction estimated by the estimation unit is smaller than a predetermined value, a processing switching unit that continues the estimation process and stops the estimation process when the distance is equal to or greater than the predetermined value;
A driving support device equipped with. The process switching unit changes the magnitude of the predetermined value in accordance with the speed of the vehicle.
The driving assistance device according to claim 1 . The first detection unit detects an azimuth angle of the object from the vehicle,
the estimation unit estimates, as the position of the object, an intersection point between a first virtual line along the azimuth angle and a second virtual line extended in the vehicle width direction from the position of the object detected by the second detection unit.
The driving assistance device according to claim 1 . The estimation unit continues to estimate the position of the object when a relative position of the object with respect to the vehicle changes.
The driving assistance device according to claim 3. further comprising a collision determination unit that determines that there is a probability that the vehicle will collide with the object if the estimated position of the object estimated by the estimation unit is located within a predetermined distance from the vehicle;
The driving support device according to claim 1. When the distance is equal to or greater than the predetermined value, the processing switching unit stops the estimation process and prevents the collision determination unit from determining a collision.
The driving support device according to claim 5. a first detection unit that detects an object by the imaging unit capturing an image of the object around the vehicle;
a second detection unit that detects objects around the vehicle by the radar emitting radio waves to the objects;
an estimating unit that integrates the detection results by the first detection unit and the detection results by the second detection unit and performs an estimation process to estimate the position of an object around the vehicle;
a collision determination unit that determines a collision between the vehicle and the object according to the result of the estimation process;
When the distance between the first position of the object detected by the first detection unit in the vehicle width direction of the vehicle and the second position in the vehicle width direction estimated by the estimation unit is equal to or greater than a predetermined value, the collision determination is made. a processing switching unit configured to control the unit so as not to perform collision determination;
A driving support device equipped with. a first detection unit that detects an object around the vehicle by capturing an image of the object using an imaging unit;
a second detection unit that detects an object around the vehicle by emitting radio waves to the object using a radar;
an estimation unit that performs an estimation process of integrating a detection result by the first detection unit and a detection result by the second detection unit and estimating a position of an object around the vehicle;
a brake control unit that executes brake control to prevent a collision between the vehicle and the object according to a result of the estimation process;
a processing switching unit that controls the brake control unit not to perform brake control for preventing the collision when a distance between a first position of the object detected by the first detection unit in a vehicle width direction of the vehicle and a second position of the object estimated by the estimation unit in the vehicle width direction is equal to or greater than a predetermined value;
A driving assistance device comprising: The processor executes
a first detection step in which the imaging unit detects an object around the vehicle by capturing an image of the object;
a second detection step in which the radar detects objects around the vehicle by emitting radio waves to the objects;
an estimation step of integrating the detection results of the first detection step and the detection results of the second detection step, and performing an estimation process of estimating the position of an object around the vehicle;
When the distance between the first position of the object detected in the first detection step in the vehicle width direction of the vehicle and the second position of the object estimated in the estimation step in the vehicle width direction is smaller than a predetermined value. a process switching step of continuing the estimation process and stopping the estimation process when the distance is equal to or greater than the predetermined value;
A driving support method comprising: The processor executes
a first detection step of detecting an object around the vehicle by capturing an image of the object with an imaging unit;
a second detection step in which the radar detects an object around the vehicle by emitting radio waves to the object;
an estimation process of integrating the detection result from the first detection process and the detection result from the second detection process and performing an estimation process of estimating positions of objects around the vehicle;
a collision determination step of executing a collision determination between the vehicle and the object according to a result of the estimation process;
a process switching process for controlling not to perform collision determination in the collision determination process when a distance between a first position of the object in a vehicle width direction of the vehicle detected in the first detection process and a second position in the vehicle width direction estimated in the estimation process is equal to or greater than a predetermined value;
A driving assistance method comprising: The processor executes
a first detection step in which the imaging unit detects an object around the vehicle by capturing an image of the object;
a second detection step in which the radar detects objects surrounding the vehicle by emitting radio waves to the objects;
an estimation step of integrating the detection results of the first detection step and the detection results of the second detection step, and performing an estimation process of estimating the position of an object around the vehicle;
a brake control step of performing brake control to prevent a collision between the vehicle and the object according to the result of the estimation process; a first position of the object detected in the first detection step in the vehicle width direction of the vehicle; a processing switching step of controlling so that the brake control of the brake control step is not performed when the distance to the second position in the vehicle width direction estimated by the estimation step is a predetermined value or more;
A driving support method comprising: The processor:
a first detection step of detecting an object around the vehicle by capturing an image of the object with an imaging unit;
a second detection step in which the radar detects an object around the vehicle by emitting radio waves to the object;
an estimation process of integrating the detection result from the first detection process and the detection result from the second detection process and performing an estimation process of estimating positions of objects around the vehicle;
a process switching process for continuing the estimation process when a distance between a first position of the object detected in the first detection process in a vehicle width direction of the vehicle and a second position of the object estimated in the estimation process in the vehicle width direction is smaller than a predetermined value, and for stopping the estimation process when the distance is equal to or greater than the predetermined value;
A program for executing. The processor:
a first detection step of detecting an object around the vehicle by capturing an image of the object with an imaging unit;
a second detection step in which the radar detects an object around the vehicle by emitting radio waves to the object;
an estimation process of integrating the detection result from the first detection process and the detection result from the second detection process and performing an estimation process of estimating positions of objects around the vehicle;
a collision determination step of executing a collision determination between the vehicle and the object according to a result of the estimation process;
a process switching process for controlling not to perform collision determination in the collision determination process when a distance between a first position of the object in a vehicle width direction of the vehicle detected in the first detection process and a second position in the vehicle width direction estimated in the estimation process is equal to or greater than a predetermined value;
A program for executing. The processor:
a first detection step of detecting an object around the vehicle by capturing an image of the object with an imaging unit;
a second detection step in which the radar detects an object around the vehicle by emitting radio waves to the object;
an estimation process of integrating the detection result from the first detection process and the detection result from the second detection process and performing an estimation process of estimating positions of objects around the vehicle;
a brake control process for executing brake control to prevent a collision between the vehicle and the object according to a result of the estimation process;
a process switching process of controlling so as not to perform brake control in the brake control process when a distance between a first position of the object in a vehicle width direction of the vehicle detected in the first detection process and a second position in the vehicle width direction estimated in the estimation process is equal to or greater than a predetermined value;
A program for executing.

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