Driving assistance device, target object recognition device, and program

Abstract

The objective of this invention is to suppress false detection of targets. A driving assistance device includes: a target processing unit that detects a moving object approaching from behind a vehicle and performs driving assistance control; the target processing unit performs the following processing: within the detection area of ​​a radar that detects the approaching moving object from behind the vehicle, a solid object determination area is set separately from the control object detection area of ​​the driving assistance control and at a predetermined distance from the radar; if the trajectory of the target object detected by the radar exists within the solid object determination area, the target object is determined to be a moving object with a solid body and the target object is used as the driving assistance control object; and if the trajectory of the target object detected by the radar does not exist within the solid object determination area, the target object is determined not to be a moving object with a solid body and the target object is not used as the driving assistance control object.

Description

Technical Field

[0001] This invention relates to a driving assistance device, a target object recognition device, and a program. Background Technology

[0002] Patent document 1 describes a technique that scans a beam within a detection range of a specified orientation / distance, compares information of multiple targets obtained in each scan, improves the tracking reliability of targets detected due to the same target, and reduces the tracking reliability when the target cannot be detected.

[0003] Patent Document 1: International Publication No. 2005 / 091015 Summary of the Invention

[0004] In the prior art as described in Patent Document 1, the previous detection information is compared with the current detection information. If the target object to be detected is the same in the previous and current tests, the reliability is improved. By repeatedly performing this process, when the reliability exceeds a predetermined threshold, the target object to be detected is determined to be the target object. On the other hand, when the reliability is lower than the predetermined threshold, the target object to be detected is determined not to be the target object.

[0005] If the above determination method is applied to the detection of targets based on the detection results of radar that detects targets existing behind the vehicle, there is a risk of misjudging the target as existing behind the vehicle, such as when the radar detects diffuse reflection of radio waves caused by the external environment of the vehicle, when the multipath of radio waves irradiated by the radar is generated in the bumper of the vehicle, or when the vehicle is towed by the vehicle (i.e., there is a risk of misdetection of the target).

[0006] In view of the above, the object of the present invention is to provide a driving assistance device, a target identification device and program that can suppress false detection of targets.

[0007] (1) One aspect of the present invention is a driving assistance device that detects a moving object approaching from the rear of the vehicle and performs driving assistance control. The driving assistance device includes a target object processing unit, which performs the following processing: within the detection area of ​​a radar that detects the moving object approaching from the rear of the vehicle, a physical determination area is set separately from the control object detection area of ​​the driving assistance control and at a predetermined distance from the radar; if the movement trajectory of the target object detected by the radar exists in the physical determination area, the target object is determined to be a moving object with a physical entity and the target object is used as the driving assistance control object; and if the movement trajectory of the target object detected by the radar does not exist in the physical determination area, the target object is determined not to be a moving object with a physical entity and the target object is not used as the driving assistance control object.

[0008] (2) One aspect of the present invention is a target object recognition device, comprising: a tracking processing unit that detects a target object based on the detection result of a sensor that detects a target object located behind the vehicle, and performs processing to determine whether the target object detected this time is the same target object as the target object detected last time; a first determination unit that determines whether the target object exists in a first region based on target object information representing the result of the processing performed by the tracking processing unit; and a region actual recording processing unit that, when the first determination unit determines that the target object exists in the first region, records information representing the target object. The system includes: a first determination unit, which determines whether there is an actual record of the existence of the target object in the area located between the vehicle and the first area; and a target object detection unit, which detects the target object in the second area as a true target object if the second determination unit determines that there is an actual record of the existence of the target object in the area, and detects the target object in the second area as a false target object if the second determination unit determines that there is no actual record of the existence of the target object in the area.

[0009] (3) In the target object identification device of (2), the surrounding situation sensor is a radar installed on the rear bumper of the vehicle. Other vehicles that drive dangerously are detected as true targets by the target object detection unit. At least one of the following can be detected as false targets: diffuse reflection of radio waves caused by the external environment of the vehicle, multipath generated in the bumper, and trailers towed by the vehicle.

[0010] (4) In the target identification device of (3), the first region can be a region that can be detected by the tracking processing unit and that the diffuse reflection of the radio waves, the multipath and the trailer cannot be detected by the tracking processing unit.

[0011] (5) One aspect of the present invention is a program that causes a processor to perform the following processing steps: a tracking processing step, which detects the target object based on the detection results of a surrounding condition sensor that detects a target object located behind the vehicle, and performs processing to determine whether the target object detected this time is the same target object as the target object detected last time; a first determination step, which determines whether the target object exists in a first region based on target object information representing the result of the processing performed in the tracking processing step; and a region actual recording processing step, which records the region actual recording if the first determination step determines that the target object exists in the first region. The target object exists in the area of ​​the first region where there is an actual record; the second determination step, in which, if the target object exists in the second region located between the vehicle and the first region, determines whether there is an actual record of the area where there is an actual record in the area processing step; and the target object detection step, in which, if it is determined in the second determination step that there is an actual record of the area where there is an actual record, the target object existing in the second region is detected as a true target object, and if it is determined in the second determination step that there is no actual record of the area where there is an actual record, the target object existing in the second region is detected as a false target object.

[0012] Invention Effects

[0013] According to the present invention, false detection of the target object can be suppressed. Attached Figure Description

[0014] Figure 1 This diagram shows an example of the vehicle 1 with the driving assistance device 18 of the first embodiment applied.

[0015] Figure 2 This diagram shows an example of the entity determination area AR1 and the controlled object detection area AR2 set by the target object processing unit 3H.

[0016] Figure 3 This figure shows an example of the vehicle 1 that uses the target object recognition device 16 of the second embodiment.

[0017] Figure 4 This is a flowchart illustrating an example of the processing performed by the processor 163 of the target object identification device 16 of the second embodiment. Detailed Implementation

[0018] Hereinafter, with reference to the accompanying drawings, embodiments of the driving assistance device, object recognition device, and program of the present invention will be described.

[0019] <First Embodiment>

[0020] Figure 1 This diagram shows an example of the vehicle 1 with the driving assistance device 18 of the first embodiment applied.

[0021] exist Figure 1 In the example shown, the vehicle 1 is equipped with a surrounding condition sensor 11, a vehicle status sensor 12, a human machine interface (HMI) 13, a notification device 14, a driving recorder 15, a driver assistance device 18, a vehicle control device 17, a steering actuator 17A, a brake actuator 17B, and a drive actuator 17C.

[0022] The surrounding environment sensor 11 detects objects (such as obstacles, other vehicles (surrounding vehicles), pedestrians, etc.) existing in the vicinity of the vehicle 1 (e.g., behind the vehicle 1), and sends the detection results of the objects existing in the vicinity of the vehicle 1 to the driving assistance device 18, the vehicle control device 17, etc. The surrounding environment sensor 11 may include, for example, radar.

[0023] The vehicle status sensor 12 detects the status of the vehicle 1 and sends the detection result of the vehicle 1's status to the vehicle control device 17, etc. The vehicle status sensor 12 includes, for example, a vehicle speed sensor.

[0024] HMI13 has functions such as receiving various operations from the driver of vehicle 1, notifying the driver of vehicle 1, and sending signals indicating the driver's operations to the driving assistance device 18, vehicle control device 17, etc. HMI13 includes, for example, a switch for switching the on / off state of the assistance function when surrounding vehicles approach, a display, a speaker, a steering wheel (and steering angle sensor), a brake pedal (and a sensor that detects the amount of its operation), an accelerator pedal (and a sensor that detects the amount of its operation), etc.

[0025] The notification device 14 has, for example, the following function: when the auxiliary function is activated and it detects that another vehicle (surrounding vehicle) is approaching from behind the vehicle 1 to a position very close to the vehicle 1, it notifies the police or the like.

[0026] The dashcam 15 has, for example, the following function: when the auxiliary function is activated and other vehicles are detected approaching from behind the vehicle 1 to a position very close to the vehicle 1, it records images of the rear of the vehicle 1, including the other vehicles.

[0027] The driving assistance device 18 detects other moving objects such as vehicles approaching from behind the vehicle 1 and performs driving assistance control. The vehicle control device 17 controls the steering actuator 17A, brake actuator 17B, and drive actuator 17C, for example, based on information (signals) sent from the surrounding condition sensor 11, HMI 13, etc.

[0028] The driver assistance device 18 comprises a microcomputer equipped with a communication interface (I / F) 181, a memory 182, and a processor 183. The communication interface 181 has interface circuitry for connecting the driver assistance device 18 to a surrounding condition sensor 11, a vehicle status sensor 12, an HMI 13, a notification device 14, a driving recorder 15, a vehicle control device 17, etc. The memory 182 stores programs and various data used in the processing executed by the processor 183. The processor 183 functions as an acquisition unit 3G, a target processing unit 3H, and a control unit 3I.

[0029] The acquisition unit 3G obtains the detection results of targets (such as other vehicles) located behind the vehicle 1 from the surrounding situation sensor 11 (more specifically, radar).

[0030] The target object processing unit 3H sets the entity judgment area (must-detect area) AR1, the control object detection area AR2, etc.

[0031] Figure 2 This diagram illustrates an example of the entity determination area AR1 and the controlled object detection area AR2, etc., set by the target object processing unit 3H. In detail, Figure 2 This refers to the entity determination area AR1 and the controlled object detection area AR2 of the surrounding condition sensor 11 (radar) located on the right rear bumper of this vehicle 1. Figure 2 The right side corresponds to the right side of vehicle 1. Figure 2 The lower side corresponds to the rear side of vehicle 1.

[0032] exist Figure 2 In the example shown, the surrounding conditions sensor 11 (radar) is configured in Figure 2 The control object detection area AR2, which is roughly fan-shaped, is located at or near the center of the area (the intersection of the two line segments that make up the fan). The detection area of ​​the surrounding situation sensor 11 includes the entity determination area AR1, the control object detection area AR2, etc.

[0033] Through in-depth research, the inventors discovered that, in the event of diffuse reflection of electromagnetic waves caused by the external environment of the vehicle 1, the following can be obtained: Figure 2The detection results of the surrounding situation sensor 11 are shown in the "diffuse reflection trajectory". In order to provide appropriate assistance to the driver of vehicle 1 when surrounding vehicles approach, it is necessary to accurately determine that other vehicles are approaching from behind vehicle 1 to a position very close to vehicle 1 based on the detection results of the surrounding situation sensor 11 when the diffuse reflection of electromagnetic waves caused by the external environment of vehicle 1 occurs.

[0034] Furthermore, the inventors have discovered that, in the case of multipath generation, it is possible to obtain, as follows: Figure 2 The surrounding conditions sensor 11 is shown as a "multipath trajectory" (specifically, one point). In environments that generate multipath, such as those triggered by temperature, humidity, vibration, or deflection, the detection results are obtained. Figure 2 The surrounding environment detected by sensor 11, as shown in the "multipath trajectory" diagram, includes not only the vehicle being detected (other vehicles approaching vehicle 1), but also oncoming vehicles, vehicles traveling in other lanes, guardrails, roadside buildings, etc., and the reasons for these factors. Figure 2 The surrounding environment, as shown in the "multipath trajectory" section, is determined by the detection results of the surrounding condition sensor 11. In order to provide appropriate assistance to the driver of vehicle 1 when surrounding vehicles approach, it is necessary to correctly determine, based on the detection results of the surrounding condition sensor 11 at the time of multipath occurrence, that other vehicles are approaching from behind vehicle 1 to a position at a very close distance.

[0035] Furthermore, the inventors have discovered that, when a trailer is towed by this vehicle 1, the following can be obtained: Figure 2 The "trailer trajectory" (although in Figure 2 The detection results of the surrounding situation sensor 11 are shown in the trajectory of the lateral position change, but which remains in the vicinity of the vehicle 1. In order to provide appropriate assistance to the driver of the vehicle 1 when a surrounding vehicle approaches, it is necessary to correctly determine, based on the detection results of the surrounding situation sensor 11 when the vehicle 1 is towing a trailer, that another vehicle is approaching from behind the vehicle 1 to a position at a very close distance.

[0036] When other vehicles approach vehicle 1 from behind to a very close distance, it is possible to obtain, as follows: Figure 2 The detection results of the surrounding conditions sensor 11 are shown in "Trajectory of Other Vehicles".

[0037] refer to Figure 2 The research results shown are in Figure 1 In the example shown, the countermeasures described later were implemented.

[0038] Specifically, in Figure 1In the example shown, the target processing unit 3H sets up an entity determination area AR1, which is a predetermined distance away from the surrounding situation sensor 11 (radar), separate from the control object detection area AR2 of the driver assistance control, within the detection area of ​​the surrounding situation sensor 11 (radar) that detects a moving object (such as another vehicle) approaching from the rear of the vehicle 1.

[0039] Furthermore, the target processing unit 3H processes the movement trajectory of the target detected by the surrounding situation sensor 11 (radar), such as... Figure 2 In the case where the "trajectory of other vehicles" exists in the entity determination area AR1, the target detected by the surrounding situation sensor 11 (radar) is determined to be a moving body with a physical entity, and the target detected by the surrounding situation sensor 11 (radar) is used as the driving assistance control object (e.g., as the object of assistance (notification, video recording) when surrounding vehicles approach).

[0040] Furthermore, the target processing unit 3H processes the movement trajectory of the target object detected by the surrounding situation sensor 11 (radar) as follows: Figure 2 If the "diffuse reflection trajectory", "multipath trajectory" and "trailer trajectory" shown do not exist in the entity determination area AR1, the target detected by the surrounding situation sensor 11 (radar) is determined to be a moving body with a physical entity, and the target detected by the surrounding situation sensor 11 (radar) is not used as a driving assistance control object (e.g., not used as an object for assistance (notification, video recording) when surrounding vehicles approach).

[0041] The control unit 3I detects other moving objects, such as vehicles, approaching from behind the vehicle 1 and performs driver assistance control. Specifically, when the target processing unit 3H determines that the target detected by the surrounding situation sensor 11 (radar) is a moving object with a physical form, the control unit 3I, based on the surrounding vehicle approach assistance function settings made by the driver of the vehicle 1, causes the notification device 14 to issue a notification, or causes the driving recorder 15 to record images of the rear of the vehicle 1.

[0042] <Second Implementation>

[0043] The vehicle 1 that uses the target object recognition device 16 of the second embodiment is configured in the same way as the vehicle 1 that uses the driving assistance device 18 of the first embodiment, except for the points described later.

[0044] Figure 3 This figure shows an example of the vehicle 1 that uses the target object recognition device 16 of the second embodiment.

[0045] exist Figure 3In the example shown, the vehicle 1 is equipped with a surrounding condition sensor 11, a vehicle status sensor 12, an HMI 13, a notification device 14, a driving recorder 15, a target recognition device 16, a vehicle control device 17, a steering actuator 17A, a brake actuator 17B, and a drive actuator 17C.

[0046] The surrounding situation sensor 11 detects targets existing in the vicinity of the vehicle 1 (e.g., behind it), and sends the detection results of the targets existing in the vicinity of the vehicle 1 to the target recognition device 16, the vehicle control device 17, etc.

[0047] HMI13 sends signals indicating the driver's operation of vehicle 1 to target identification device 16, vehicle control device 17, etc.

[0048] The target object recognition device 16 is composed of a microcomputer having a communication interface 161, a memory 162, and a processor 163. The communication interface 161 has an interface circuit for connecting the target object recognition device 16 to a surrounding condition sensor 11, a vehicle status sensor 12, an HMI 13, a notification device 14, a driving recorder 15, a vehicle control device 17, etc. The memory 162 stores the programs and various data used in the processing executed by the processor 163. The processor 163 functions as an acquisition unit 3A, a tracking processing unit 3B, a first determination unit 3C, a region actual recording processing unit 3D, a second determination unit 3E, and a target object detection unit 3F.

[0049] The acquisition unit 3A acquires the detection results of targets (e.g., other vehicles, etc.) located behind the vehicle 1 from the surrounding situation sensor 11 (e.g., radar).

[0050] The tracking processing unit 3B detects targets located behind the vehicle 1 based on the detection results from the surrounding conditions sensor 11. Furthermore, the tracking processing unit 3B performs a process to determine whether the currently detected target is the same as the previously detected target.

[0051] The first determination unit 3C determines whether the target object exists based on the target object information representing the result of the processing performed by the tracking processing unit 3B. Figure 2 Within the entity determination area (must-detect area) AR1 shown.

[0052] When the first determination unit 3C determines that the target object exists in the entity determination area (detection required area) AR1, the area actual recording processing unit 3D records the actual existence of the area indicating that the target object exists in the entity determination area (detection required area) AR1 in the memory 162.

[0053] If the target object exists in the control object detection area AR2 located between the vehicle 1 and the entity determination area (detection must area) AR1, the second determination unit 3E determines whether there is an actual record of the area existence recorded by the area actual record processing unit 3D.

[0054] When the second determination unit 3E determines that an actual record exists in the presence area, the target detection unit 3F detects a target object existing within the control object detection area AR2 as a true target object. Conversely, when the second determination unit 3E determines that an actual record exists in the absence area, the target detection unit 3F detects a target object existing within the control object detection area AR2 as a false target object.

[0055] exist Figure 2 In the example shown, for instance, the acquisition unit 3A acquires information from the surrounding environment sensor 11 (e.g., radar). Figure 2 When the "diffuse reflection trajectory" shown is the detection result of a target object existing behind the vehicle 1, the first determination unit 3C determines that the target object does not exist in the entity determination area (detection must area) AR1, the second determination unit 3E determines that there is an actual record in the non-existent area, and the target object detection unit 3F detects the target object existing in the control object detection area AR2. Figure 2 The "diffuse reflection trajectory" shown is used as a pseudo-target.

[0056] Furthermore, for example, the acquisition unit 3A acquires information from the surrounding situation sensor 11 (e.g., radar). Figure 2 When the "multipath trajectory" shown is used as the detection result of a target object existing behind the vehicle 1, the first determination unit 3C determines that the target object does not exist in the entity determination area (detection must area) AR1, the second determination unit 3E determines that there is an actual record in the non-existent area, and the target object detection unit 3F detects the target object existing in the control object detection area AR2. Figure 2 The "multipath trajectory" shown is used as a pseudo-target.

[0057] Furthermore, for example, the acquisition unit 3A acquires information from the surrounding situation sensor 11 (e.g., radar). Figure 2 When the "trailer trajectory" shown is used as the detection result of a target object existing behind the vehicle 1, the first determination unit 3C determines that the target object does not exist in the entity determination area (detection must area) AR1, the second determination unit 3E determines that there is an actual record in the non-existent area, and the target object detection unit 3F detects the target object existing in the control object detection area AR2. Figure 2 The "trailer trajectory" shown is used as a pseudo-target.

[0058] That is, in Figure 2In the example shown, the diffuse reflection of electromagnetic waves caused by the external environment of the vehicle 1, the multipath generated in the bumper of the vehicle 1, and the trailer towed by the vehicle 1 are detected as false targets by the target detection unit 3F.

[0059] Furthermore, in Figure 2 In the example shown, for instance, the acquisition unit 3A acquires information from the surrounding environment sensor 11 (e.g., radar). Figure 2 When the "trajectory of other vehicles" shown is used as the detection result of a target object existing behind this vehicle 1, the first determination unit 3C determines that the target object exists in the entity determination area (detection must area) AR1, the second determination unit 3E determines that there is an actual record in the existence area, and the target object detection unit 3F detects the target object existing in the control object detection area AR2. Figure 2 The "trajectories of other vehicles" shown are used as the real target.

[0060] That is, in Figure 2 In the example shown, for instance, another vehicle that is driving dangerously against vehicle 1 is detected as a real target by the target detection unit 3F.

[0061] That is, in Figure 2 In the example shown, the entity determination area (detection must area) AR1 is, for example, an area that can be detected by the tracking processing unit 3B, such as other vehicles driving dangerously on the vehicle 1, diffuse reflection of radio waves caused by the external environment of the vehicle 1, multipath generated in the bumper of the vehicle 1, and trailers towed by the vehicle 1 that cannot be detected by the tracking processing unit 3B.

[0062] exist Figure 3 In the example shown, the target detection unit 3F detects a target object existing within the controlled object detection area AR2 (e.g., Figure 2 When the "trajectory of other vehicles" shown is considered a real target, the notification device 14 notifies the police, for example, when the auxiliary function is activated when a nearby vehicle approaches. The target detection unit 3F detects a target (e.g., a target within the controlled object detection area AR2) that exists in the controlled object detection area AR2. Figure 2 In the event that the "diffuse reflection trajectory", "multipath trajectory", "trailer trajectory", etc. shown are used as false targets, the notification device 14 does not notify the police or others.

[0063] Furthermore, the target object detection unit 3F detects target objects existing within the controlled object detection area AR2 (e.g., Figure 2 When the "trajectory of other vehicles" shown is taken as a real target, the dashcam 15 records an image of the rear of its own vehicle 1, including other vehicles, for example, when the auxiliary function is activated when surrounding vehicles approach. The target detection unit 3F detects a target object (e.g., within the controlled object detection area AR2) that exists in the controlled object detection area AR2. Figure 2 When the "diffuse reflection trajectory", "multipath trajectory", "trailer trajectory", etc. shown are used as pseudo-target objects, the dashcam 15 does not record the image behind the vehicle 1.

[0064] That is, in Figure 3 In the example shown, to improve the reliability of the target object, only targets that are actually recorded as existing within the entity determination area (detection must area) AR1 and approaching from there into the control object detection area AR2 are considered as control objects for the notification device 14 and the vehicle recorder 15 (assisting when surrounding vehicles approach). As a result, false detections of the target object can be suppressed.

[0065] Figure 4 This is a flowchart illustrating an example of the processing performed by the processor 163 of the target object identification device 16 of the second embodiment.

[0066] exist Figure 4 In the example shown, in step S10, the acquisition unit 3A acquires the detection result of the surrounding condition sensor 11.

[0067] In step S11, the tracking processing unit 3B detects a target object located behind the vehicle 1 based on the detection results of the surrounding situation sensor 11. Furthermore, the tracking processing unit 3B performs a process to determine whether the target object detected this time is the same as the target object detected previously.

[0068] In step S12, the first determination unit 3C determines whether the target object exists within the entity determination area (detection requirement area) AR1 based on the target object information representing the result of the processing performed in step S11. If "yes", proceed to step S13; if "no", proceed to step S14.

[0069] In step S13, the area actual recording processing unit 3D records the actual existence of the target object in the area where it exists within the entity determination area (detection must area) AR1.

[0070] In step S14, the second determination unit 3E determines whether there is an actual record of the presence of a target object within the control object detection area AR2. If the result is "yes", proceed to step S15; if the result is "no", proceed to step S16.

[0071] In step S15, the target detection unit 3F detects a target object existing within the controlled object detection area AR2 as a true target object. For example, other vehicles that are driving dangerously on this vehicle 1 are detected as true targets by the target detection unit 3F in step S15.

[0072] In step S16, the target detection unit 3F detects targets existing within the controlled object detection area AR2 as false targets. For example, diffuse reflection of radio waves caused by the external environment of the vehicle 1, multipath radio waves emitted by the surrounding condition sensor 11 (radar) generated inside the bumper of the vehicle 1, and trailers towed by the vehicle 1 are detected as false targets by the target detection unit 3F in step S16.

[0073] As described above, embodiments of the driving assistance device, object recognition device, and program of the present invention have been explained with reference to the accompanying drawings. However, the driving assistance device, object recognition device, and program of the present invention are not limited to the above embodiments and can be appropriately modified without departing from the spirit of the present invention. The structures of the various embodiments described above can be appropriately combined. In the various embodiments described above, the processing performed in the object recognition device 16 is described as software processing performed by executing a program, but the processing performed in the object recognition device 16 can also be hardware processing. Alternatively, the processing performed in the object recognition device 16 can also be a combination of software and hardware processing. Furthermore, the program stored in the memory 162 of the object recognition device 16 (the program that implements the function of the processor 163 of the object recognition device 16) can be recorded in a computer-readable storage medium such as a semiconductor memory, magnetic recording medium, or optical recording medium and provided or distributed.

[0074] Symbol Explanation

[0075] 1-This vehicle, 11-Surroundings sensor, 12-Vehicle status sensor, 13-HMI, 14-Notification device, 15-Driving recorder, 16-Target object recognition device, 161-Communication interface, 162-Memory, 163-Processor, 3A-Acquisition unit, 3B-Tracking processing unit, 3C-First determination unit, 3D-Area actual recording processing unit, 3E-Second determination unit, 3F-Target object detection unit, 17-Vehicle control device, 17A-Steering actuator, 17B-Brake actuator, 17C-Drive actuator, 18-Driver assistance device, 181-Communication interface, 182-Memory, 183-Processor, 3G-Acquisition unit, 3H-Target object processing unit, 3I-Control unit.

Claims

1. A driving assistance device that detects a moving object approaching from behind the vehicle and performs driving assistance control, characterized in that, The driving assistance device includes a target object processing unit. The target object processing unit performs the following processing: Within the detection area of ​​the radar that detects the moving object approaching from behind the vehicle, a separate entity determination area is set at a predetermined distance from the radar, distinct from the control object detection area of ​​the driver assistance control. If the trajectory of the target detected by the radar exists in the entity determination area, the target is determined to be a moving body with a physical entity and the target is taken as the driving assistance control object; and If the trajectory of the target detected by the radar does not exist in the entity determination area, the target is determined to be a moving body with a physical entity and is not considered as the driving assistance control object.

2. A target object identification device, characterized in that, have: The tracking processing unit detects the target object based on the detection results of the surrounding situation sensor that detects the target object located behind the vehicle, and performs a process to determine whether the target object detected this time is the same target object as the target object detected last time. The first determination unit determines whether the target object exists in the first region based on target object information representing the result of the processing performed by the tracking processing unit; The area actual record processing unit records an area actual record indicating that the target object exists in the first area when the first determination unit determines that the target object exists in the first area. The second determination unit determines, when the target object exists in the second area located between the vehicle and the first area, whether there is an actual record of the existence of the area recorded by the area actual record processing unit. and The target detection unit detects the target object existing in the second region as a true target object when the second determination unit determines that there is an actual record in the region, and detects the target object existing in the second region as a false target object when the second determination unit determines that there is no actual record in the region.

3. The target object identification device according to claim 2, characterized in that, The surrounding environment sensor is a radar installed on the rear bumper of the vehicle. Other vehicles that engage in dangerous driving relative to this vehicle are detected as true targets by the target detection unit. The diffuse reflection of radio waves caused by the external environment of the vehicle, the multipath of radio waves generated inside the bumper and illuminated by the radar, and at least one of the following are detected as the false target by the target detection unit: diffuse reflection of radio waves caused by the external environment of the vehicle, multipath of radio waves generated inside the bumper and illuminated by the radar, and trailer towed by the vehicle.

4. The target object identification device according to claim 3, characterized in that, The second region is the area where the tracking processing unit can detect the other vehicles, but where the radio waves are diffusely reflected, multipath propagated, and the trailer cannot be detected by the tracking processing unit.

5. A program, characterized in that, This is used to cause the processor to perform the following processing steps: The tracking processing step detects the target object based on the detection results of the surrounding situation sensor that detects the target object behind the vehicle, and performs a process to determine whether the target object detected this time is the same target object as the target object detected last time. The first determination step determines whether the target object exists in the first region based on the target object information representing the result of the processing performed in the tracking processing step; The area actual record processing step, in the first determination step, if it is determined that the target object exists in the first area, records an actual record indicating that the area where the target object exists in the first area exists; The second determination step, if the target object exists in the second area located between the vehicle and the first area, determines whether there is an actual record of the area recorded in the actual recording processing step. and The target object detection step, in the second determination step, if it is determined that there is an actual record in the area, detects the target object existing in the second area as a true target object; if it is determined that there is no actual record in the area, it detects the target object existing in the second area as a false target object.

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