Driver assistance device and driver assistance procedure

Abstract

Driver assistance device (10) with: - a measuring device (S200, S205) that detects the position and direction of movement of a target object present in a self-propelled vehicle environment; - a driver assistance device (S230, S235) that performs a driver assistance process of the own vehicle when the position of the target object detected by the measuring device is within a target area (110) provided in front of the own vehicle; - a determination device (S205) that determines a type of target object; and - a correction device (S220, S225) that corrects the detection range at a level based on the type of target object determined by the detection device in a direction in which the target object is detected, when the target object detected by the measuring device is determined to be moving in the direction of the detection range, wherein - the target object located on the right side of the target area, facing the forward direction of the vehicle, is a right-side target object, and the target object located on the left side of the target area, facing the forward direction, is a left-side target object, and - the correction device: - corrects the target area such that a boundary line on the right side of the target area moves to the right, while a boundary line on the left side of the target area does not move if the target object on the right side is determined to be moving in the direction of the target area, and returns the target area to an original state before the correction if the target object on the right side is not determined to be moving in the direction of the target area, and - corrects the target area such that a boundary line on the left side of the target area moves to the left, while a boundary line on the right side of the target area does not move if the target object on the left is determined to be moving in the direction of the target area, and returns the target area to an original state before the correction if the target object on the left is not determined to be moving in the direction of the target area.

Description

[Area of ​​invention]

[0001] The present invention relates to a driver assistance device that performs a driver assistance function for a vehicle, and to a corresponding driver assistance method. [State of the art]

[0002] It is known, for example from JP 2004-268829A, that: based on a pedestrian's maximum speed, a pedestrian abrupt movement zone is established on both sides of a vehicle width zone, determined along a predicted trajectory of a vehicle; a pedestrian located within the pedestrian abrupt movement zones is identified as having a high risk of collision; and a warning or similar notification is issued. In this way, a collision can be avoided even if the pedestrian makes an abrupt movement.

[0003] In some cases, however, the pedestrian is moving at a speed below the maximum speed. If such a pedestrian is present in the pedestrian abrupt movement zone, an unnecessary warning or similar action is triggered.

[0004] From US patent 2005 / 0073438A1, a system and method for generating pedestrian warnings are also disclosed. Drivers receive warnings about potential collisions between vehicles and pedestrians, as well as other hazards affecting pedestrians. Furthermore, pedestrians can be warned of potential dangers, including the risk of collisions between vehicles and pedestrians. Mobile devices that can be worn by pedestrians respond to activation signals from a vehicle unit. The vehicle unit receives positional data from each mobile device within its transmission range and determines the relative positions of each mobile device with respect to the vehicle unit's position. The probability that a mobile device will overlap with a warning zone near the vehicle is calculated and predicted according to predefined rules.If the probability of an overlap reaches or exceeds a predefined threshold, a warning is issued.

[0005] US Patent 2013 / 0286205 A1 discloses a device for detecting approaching objects that detects moving objects approaching a vehicle based on images generated by an image capture unit that captures images of the vehicle's surroundings at specific time intervals. The device for detecting approaching objects comprises: a processor; and a memory that stores a plurality of instructions which, when executed by the processor, cause the processor to: capture areas of moving objects, each containing a moving object from an image; obtain a direction of motion for each of the areas of moving objects;and determine whether the moving object contained in each of the motion object areas is a moving object approaching the vehicle, based on at least either an angle between the direction of movement of each of the motion object areas in the image and a horizon in the image, or a ratio of an area of ​​a sub-area.

[0006] The object of the present invention is to provide a technology with which a driver assistance system can be started in a more suitable manner.

[0007] The problem is solved by a driver assistance device according to claim 1 and a driver assistance method according to claim 6. Advantageous further developments are the subject of the dependent claims.

[0008] The configuration according to the invention extends or enlarges the target area when the target object moves towards the target area and the risk of a collision between the vehicle and the target object is high. The driver assistance process is initiated at an earlier stage. Consequently, there is no longer any operational delay of the driver assistance process. However, if the target object is stationary or moving away from the target area, the target area remains unchanged. Therefore, an unnecessary driver assistance process is not initiated. Accordingly, the driver assistance process can be initiated in a more suitable manner.

[0009] The reference numerals in brackets in the claims indicate corresponding relationships to certain devices in the embodiment described below, but do not serve to limit the scope of protection of the present invention. [Brief description of the drawings]

[0010] The attached drawings show: Fig. 1 a block diagram of a configuration of a pre-crash safety system (PCS) according to an embodiment; Fig. 2 an exemplary illustration of areas of determination and boundary areas; Fig. 3. A flowchart of a driver assistance process; and Fig. 4 An exemplary illustration of an expansion process for the area of ​​determination. [Description of the embodiments]

[0011] One embodiment of the present invention is described below with reference to the drawings. It should be noted that this embodiment is not intended to limit the present invention, but rather that various embodiments within its scope of protection are conceivable. [Description of the configuration]

[0012] A pre-crash safety system (hereinafter referred to as PCS) 1 according to the present embodiment is mounted in a vehicle. The PCS 1 is a system for avoiding a collision or reducing damage in the event of a collision by performing a driver assistance action, such as warnings and braking, when there is a risk that the vehicle will collide with a target object. Hereinafter, a horizontal direction perpendicular to the forward direction of the vehicle is referred to as a transverse direction. The side to the right, facing the forward direction of the vehicle, is referred to as a right side, and the side to the left, facing the forward direction of the vehicle, is referred to as a left side.

[0013] The PCS 1 comprises a controller 10, a millimeter wave sensor 20, a camera sensor 30, and a control target 40. The controller 10 is connected to an onboard local area network (LAN) 50, to which one or more electronic control units (ECUs) 60 are connected (see Fig. 1).

[0014] The millimeter wave sensor 20 emits millimeter waves which have a strong directional effect and detects a position (relative position with respect to the own vehicle), a shape, a size and the like of a target object by receiving reflected waves of the millimeter waves.

[0015] Furthermore, the camera sensor 30 is, for example, designed as a stereo camera that can detect the distance to the target object. Based on a captured image, the camera sensor 30 recognizes the shape of a target object (such as a pedestrian, a bicycle, an obstacle, or a motor vehicle) within the image, the distance to the target object, and the like.

[0016] The detection result of a target object from the millimeter wave sensor 20 and the captured image from the camera sensor 30 are sent to the controller 10. The controller 10 acquires the detection result and similar data from the millimeter wave sensor 20 and the camera sensor 20 in a predetermined cycle (e.g., 100 ms), which is determined in advance, and, based on the detection result and similar data, recognizes the position and similar data of the target object.

[0017] The configuration can, of course, be such that the position and other parameters of the target object are detected either by the millimeter-wave sensor 20 or the camera sensor 30. Alternatively, the configuration can be such that the position and other parameters of the target object are detected using a sensor other than the millimeter-wave sensor 20 and the camera sensor 30.

[0018] Furthermore, the controller 10 comprises a control unit 11 and a communication unit 12. The control unit 11 consists of a central processing unit (CPU), a read-only memory (ROM), a read / write memory (RAM), an input / output (I / O) module, and other components (not shown). The communication unit 12 communicates with the other ECUs 60 via the onboard LAN 50. The controller 10 functions as a computer. The CPU of the control unit 11 performs integrated control of the controller 10 and various processes by executing programs stored in the ROM.

[0019] In particular, the control unit 11 serves as a target object measuring unit 11a, a determination range setting unit 11b and a driver assistance processing unit 11c.

[0020] The target object measuring unit 11a detects the position, type, and other characteristics of the target object based on the detection results and other information from the millimeter wave sensor 20 and the camera sensor 30. Furthermore, the target object measuring unit 11a detects a transverse direction vector and a transverse movement velocity in the direction of movement of the target object.

[0021] Furthermore, the range setting unit 11b determines a range (which will be discussed in more detail below) for each target object. The range setting unit 11b performs an expansion process and the like for the range according to the target object based on the transverse direction vector and the like of the target object.

[0022] Furthermore, when the target object enters the relevant target area, the driver assistance processing unit 11c operates the control target 40 and initiates a driver assistance process. Control target 40 includes, for example, actuators that control the brakes, steering wheel, seat belts, and the like, and a warning device that issues a warning. The driver assistance process can be a process that avoids a collision or reduces damage in the event of a collision by operating the brakes, steering wheel, seat belts, and the like. Alternatively, the driver assistance process can be a process that issues a visual, audible, or other warning of an impending collision.

[0023] Furthermore, the control target 40 can be connected to the controller 10 via a specific communication path. The driver assistance processing unit 11c can operate the control target 40 by outputting a direct control signal to the control target 40. Alternatively, the control target 40 can be located in an ECU 60 connected to the on-board LAN 50. The driver assistance processing unit 11c can operate the control target 40 by communicating with the ECU 60 via the on-board LAN 50. [Description of the company]

[0024] The following describes the operation of PCS 1 in the present embodiment. According to the present embodiment, the millimeter-wave sensor 20 and the camera sensor 30 are arranged centrally at the front end of the vehicle. The position and other characteristics of a target object located within a fan-shaped detection area, the position of which is a starting position, are detected using the millimeter-wave sensor 20 and the camera sensor 30. The controller 10 determines whether or not the target object has entered the detection area in front of the vehicle, based on the detection results from the millimeter-wave sensor 20 and the camera sensor 30. If the target object enters the detection area, the controller 10 starts the driver assistance process described above.

[0025] When target objects 130, 131 and 133 are detected by the millimeter wave sensor 20 or the like, the controller 10 first individually determines detection ranges 110, 111 and 112 according to each of the target objects (see Fig. 2). In the Fig. 2 and Fig. 4. The positions of the target areas 110, 111, and 120 have been slightly shifted for clarity. In fact, the positions, sizes, and shapes of the target areas 110, 111, and 112, corresponding to the target objects, exhibit a state of complete agreement in a condition where the expansion process, described below, does not occur.

[0026] The controller 10 can define as the determination area an overlapping section between a strip-shaped area of ​​a predetermined length extending in the forward direction of a self-propelled vehicle 100 (which may have a width approximately equal to the vehicle width of the self-propelled vehicle 100 or a width of a length obtained by adding a predetermined value to the vehicle width) and the detection area of ​​the millimeter wave sensor 20 or the like.

[0027] Furthermore, the controller 10 can define the determination area as an overlapping section between a strip-shaped area of ​​predetermined length, extending along a predicted travel path of the vehicle 100 (which may have a width similar to that of the strip-shaped area described above), and the detection area. The predicted travel path can be, for example, based on a steering angle or similar information obtained via the vehicle's LAN 50. Alternatively, the predicted travel path can be based on the course or similar information of a road traveled by the vehicle 100, obtained from a navigation device via the vehicle's LAN 50.

[0028] Furthermore, boundary regions 120 and 121 are defined adjacent to each other on both sides of the target area in a state where the expansion process does not occur. Boundary region 120 is positioned such that it is in contact with a boundary line (also referred to as a left-side boundary section) 110a on the left side of the target area 110. Boundary region 120 has a predetermined width (X m) and is a strip-shaped area extending from the front end of the vehicle 100 towards the front end of the target area 110. Boundary region 121 is also positioned such that it is in contact with a boundary line (also referred to as a right-side boundary section) 110b on the right side of the target area 110. Boundary region 121 has the same size and shape as boundary region 120.

[0029] If the target object, which is present in the boundary area 120 or 121, moves in the direction of the target area according to the target object, the controller 10 performs the expansion process in which the target area is expanded according to the target object in such a way that the distance between the boundary line of the target area and the target object is reduced.

[0030] The following describes the driver assistance process in which the expansion process or the like for a corresponding determination area is carried out on the basis of the lateral direction vector or the like of a target object, and the driver assistance process is started when the target object enters the corresponding determination area (see Fig. 3) The present process is executed by the control unit 11 of the controller 10 at a periodic time (such as at a 100 ms interval).

[0031] In step S200, the control unit 11 of the controller 10 acquires the detection result of the target object from the millimeter wave sensor 20 and the captured image from the camera sensor 30. The control unit 11 then proceeds to step S205.

[0032] In step S205, the control unit 11 recognizes the position, type, and other characteristics of the target object present in the detection range, based on the detection result from the millimeter-wave sensor 20 and the image captured by the camera sensor 30. Furthermore, the control unit 11 calculates the lateral direction vector and the speed of movement of the target object based on the currently detected position of the target object, as well as information about previous positions of the target object, a steering angle, and an estimated value of the turning radius of the vehicle 100, and other such characteristics.

[0033] At this time, the control unit 11 can acquire the steering angle, yaw rate, and similar parameters of the vehicle 100 from another ECU 60 via the onboard LAN 50 and calculate the estimated value of the rotation radius based on the acquired steering angle, yaw rate, and similar parameters. Subsequently, the control unit 11 can calculate the lateral direction vector and speed of the vehicle 100 based on the steering angle, the estimated value of the rotation radius, and similar parameters. Finally, the control unit 11 can calculate the lateral direction vector and speed of the target object based on the lateral direction vector and speed of the vehicle 100, the target object's positional history, and similar parameters.

[0034] In step S210, control unit 11 determines whether or not a new target object is detected. If the determination is positive (Yes in step S210), control unit 11 proceeds to step S215. If the determination is negative (No in step S210), control unit 11 proceeds to step S220.

[0035] In step 215, the control unit 11 determines a target area according to the newly detected target object, whereupon the control unit 11 proceeds to step S220.

[0036] For example, if several types of driver assistance processes are executed, such as a driver assistance process for operating the brakes and a driver assistance process for issuing a warning, the control unit 11 can define several target areas, each corresponding one-to-one (1:1) to one type of driver assistance process, as the target area according to the new target object. It can be assumed that these target areas have the same size and shape and are determined or set in front of the vehicle, as described above. However, the target areas are not limited to this. They can have different sizes and shapes and be determined at different locations. Furthermore, the boundary area described above is set adjacent to each of these target areas.

[0037] In step S220, the control unit 11 determines whether or not the expansion process or the like is required for the target area. Specifically, if the target object moves from left to right within the boundary area 120, it is assumed that the target object is in an approach state, in which it is moving towards the corresponding target area. Furthermore, if the target object moves from right to left within the boundary area 121, it is assumed that the target object is in an approach state (see Fig. 2 and Fig. 4) Furthermore, it is determined that the area of ​​determination requires the expansion process according to the target object, which is assumed to be in the approximation state.

[0038] If the expansion process is no longer required for a target area for which the expansion process has been carried out (such as when the target object no longer has the approximation state according to the target area), the control unit 11 determines that a shrinking process is required, in which the target area is returned to an original state.

[0039] In the subsequent step S225, the control unit 11 executes the expansion process for the area of ​​determination that is determined to require the expansion process, or the reduction process for the area of ​​determination that is determined to require the reduction process.

[0040] Herein is a case in which the target object 130, which is present in the boundary region 120 on the left side, exhibits the approximation state, described as an example (see Fig. 4) In this case, the target area 110 is extended according to the target object 130 such that the left-hand side margin section 110a moves closer to the target object 130 without changing its length, while the position of the right-hand side margin section 110b remains fixed. As a result of the extension process, the left-hand side margin section 110a is in a state in which it has moved to the left by a correction distance (Ym).

[0041] In particular, if the target object present in the edge region 121 on the right side is in the approach state, the corresponding determination area is extended such that the side edge section on the right side moves closer to the target object without changing its length, while the position of the side edge section on the left side of the determination area remains fixed.

[0042] At this time, the control unit 11 can extend or enlarge the detection range so that it increases when the lateral velocity of the target object increases in accordance with the detection range, which is determined to require the extension process. In particular, the control unit 11 can determine the correction distance using the following equation (1). Correction distance = Base value + Lateral movement speed of target object × Delay time

[0043] Here, the delay time can be the added time from the moment the warning is issued until the driver acknowledges the warning, applies the brakes, and the vehicle comes to a stop, plus the cycle in which the controller 10 acquires the detection results and the images captured by the millimeter-wave sensor 20 and the camera sensor 30. For example, the delay time can be set to approximately 0.4 seconds. Furthermore, the delay time can increase if the lateral speed of the target object increases.

[0044] Compared to a target object moving at low speed, a target object moving at high speed has a higher risk of collision and, in the event of a collision, damage. However, by determining the correction distance based on the object's speed, the driver assistance system is activated earlier when the target object is moving at high speed. Consequently, a collision with the target object can be avoided, and damage in the event of a collision can be reduced with greater certainty. The correction distance can be calculated using the target object's speed of travel instead of its lateral speed.

[0045] Furthermore, when calculating the correction distance, the control unit 11 can determine the correction distance based on the type of target object by multiplying the value calculated using equation (1) described above by a coefficient determined based on the type of target object. In particular, the coefficients can be set such that the correction distance increases when the target object is a pedestrian compared to when the target object is a bicycle.

[0046] A bicycle typically travels at a higher speed than a pedestrian. This increases the risk of a collision and the potential damage. However, by setting the correction distance based on the type of target object, the driver assistance system is activated earlier if the bicycle is moving towards the target area. Consequently, a collision with the bicycle can be avoided with greater certainty.

[0047] The control unit 11 can only execute the expansion process for the corresponding target area if the target object is a pedestrian (or if the target object is a pedestrian, a bicycle, and the like).

[0048] Furthermore, if several types of driver assistance processes are executed and the determination areas corresponding to the types of driver assistance processes are determined, the control unit 11 can set the correction distance of each determination area based on the corresponding type of driver assistance process.

[0049] In particular, the control unit 11 can determine the correction distance of the determination area according to the type of driver assistance process by further multiplying the value calculated using equation (1) described above by a coefficient determined on the basis of the type of driver assistance. By matching the coefficients, for example, the correction distance for the driver assistance process executed by applying the brakes can be shorter than the correction distance for the driver assistance process executed by issuing the warning.

[0050] This prevents a faulty start of a driver assistance process, which would significantly affect driving.

[0051] Below is a specific example where the expansion process for a given area of ​​determination is not carried out (see Fig.4) The target object 131 is present in the boundary region 121 on the right side. However, the target object 131 is moving to the right and not towards the corresponding target region 111. Consequently, the target object 131 is not in the approach state. Therefore, the expansion process for the target region 111 is not executed. Furthermore, although the target object 132 is moving to the left and towards the corresponding target region 112, the target object 132 is outside the boundary region 121. Consequently, the target object 132 is not in the approach state. Accordingly, the expansion process for the target region 111 is not executed.

[0052] In the subsequent step S230, the control unit 11 determines whether or not the target object has entered the corresponding target area, based on the position of each target object. If several types of driver assistance processes are executed and the target areas corresponding to each type of driver assistance process are defined, the control unit 11 determines whether or not the target object has entered each of the several target areas corresponding to each type of driver assistance process.

[0053] Subsequently, if it is determined that a target object has entered the relevant determination area (Yes in step S230), the control unit 11 proceeds to step S235. Otherwise (No in step S230), the control unit 11 terminates the current process.

[0054] In step S235, control unit 11 starts the driver assistance process described above and terminates the running process. If several types of driver assistance processes are executed and the target areas corresponding to each type of driver assistance process are defined, control unit 11 starts the type of driver assistance process according to the target area into which the target object has entered. [Effects]

[0055] In PCS 1 of the present embodiment, when a target object located in the edge regions on both the left and right sides of the strip-shaped detection area moves towards the detection area, the expansion process is carried out, in which the detection area is expanded such that the side edge section on the side where the target object is located moves towards the target object.

[0056] Consequently, if the target object moves towards the target area and the risk of a collision between the vehicle and the target object is high, the target area is expanded and the driver assistance process is initiated at an earlier stage. There is no longer any operational delay to the driver assistance process.

[0057] However, if the lateral velocity of the target object located within the boundary region is zero (also referred to as a steady state), or if the target object is moving towards the side facing away from the target region, the target region is not extended. An unnecessary driver assistance process is not initiated.

[0058] Consequently, the driver assistance process can be started in a more suitable manner.

[0059] Furthermore, in the extension process, the target area is extended such that the page margin segment on the side containing the target object is moved towards the target object, while the position of the page margin segment on the opposite side remains unchanged. Consequently, the target area can be extended and reset to its original state using a simple process. This reduces the computational load.

[0060] Furthermore, according to the present embodiment, the expansion process is only executed if, of the detected target objects, the target object located in the boundary region adjacent to the target area moves towards the target area. This ensures that the target area is only expanded if there is a target object that is highly likely to enter the target area. Initiating an unnecessary driver assistance process can thus be prevented.

[0061] Furthermore, according to the present embodiment, the target areas are individually defined for the target objects. The driver assistance process is initiated when the target object enters the corresponding target area. The expansion process for the corresponding target area is based on the lateral direction vector of the target object.

[0062] Consequently, a situation no longer arises in which, as a result of the extension of the target area based on the movement of a specific target object, another target object that is stationary or a target object moving towards the side facing away from the target area is positioned within the target area. This prevents the initiation of an unnecessary driver assistance process. [Other embodiments]

[0063] One embodiment of the present invention is described above. However, the present invention is not limited to the embodiment described above, but can be realized using various other embodiments.

[0064] (1) In the PCS 1 of the embodiment described above, the target area is provided according to (in correspondence with) each target object. However, the target area is not limited to this. A target area that is used jointly for all target objects can be provided. Furthermore, in a manner similar to that of the embodiment described above, the expansion process and the like for the target area can be based on the lateral direction vectors and the like of the target objects, and the driving assistance process can be started when any of the target objects enters the target area. The driving assistance process can also be started in a more suitable manner if a configuration similar to this is provided.

[0065] Furthermore, even if a common target area is provided, multiple target areas, shared among all target objects, can be provided according to the types of driving assistance processes when several types of driving assistance processes are executed. Additionally, in a manner similar to that described above, the expansion process and the like can be performed for each target area at a level or height based on the corresponding type of driving assistance process, using the lateral direction vectors and the like of the target objects. When a target object enters a target area, the type of driving assistance process corresponding to that target area can be initiated.A faulty start of a driver assistance process, which would significantly affect driving, can be prevented even if a configuration similar to this one is provided.

[0066] Furthermore, if a common target area is used as described above, only the side margin near the target object in the approach state is modified by the target area's boundary lines during the expansion process. This prevents other target objects not in the approach state from entering the target area, thus avoiding the initiation of unnecessary driver assistance processes.

[0067] (2) Furthermore, according to the embodiment described above, the area of ​​determination is a strip-shaped region extending in the forward direction of the vehicle. However, the shape of the area of ​​determination is not limited to this. For example, an area surrounding the edge of the vehicle or a fan-shaped region extending from the front of the vehicle can be defined as the area of ​​determination.

[0068] Furthermore, if adjacent areas surrounding the target area, shaped in this way, are the boundary areas, and a target object present in the boundary area moves toward the target area in a manner similar to that described above, the target area can be extended such that the target object reaches the target area at an earlier stage. At this time, the target area can be extended by modifying an intersection zone of the target area's boundary lines. The intersection zone has a section that the target object is expected to cross when entering the target area. The intersection zone can be a continuous zone in the target area's boundary lines, the distance of which to the target object is less than or equal to a predetermined value.

[0069] The driver assistance process can be started in a more suitable way, even if a configuration similar to this one is provided.

[0070] (3) Furthermore, according to the embodiment described above, during the expansion process for the target area, the target area is expanded in a state in which, from the boundary lines of the strip-shaped target area, the end section on the side where the target object is located approaches the target object, and the edge section on the opposite side remains fixed. However, the target area is not limited to this. The entire target area can be expanded in a predetermined scale ratio during the expansion process. Similar effects can also be achieved in such a case.

[0071] (4) Furthermore, according to the embodiment described above, the boundary regions are provided adjacent to the target area. The expansion process occurs when the target object present in the boundary region moves towards the target area. However, the boundary regions may also be omitted. The expansion process for the target area can then occur when a detected target object moves towards the target area. In such a case, the driver assistance process can also be initiated in a more suitable manner.

[0072] (5) A function provided by only one forming element according to the embodiment described above can be distributed across multiple forming elements. Functions provided by multiple forming elements can be integrated into only one forming element. Furthermore, at least a part of a configuration according to the embodiment described above can be replaced by a known configuration with a similar function. In addition, a part of a configuration according to the embodiment described above can be omitted. Furthermore, at least a part of a configuration according to one embodiment described above can be added to a configuration according to another embodiment described above, or it can replace a configuration according to another embodiment described above.All aspects within the scope of protection according to the attached claims are embodiments of the present invention.

[0073] (6) The present invention can be implemented using various embodiments in addition to the PCS 1 described above, such as using the controller 10 that forms the PCS 1, a program that enables a computer to act as the controller 10, a medium on which the program is stored, and a method corresponding to the driver assistance process. [Correspondence between the embodiment and the claims]

[0074] The correspondence between the designations in the description of the embodiment described above and the designations in the claims is shown below. The controller 10, which forms the PCS 1, corresponds to an example of a driver assistance device. Furthermore, in the driver assistance process by the control unit 11, step S200 corresponds to an example of a measuring device. Step S205 corresponds to an example of the measuring device and a determining device. Step S215 corresponds to an example of an adjusting device. Steps S220 and S225 correspond to an example of a correction device. Steps S230 and S235 correspond to an example of a driver assistance device. [List of reference symbols] 1 PCS 10 controllers 11 Control unit 11a Target object measurement unit 11b Determination range setting unit 11c Driver Assistance Processing Unit 12 Communication unit 20 millimeter wave sensor 30 camera sensor 40 Tax target 50 Onboard LAN 60 ECU

Claims

[1] Driver assistance device (10) with: - a measuring device (S200, S205) that detects the position and direction of movement of a target object present in a self-propelled vehicle environment; - a driver assistance device (S230, S235) that performs a driver assistance process of the own vehicle when the position of the target object detected by the measuring device is within a target area (110) provided in front of the own vehicle; - a determination device (S205) that determines a type of target object; and - a correction device (S220, S225) that corrects the detection range at a level based on the type of target object determined by the detection device in a direction in which the target object is detected, when the target object detected by the measuring device is determined to be moving in the direction of the detection range, wherein - the target object located on the right side of the target area, facing the forward direction of the vehicle, is a right-side target object, and the target object located on the left side of the target area, facing the forward direction, is a left-side target object, and - the correction device: - corrects the target area such that a boundary line on the right side of the target area moves to the right, while a boundary line on the left side of the target area does not move if the target object on the right side is determined to be moving in the direction of the target area, and returns the target area to an original state before the correction if the target object on the right side is not determined to be moving in the direction of the target area, and - corrects the target area such that a boundary line on the left side of the target area moves to the left, while a boundary line on the right side of the target area does not move if the target object on the left is determined to be moving in the direction of the target area, and returns the target area to an original state before the correction if the target object on the left is not determined to be moving in the direction of the target area. [2] Driving assistance device according to claim 1, wherein the correction device corrects the determination area when the target object, which is located in a boundary area (120, 121) adjacent to the determination area, is determined to be moving in the direction of the determination area. [3] Driver assistance device according to claim 1 or 2, wherein - the measuring device also detects the speed of movement of the target object; and - the correction device corrects the detection range to a greater extent when the speed of movement of the target object increases according to the detection by the measuring device. [4] Driving assistance device according to one of claims 1 to 3, wherein it further comprises an adjustment device (S215) which determines the range of determination according to each target object, wherein - the driver assistance system executes the driver assistance process when the position of the target object is within the target area according to the target object, and - the correction device corrects the target area if the target object is determined to be moving in the direction of the target area in accordance with the target object. [5] Driver assistance device according to one of claims 1 to 4, wherein - the driver assistance system performs several types of driver assistance processes; - the scope of application is provided according to each type of driver assistance process; - the driver assistance system executes the driver assistance process of the type corresponding to the target area if the position of the target object, as detected by the measuring device, is within the target area; and - the correction device corrects the target area according to each type of driver assistance process at a level based on the corresponding type of driver assistance process when the target object is determined to be moving in the direction of the target area. [6] Driver assistance procedures comprising the following steps: - Detecting, using a measuring device provided in a driver assistance device mounted in a self-propelled vehicle, the position and direction of movement of a target object present in the vicinity of the self-propelled vehicle; - To execute, using a driver assistance device provided in the driver assistance device, a driver assistance process of the own vehicle, if the position of the target object according to the detection by the measuring device is within a target area located in front of the own vehicle; - Determine, using a determination device provided in the driver assistance device, a type of target object; and - Correcting, using a correction device of the driver assistance device, the target area to a level based on the type of target object determined by the target device in a direction in which the target object is detected, if the target object detected by the measuring device is determined to be moving in the direction of the target area, wherein - the target object located on the right side of the target area, facing the forward direction of the vehicle, is a right-side target object, and the target object located on the left side of the target area, facing the forward direction, is a left-side target object, and - correcting the scope includes: - Correcting the target area such that a boundary line on the right side of the target area moves to the right, while a boundary line on the left side of the target area does not move, if the target object on the right side is determined to be moving in the direction of the target area, and restoring the target area to an original state before the correction if the target object on the right side is not determined to be moving in the direction of the target area, and - Correcting the target area such that a boundary line on the left side of the target area moves to the left, while a boundary line on the right side of the target area does not move, if the target object on the left side is determined to be moving in the direction of the target area, and resetting the target area to an original state before the correction if the target object on the left side is not determined to be moving in the direction of the target area.

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