Determination device and determination method

Abstract

Determination device (120), comprising: an input unit (121) that receives information about a pedestrian area (C) and information about a target object (P1, P2) detected in the pedestrian area (C), wherein the pedestrian area (C) is located between a position where a vehicle (V) is present and a non-pedestrian area (B); and a controller (122) which (i) divides the sidewalk area (C) into a plurality of sub-areas (C1, C2, C3) based on information about the sidewalk area (C), the plurality of which includes at least a first sub-area (C1) and a second sub-area (C2, C3), wherein the first sub-area (C1) is closest to the vehicle (V) among the plurality of sub-areas (C1, C2, C3) and the second sub-area (C2, C3) borders the non-sidewalk area (B), and (ii) determines at least one sub-area (C1, C2, C3) among the plurality of sub-areas (C1, C2, C3) as a region into which the vehicle (V) is permitted to enter, based on information about the target object (P1, P2). wherein the determining device (120), if determination result information indicates that no region exists into which the vehicle (V) may enter, issues a signal that causes a journey by the vehicle (V) to be prohibited, wherein the determining device (120), when determination result information indicates that the region into which the vehicle (V) may enter includes the first sub-area (C1), issues a signal that causes a journey of the vehicle (V) to be permitted, and where the sub-areas (C1, C2, C3) are areas into which the vehicle (V) may not enter if a target object (P1, P2) is present in them, and areas into which the vehicle (V) may enter if no target object (P1, P2) is present in them.

Description

Technical field

[0001] The present disclosure relates to a determining device and a determining method that make determinations about the movement of a moving object. Technical background

[0002] US 2013 / 0322692 A1 discloses a target detection system and target detection method for detecting one or more detection targets that are operationally connected to an imaging device to capture an image of an area in front of the target detection system, each of which comprises a detection area detector for capturing multiple detection areas from the captured image, a detection weighting unit for setting a detection weight that indicates the probability of existence of images of the detection targets for the respective detection areas captured by the detection area detector, and a target detection processor for detecting the one or more detection targets in a specific detection area based on the detection weight set in the respective detection area.

[0003] DE 10 2010 002 105 A1 relates to a method for assisting a driver of a vehicle during a driving maneuver, in which at least the area in front of the vehicle in the direction of travel is detected in order to identify objects with which the vehicle would collide while maintaining its direction of travel, wherein, in the event of an imminent collision with an object, the driver is shown a necessary steering intervention and / or a necessary braking intervention and / or an automatic steering intervention and / or an automatic braking intervention is carried out to avoid a collision with the object. The contour of the vehicle's body is taken into account to determine whether a collision with an object is imminent.

[0004] In recent years, various driver assistance systems have been developed to support vehicle drivers. In one of these systems, for example, when a vehicle approaches an intersection, the area near the intersection is divided into multiple zones, and a predefined marker is displayed in one of the subdivided zones where a pedestrian is present, allowing the driver to determine the pedestrian's position (see, for example, PTL 1). List of quotations Patent literature

[0005] PTL 1: Unexamined Japanese patent disclosure no. JP 2000-346657 A Summary of the invention

[0006] A determining device according to one aspect of the present disclosure is defined in claim 1.

[0007] A determination method according to an aspect of the present disclosure is defined in claim 6.

[0008] The present disclosure enables the vehicle to safely cross the sidewalk. Brief description of the drawing Fig. Figure 1 is a block diagram of an example of a structure of a driver assistance system and a determining device according to an exemplary embodiment of the present disclosure. Fig. Figure 2 shows an example of a pedestrian area, a non-pedestrian area and a target object in the exemplary embodiment of the present disclosure. Fig. Figure 3 is a flowchart of an example of an operating sequence of the determining device according to the exemplary embodiment of the present disclosure. Fig. Figure 4 shows an example of a multitude of sub-areas in a first modification of the present disclosure. Fig. Figure 5 shows another example of the sub-areas in the first modification of the present revelation. Fig. Figure 6 shows another example of the sub-areas in the first modification of the present revelation. Fig. Figure 7 is a block diagram of an example of a driver assistance system setup according to a second modification of the present disclosure. Fig. Figure 8 shows an example of a multitude of sub-areas in a third modification of the present revelation. Fig. Figure 9 shows a hardware configuration of a computer that implements the functions of components through programs. Description of an embodiment

[0009] Before describing an exemplary embodiment of the present disclosure, problems with a conventional technique are briefly described. In the technique of PTL 1, no driving assistance is provided when a vehicle crosses a sidewalk to reach a road.

[0010] The present disclosure provides a determining device, a determining method and a determining program that enable the vehicle to safely cross a sidewalk.

[0011] An exemplary embodiment of the present disclosure is described in detail below with reference to the drawing. In this exemplary embodiment, identical reference numerals are used to designate configurations with identical functions, and redundant descriptions thereof are therefore omitted.

[0012] First, the construction of the driver assistance system 100 and the determination device 120 according to the present exemplary embodiment with reference to Fig. 1 described. Fig. Figure 1 is a block diagram of an example of the setup of the driver assistance system 100 and the determining device 120 according to the present exemplary embodiment. The present exemplary embodiment is described under the assumption that the driver assistance system 100 is used in a vehicle.

[0013] The driver assistance system 100 comprises a recognition unit 110, a determination device 120, and a vehicle control device 130. The determination device 120 comprises an input unit 121 and a control unit 122.

[0014] The driver assistance system 100 also includes a detector (not shown). The detector is a sensor mounted inside or outside the vehicle compartment. Examples of detectors include a detection camera, a laser sensor, and a millimeter-wave radar. The detector detects the area surrounding a vehicle (at least the area in front of the vehicle) and outputs the detection results to the recognition unit 110. A detection technique for the detector is well known in the prior art, and therefore a detailed description is omitted.

[0015] The detection unit 110, based on the detection information received from the detector, identifies a sidewalk area, a non-sidewalk area, and a predefined target object present in the sidewalk area (for example, a pedestrian, a bicycle, or the like). The non-sidewalk area is an area distinct from the sidewalk area and borders it. Examples of non-sidewalk areas include a street, a garage, and a parking lot. A specific example of the sidewalk area and the non-sidewalk area is given below with reference to... Fig. 2 described.

[0016] A recognition process performed by the recognition unit 110 uses, for example, pattern comparison or clustering, depending on the type of detection result information. A recognition technique for the recognition unit 110 is well known in the prior art, and therefore a detailed description of it is omitted.

[0017] The detection unit 110 outputs sidewalk area information, non-sidewalk area information, and target object information, which are detection results, to the input unit 121 of the determination device 120. The sidewalk area information includes, for example, information about the relative position of a sidewalk area with respect to a non-sidewalk area, and the like. The non-sidewalk area information includes information about the relative position of a non-sidewalk area with respect to a sidewalk area, and the like. The target object information includes information about the type, position, and speed of the target object, and the like.

[0018] An example of the sidewalk area, the non-sidewalk area, and the target object that are detected by the detection unit 110 is given with reference to Fig. 1 and Fig. 2 described. Fig. Figure 2 shows the pedestrian area and the non-pedestrian area from a top-down view. However, the target object located in the pedestrian area is shown from the side.

[0019] In Fig. 2. A and B denote the non-pedestrian area, and C denotes the pedestrian area. Non-pedestrian area A is, for example, a parking lot, a garage, or the like, whereas non-pedestrian area B is, for example, a street. In the example of Fig. 2 is a vehicle V, into which a driver assistance system 100 is integrated, present in the non-pedestrian area A.

[0020] Pedestrian area C is located between non-pedestrian area A and non-pedestrian area B and borders non-pedestrian areas A and B. In the example of Fig. 2. The pedestrian P1 and the cyclist (hereinafter referred to as "bicycle") P2 are located in the pedestrian area C.

[0021] The detection unit 110, which is attached to the vehicle V, detects the non-pedestrian area A, the non-pedestrian area B and the pedestrian area C and outputs the non-pedestrian area information about the non-pedestrian areas A, B and the pedestrian area information about the pedestrian area C to the determination device 120.

[0022] Furthermore, the detection unit 110 attached to the vehicle V detects the pedestrian P1 and the bicycle P2 in the pedestrian area C and outputs the target object information about the pedestrian P1 and the vehicle P2 to the determination device 120.

[0023] An example of the pedestrian area, the non-pedestrian area and the target object, which are detected by the recognition unit as 110, is described above. Fig. 1 is described again below.

[0024] The input unit 121 receives the pedestrian area information, the non-pedestrian area information and the target object information from the recognition unit 110 and outputs this individual information to the control unit 122.

[0025] When the controller 122 receives the sidewalk area information, the non-sidewalk area information, and the target object information from the input unit 121, it performs various processes based on this individual information. For example, based on the sidewalk area information and the non-sidewalk area information, the controller 122 first divides the sidewalk area into a multitude of sub-areas and identifies these sub-areas. Next, based on the target object information, the controller 122 determines a region within these sub-areas that the vehicle can cross.

[0026] A concrete example of the process carried out by control unit 122 is given with reference to Fig. 1 and Fig. 2 described. The following process is carried out, for example, when the vehicle V, which is present in the non-pedestrian area A, crosses the pedestrian area C in order to reach the non-pedestrian area B.

[0027] The control unit 122 first recognizes that the pedestrian area C is located between the non-pedestrian area A (i.e., a momentary position of the vehicle V) and the non-pedestrian area B.

[0028] Next, the controller 122 subdivides the pedestrian area C into a first sub-area C1, which is closest to vehicle V, and a second sub-area C2, which borders the non-pedestrian area B, and detects the first sub-area C1 and the second sub-area C2. The number of subdivisions of pedestrian area C can be preset or determined by the controller 122 based on the width of pedestrian area C (a length of pedestrian area C in the direction in which vehicle V crosses pedestrian area C, i.e., a length of pedestrian area C in one direction of crossing).

[0029] Next, control 122 determines whether the target object is present in the first sub-area C1, and then whether it is present in the second sub-area C2 (in ascending order).

[0030] This means that control 122 first determines whether the target object is present in the first sub-area C1.

[0031] If the target object is present in the first sub-area C1, control 122 determines that no region exists which the vehicle V can cross (i.e., the vehicle cannot cross the first sub-area C1).

[0032] If, on the other hand, the target object is not present in the first sub-area C1, the control 122 determines whether the target object is present in the second sub-area C2.

[0033] If the target object is present in the second sub-area C2, control 122 determines that the region the vehicle V can cross is the first sub-area C1 (i.e., the vehicle V can cross the first sub-area C1). In the case of Fig. 2. The target object is not present in the first sub-area C1, but is present in the second sub-area C2 (pedestrian P1 and bicycle P2). Therefore, it is determined that the region that the vehicle V can cross is the first sub-area C1.

[0034] If, on the other hand, the target object is not present in the second sub-area C2, the control 122 determines that the region which the vehicle V can cross is the first sub-area C1 and the second sub-area C2 (i.e., the vehicle V can cross the second sub-area C2).

[0035] A specific example of the process carried out by control unit 122 is described above. Fig. 1 is described again below.

[0036] Next, the controller 122 outputs determination result information, specifying the determination result (the region that a vehicle can cross), to the vehicle control device 130.

[0037] The vehicle control device 130 controls a device used in a vehicle. Examples of devices used in a vehicle are a driving device and a display device.

[0038] A specific example of the control of a driving device by the vehicle control device 130 is given with reference to Fig. 1 and Fig. 2 described.

[0039] If, for example, the determination result information indicates that no region exists which the vehicle V can cross, the vehicle control device 130 issues a control signal to the drive device to prohibit the vehicle from moving. In response to the control signal, the drive device controls the vehicle in such a way that the movement is prohibited. Consequently, the vehicle cannot move forward from a non-pedestrian area A into a first sub-area C1.

[0040] If, for example, the determination result information indicates that the region that vehicle V can cross is the first sub-area C1, the vehicle control device 130 continues to issue a control signal to the drive device to allow vehicle V to enter the first sub-area C1. In response to the control signal, the drive device controls vehicle V so that the movement is permitted. Consequently, vehicle V can move forward into the first sub-area C1.

[0041] If, for example, the determination result information indicates that the region the vehicle V can cross is the first sub-area C1 and the second sub-area C2, the vehicle control device 130 continues to issue a control signal to the drive device to allow the vehicle V to enter the second sub-area C2. In response to the control signal, the drive device controls the vehicle V so that the movement is permitted. Consequently, the vehicle V can move forward into the second sub-area C2, thus entering the no-pedestrian zone B.

[0042] Next, a specific example of the control of a display device by the vehicle control device 130 is described.

[0043] If, for example, the determination result information indicates that no region exists which the vehicle V can cross, the vehicle control device 130 outputs a control signal to the display device to generate an image showing this condition. In response to the control signal, the display device generates an image showing that the vehicle V cannot enter the first sub-area C1 and outputs the image to a designated display medium. Consequently, a passenger in the vehicle can be informed that the vehicle cannot enter the first sub-area C1.

[0044] If, for example, the determination result information indicates that the region the vehicle V can cross is the first sub-area C1, the vehicle control device 130 outputs a control signal to the display device to generate an image showing this condition. In response to the control signal, the display device generates an image showing that the vehicle V can enter the first sub-area C1 and outputs the image to the designated display medium. Consequently, the vehicle's passenger can be informed that the vehicle V can enter the first sub-area C1.

[0045] If, for example, the determination result information indicates that the region the vehicle V can cross is the first sub-area C1 and the second sub-area C2, the vehicle control device 130 outputs a control signal to the display device to generate an image showing this condition. In response to the control signal, the display device generates an image showing that the vehicle V can enter the first sub-area C1 and the second sub-area C2 and outputs the image to the designated display medium. Consequently, the vehicle's passenger can be informed that the vehicle can enter the second sub-area C2, thus entering the no-pedestrian zone B.

[0046] Although the preceding description of the control of the display device uses the output of an image as an example, the present disclosure is not limited to this case. It is also possible to use other means that allow the vehicle passenger to perceive the contents of the determination result information (for example, voice output, seat vibration, or the like).

[0047] Furthermore, the operating mode of the determining device 120 described above is useful for both automatic and manual driving.

[0048] The structure of the driver assistance system 100 and the determination device 120 is described above.

[0049] Next, a determination process of the determination device 120 is to be carried out with reference to Fig. 1 and Fig. 3 described. Fig. Figure 3 is a flowchart of a sequence of the determination process of the determination device 120. This sequence is carried out, for example, when the vehicle V, which is present in the non-pedestrian area A, crosses the pedestrian area C in order to reach the non-pedestrian area B.

[0050] The input unit 121 receives pedestrian area information, non-pedestrian area information, and target object information from the detection unit 110 (step S101). The input unit 121 then outputs this received individual information to the controller 122.

[0051] Next, based on the sidewalk area and non-sidewalk area information received from the input unit 121, the controller 122 divides the sidewalk area into N (where N is an integer of 2 or greater) sub-areas and identifies a first through Nth sub-area (step S102). The sidewalk area to be subdivided lies between the vehicle's position and the non-sidewalk area (which is distinct from the non-sidewalk area containing the vehicle's position). A first sub-area is closest to the vehicle's position, while the Nth sub-area borders the non-sidewalk area (which is distinct from the non-sidewalk area containing the vehicle's position).

[0052] Next, the controller 122 sets a value n to 1, where n specifies a sub-area that serves as a target to determine whether a target object is present (step S103).

[0053] Next, control 122 determines whether the target object is present in an nth sub-area (S104).

[0054] If the target object is not present in the nth sub-area (NO in step S104), the control 122 increases the value n by 1 (step S105) and performs another determination in step S104.

[0055] If, on the other hand, the target object is present in the nth sub-area (YES in step S104), the controller 122 determines whether n equals 1 (step S106).

[0056] If n equals 1 (YES in step S106), the controller 122 determines that the vehicle cannot cross the first sub-area (step S107).

[0057] If n is not equal to 1 (NO in step S106), the controller 122 determines that the vehicle can cross an (n-1)th sub-area (step S108).

[0058] Next, the controller 122 outputs the determination result information to the vehicle control device 130 (step S109).

[0059] The determination process of the determination device 120 is described above.

[0060] According to the exemplary embodiment of the present disclosure, a sidewalk area is detected by dividing it into a plurality of sub-areas, including at least a first sub-area closest to a vehicle and a second sub-area adjacent to a non-sidewalk area, and the region that the vehicle can cross is determined from the sub-areas based on information about a target object. When the vehicle crosses a sidewalk to enter a roadway, the vehicle can safely cross the sidewalk.

[0061] The scope of this disclosure is not limited to the exemplary embodiment described above, and various modifications are possible. These modifications are described below. (First modification)

[0062] While the exemplary embodiment describes a case in which a sidewalk area is divided into two sub-areas, the sidewalk area can also be divided into three or more sub-areas. For example, as in Fig. As shown in Figure 4, the pedestrian area C can be divided into a first sub-area C1, a second sub-area C2, and a third sub-area C3. In this case, the third sub-area C3 borders the non-pedestrian area B.

[0063] The shapes and sizes of these sub-areas are not necessarily identical. For example, in Fig. 5 or Fig. As shown in Figure 6, the shapes and sizes of the first sub-area C1, the second sub-area C2 and the third sub-area C3 can differ from each other. (Second modification)

[0064] While the exemplary embodiment describes as an example a case in which a pedestrian area and a non-pedestrian area are detected by the detection unit 110 and the detection unit 110 outputs the pedestrian area information and non-pedestrian area information, which are the result of the detection, to the input unit 121, the present disclosure is not limited to this case.

[0065] For example, in Fig. As shown in Figure 7, the input unit 121 can receive pedestrian area information and non-pedestrian area information from a storage device 140 in which a map database including the pedestrian area information and the non-pedestrian area information is stored.

[0066] While the storage device 140 in Fig. Although the storage device 140 is included in the driver assistance system 100, it can also be located outside the driver assistance system 100. In this case, the driver assistance system 100, for example, performs radio communication with the storage device 140 to receive the sidewalk area information and the non-sidewalk area information. (Third modification)

[0067] While the exemplary embodiment describes a case in which a sidewalk area is subdivided only once, the sidewalk area can also be subdivided multiple times. This case is described with reference to Fig. 1, Fig. 7 and Fig. 8 described. Fig. Figure 8 shows a state in which the controller 122 determines that the vehicle V can cross a first sub-area C1, and the vehicle V then enters the first sub-area C1.

[0068] In Fig. 8 The controller 122 divides a pedestrian area between the first sub-area C1, in which the vehicle V is located, and a non-pedestrian area B (in an example of Fig. 8 the second sub-area C2) further into a multitude of sub-areas (sub-sub-areas). As in Fig. As shown in Figure 8, the controller 122 divides the second sub-area C2, for example, into a sub-area C21 and a sub-area C22, and recognizes sub-area C21 and sub-area C22. In this case, it is determined whether a target object is present in sub-area C21, and then whether a target object is present in sub-area C22.

[0069] The number of subdivisions of the second sub-area C2 is 2. However, the number of subdivisions can also be equal to or greater than 3.

[0070] If a multitude of sub-areas are defined between the sub-area into which the vehicle V enters and the non-pedestrian area B, these sub-areas can be treated as a single sub-area, and this sub-area can be further subdivided. For example, if the vehicle V enters the first sub-area C1 in Fig. If 4 occurs, the second sub-area C2 and the third sub-area C3 can be treated as one sub-area, and this sub-area can be divided into a predetermined number.

[0071] The position of a target object or a number of target objects can change in the second sub-area C2 before the vehicle V enters the first sub-area C1. According to the present modification, in such a case, the second sub-area C2 is further subdivided into a multitude of sub-areas after the vehicle V has crossed the first sub-area C1, and it is determined whether the target object is present in these sub-areas. Thus, it is possible to make a determination based on a change in the state of the pedestrian area C.

[0072] The embodiments of the present disclosure are described above. The modifications can be implemented in any combination.

[0073] The functions of components in the exemplary embodiment and in the modifications can be implemented by programs. Fig. Figure 9 shows an example of a computer's hardware configuration in such a case.

[0074] As in Fig. As shown in Figure 9, the Computer 2100 includes an input device 2101, such as an Enter key or a touchpad; an output device 2102, such as a screen or a speaker; a CPU (central processing unit) 2103; a ROM (read-only memory) 2104; and a RAM (random access memory) 2105. The Computer 2100 also includes a storage device 2106, such as a hard disk device or an SSD (semiconductor drive); a read device 2107 for reading information from a recording medium, such as a DVD-ROM (Digital Versatile Disk Read Only Memory) or a USB (Universal Serial Bus) storage device; and a transmitter and receiver 2108 that communicates over a network. The respective components are interconnected via a bus 2109.

[0075] The reading device 2107 reads a program for implementing the functions of the respective components from the recording medium in which the program is recorded, and the storage device 2106 stores the program. Alternatively, the transmitter and receiver 2108 communicates with a server device connected to the network, and the program for implementing the functions of the respective components is stored in the storage device 2106 after it has been downloaded from the server device.

[0076] The CPU 2103 then copies the program stored in the memory device 2106 into the RAM 2105, reads the instructions contained in the program from the RAM 2105 one after the other, and executes the instructions, thereby implementing the functions of the respective components. When the program is executed, the RAM 2105 or the memory device 2106 stores information obtained through the various processes described in the exemplary embodiment and the modifications for appropriate use. Commercial applicability

[0077] The determining device, the determining method and the determining program according to the present disclosure are useful for the entire technique of making determinations in connection with the movement of a vehicle when the vehicle crosses a sidewalk. Reference symbols in the drawing 100 driver assistance systems 110 Recognition Unit 120 Determination device 121 Input unit 122 Control 130 Vehicle control device 140 storage device 2100 computers 2101 Input device 2102 Output device 2103 CPU 2104 ROM 2105 RAM 2106 Storage device 2107 Reading device 2108 Transmitter and receiver 2109 Bus

Claims

[1] Determining device (120), comprising: an input unit (121) that receives information about a pedestrian area (C) and information about a target object (P1, P2) detected in the pedestrian area (C), wherein the pedestrian area (C) is located between a position where a vehicle (V) is present and a non-pedestrian area (B); and a controller (122) which (i) divides the sidewalk area (C) into a plurality of sub-areas (C1, C2, C3) based on information about the sidewalk area (C), the plurality of which includes at least a first sub-area (C1) and a second sub-area (C2, C3), wherein the first sub-area (C1) is closest to the vehicle (V) among the plurality of sub-areas (C1, C2, C3) and the second sub-area (C2, C3) borders the non-sidewalk area (B), and (ii) determines at least one sub-area (C1, C2, C3) among the plurality of sub-areas (C1, C2, C3) as a region into which the vehicle (V) is permitted to enter, based on information about the target object (P1, P2). wherein the determining device (120), if determination result information indicates that no region exists into which the vehicle (V) may enter, issues a signal that causes a journey by the vehicle (V) to be prohibited, wherein the determining device (120), when determination result information indicates that the region into which the vehicle (V) may enter includes the first sub-area (C1), issues a signal that causes a journey of the vehicle (V) to be permitted, and where the sub-areas (C1, C2, C3) are areas into which the vehicle (V) may not enter if a target object (P1, P2) is present in them, and areas into which the vehicle (V) may enter if no target object (P1, P2) is present in them. [2] Determination device (120) according to claim 1, wherein the input unit (121) receives the information about the sidewalk area (C) from a recognition unit (110, 140) that distinguishes between the sidewalk area (C) and the non-sidewalk area (B). [3] Determination device (120) according to claim 1, wherein the input unit (121) receives the information about the sidewalk area (C) from a storage device (2106) which stores a map database including the information about the sidewalk area (C). [4] Determining device (120) according to claim 1, wherein the control (122) determines a number of subdivisions of the pedestrian area (C) based on a length of the pedestrian area (C) in a crossing direction. [5] Determining device (120) according to claim 1, wherein the control (122), after the vehicle (V) has entered the at least one sub-area (C1) determined by the control (122), further (i) divides a part (C2) of the sidewalk area (C) between one (C1) of the plurality of sub-areas (C1, C2) in which the vehicle (V) is present and the non-sidewalk area (B) into a plurality of sub-areas (C21, C22), and (ii) determines at least one sub-area (C21, C22) among the plurality of sub-areas (C21, C22) as a region into which the vehicle (V) may enter. [6] Determination procedures, comprehensive: Receiving (S101) information about a pedestrian area (C) and information about a target object (P1, P2) detected in the pedestrian area (C), wherein the pedestrian area (C) is located between a position where a vehicle (V) is present and a non-pedestrian area (B); Subdividing (S102) the pedestrian area (C) based on the information about the pedestrian area (C) into a plurality of sub-areas (C1, C2, C3) comprising at least a first sub-area (C1) and a second sub-area (C2, C3), wherein the first sub-area (C1) is closest to the vehicle (V) among the plurality of sub-areas (C1, C2, C3) and the second sub-area (C2, C3) borders the non-pedestrian area (B); and Based on the information about the target object (P1, P2), determine (S108) from among the multitude of sub-areas (C1, C2, C3) as a region into which the vehicle (V) may enter, where, if it is determined that no region exists into which the vehicle (V) may enter, a signal is issued (S109) which causes the journey of the vehicle (V) to be prohibited, where, if it is determined that the region into which the vehicle (V) may enter includes the first sub-area (C1), a signal (S109) is issued which causes the vehicle (V) to be permitted to proceed, and where the sub-areas (C1, C2, C3) are areas into which the vehicle (V) may not enter if a target object (P1, P2) is present in them, and areas into which the vehicle (V) may enter if no target object (P1, P2) is present in them.

Images