Estimating device

Abstract

Estimating device with: an information acquisition unit (S15) configured to acquire object information which includes an object position indicating the position of an object which has reflected a radar wave, wherein the object information is specified by a distance between the object and a self-propelled vehicle, and a direction angle of the object to the self-propelled vehicle and a relative direction indicating a direction of movement of the object relative to the self-propelled vehicle; a capture determination unit (S20) configured to determine whether the object is a newly captured object, or an object that is being captured for the first time; a direction determination unit (S30) configured to determine whether the relative direction obtained by the information acquisition unit is a direction towards the own vehicle when the object is the first object detected; and a direction estimation unit (S35, S105, S115, S150) configured to estimate that a direction specified according to the object position obtained by the information acquisition unit is the direction of movement of the object, if the relative direction obtained by the information acquisition unit is a direction to the own vehicle, where the direction estimation unit (S115) is configured to estimate that a direction opposite to the direction of movement of the own vehicle is the direction of movement of the object if the object position obtained by the information acquisition unit falls in a region in front of a reference plane that indicates a plane orthogonal to the direction of movement of the own vehicle and passes the current reference section of the own vehicle at a distance equal to or greater than a crossing distance indicating a predetermined distance from the reference plane.

Description

TECHNICAL AREA

[0001] The present invention relates to an estimating device for estimating the direction of movement of an object. STATE OF THE ART

[0002] JP 2001 - 272 466 A describes a method for estimating the direction of motion of an object by transmitting and receiving radar waves to obtain the distance and a direction angle or azimuth to the object multiple times over a period of time. The radar waves include, for example, millimeter waves, laser waves, ultrasound waves, and others.

[0003] According to the method described in JP 2001-272466A, the direction of movement of an object is estimated a large number of times by obtaining the detection results. However, a detailed study by the inventors has shown that estimating the direction of movement of an object according to the method described in JP 2001-272466A would be time-consuming.

[0004] Reference is also made to US 2012 / 0 242 529 A1, which was determined to be state of the art.

[0005] It is an object of the present invention to shorten the time required to estimate the direction of movement of an object that is being detected around a vehicle for the first time.

[0006] The problem is solved by the estimating device according to claim 1. Advantageous further developments are found in the dependent claims.

[0007] One aspect of the present invention is an estimating device comprising an information acquisition unit, a detection determination unit, a direction determination unit and a direction estimation unit.

[0008] The information acquisition unit obtains object information that includes an object position indicating the position of an object that has reflected a radar wave, where the object information is specified by the distance between the object and the own vehicle, the direction angle of the object to the own vehicle, and a relative direction indicating the direction of movement of the object relative to the own vehicle.

[0009] The detection unit determines whether the object is a newly detected object. If the object is a newly detected object, the direction determination unit determines whether the relative direction obtained by the information acquisition unit is a direction towards the vehicle.

[0010] If the relative direction obtained by the information acquisition unit is a direction towards the own vehicle, the direction estimation unit estimates that a direction specified according to the object position obtained by the information acquisition unit is the direction of movement of the object.

[0011] According to this configuration, the direction specified according to the object position of the first detected object is estimated to be the direction of movement of the object, which makes it possible to estimate the direction of movement of the object in a shorter time than in the case of using the method described in JP 2001 - 272 466 A.

[0012] The reference numerals enclosed in brackets in the claims indicate the correspondence with specific units in an embodiment which will be described later as one aspect of the present invention, but are not intended to limit the technical scope of the present invention. BRIEF DESCRIPTION OF THE FIGURES Fig. Figure 1 shows a block diagram representing a configuration of a driver assistance system and an estimating device; Fig. Figure 2 shows a flowchart of an averaging process; Fig. Figure 3 shows a flowchart of an initial value process; Fig. Figure 4 shows a diagram representing an initial value of a direction of movement, which is determined according to a position initially recorded; and Fig. Figure 5 shows a diagram illustrating the suppression of a false notification action. DESCRIPTION OF THE EXECUTION FORMS

[0013] Embodiments of the present invention are described below with reference to the figures. [1. Configuration]

[0014] A in Fig. The driving assistance system 10 shown in Figure 1 is a system installed in a vehicle. The driving assistance system 10 comprises a radar sensor 20, a vehicle condition detection sensor group 30, a driving assistance execution unit 40, and an estimating device 50. The vehicle described below refers to a vehicle equipped with the driving assistance system 10.

[0015] The radar sensor 20 is installed in a bumper. The bumper is made of a material that is transparent to electromagnetic waves. The radar sensor 20 is installed in the front bumper and oriented so that the area on the front side of the vehicle falls within its detection range. The front side here refers to the direction of travel of the vehicle. The rear side refers to the side opposite the front side.

[0016] The radar sensor 20 transmits and receives radar waves using an array antenna to detect the distance, relative speed, direction angle and reflection intensity within the detection range.

[0017] The distance here refers to the distance from the radar sensor 20 to an observation point. The observation point here refers to the position of an object that has reflected a radar wave. The object here refers to a moving, tangible object. Hereinafter, the object is described as a vehicle. However, the present invention is not limited to this; the aforementioned object can be any moving, tangible object, such as a person.

[0018] The relative velocity here refers to the velocity of the observation point relative to the radar sensor 20. The direction angle is represented here by the angle to a reference direction. The reference direction is a direction from the position of the radar sensor 20 to the front of the vehicle. However, the present invention is not limited to this; the reference direction can be a direction from the position of the radar sensor 20 to any position. The reflection strength here refers to the strength with which the radar wave reflected at the observation point was received by the radar sensor 20.

[0019] The radar sensor 20 outputs information to the estimating device 50, which is related to the distance, relative speed, direction angle and reflectance at a multitude of observation points as observation point information.

[0020] The vehicle condition monitoring sensor group 30 comprises a variety of sensor types that monitor the vehicle's movement state. This variety of sensor types includes at least one vehicle speed sensor and one angular velocity sensor.

[0021] The vehicle speed sensor detects the vehicle's speed. The angular velocity sensor detects the vehicle's angular velocity. Angular velocity refers to the rate of change in the vehicle's direction of travel per unit of time. The unit of angular velocity is degrees per second (grad / sec). The direction of travel refers to the horizontal direction in which the vehicle moves. The various types of sensors in the vehicle condition monitoring sensor group 30 output the detection results to the estimation device 50.

[0022] The driver assistance execution unit 40 uses one or more types of in-vehicle devices or devices in the vehicle to execute one or more types of vehicle controls according to instructions issued by the estimating device 50. The one or more types of vehicle controls may include an audible message to the driver, a visual message to the driver, and other various types of vehicle controls required for driver assistance. The driver assistance execution unit 40 includes at least one display and one speaker.

[0023] In the present embodiment, the estimating device 50 is an electronic control device that controls the driving assistance system 10. The estimating device 50 comprises a microcomputer that includes a CPU 51 and semiconductor memory (hereinafter referred to as memory 52), such as RAM, ROM, and flash memory.

[0024] The functions of the estimating device 50 can be implemented by the CPU 51, which executes a program stored in a non-transitory tangible, computer-readable storage medium. The ROM, for example, corresponds to the non-transitory tangible, computer-readable storage medium that stores the program. When the program is executed, the procedure is carried out according to the program. The estimating device 50 can comprise one or more microcomputers.

[0025] The method for implementing the functions of the estimating device 50 is not limited to software. Some or all of the elements of the function of the estimating device 50 can be implemented by hardware using a combination of a logic circuit and an analog circuit.

[0026] The estimating device 50 performs at least one averaging operation and one driving assistance operation. The averaging operation is a process for estimating the direction of movement of an object located within the detection range of the radar sensor 20 and communicating this information. The driving assistance operation is a process for performing a variety of vehicle control functions to assist the driver in driving the vehicle. Various types of driving assistance operations are well known, and therefore descriptions of them are omitted; the averaging operation is described in detail below. [2nd process]

[0027] The averaging process performed by the estimating device 50 is described with reference to the flowchart in Fig. 2 described. The averaging process is a process for estimating the direction of movement of an object detected within the detection range of the radar sensor 20 and for providing a notification when there is a possibility that the object moving in the estimated direction of movement is approaching the own vehicle.

[0028] The averaging process is initiated when the vehicle's engine is started and is repeated at predetermined time intervals.

[0029] In S10, the estimating device 50 obtains vehicle information indicating the vehicle's status. Specifically, the estimating device 50 obtains the data output from the vehicle speed sensor and the angular velocity sensor as the vehicle information. This vehicle information includes at least one piece of information indicating the vehicle's speed and angular velocity.

[0030] In S15, the estimator 50 acquires object information. This object information includes the object's position, relative direction, and relative velocity, each associated with a multitude of observation points. The object position indicates the location of an object that has reflected a radar wave. The object position is specified by its distance and a direction angle relative to the vehicle and is represented by x,y coordinates with an origin at an arbitrary location.

[0031] The various positions that the object position exhibits are, as in Fig. Figure 4 is represented by the x,y coordinates with an origin point (0, 0) at position P of the vehicle 1 (hereinafter referred to as vehicle position P). The object positions of objects 70a to 70c are, with respect to Fig. 4, each represented as (x1, y1), (x2, y2) and (x3, y3). Objects 70a to 70c are subsequently referred to as object 70 in the description applied to them collectively.

[0032] The relative direction refers to the direction of movement of an object that has reflected a radar wave relative to the vehicle 1. In the case of using the Doppler effect, the relative direction of the object that reflected a radar wave is either a direction towards the vehicle 1 or a direction away from the vehicle 1 along a straight line connecting the object that reflected the radar wave and the vehicle 1.

[0033] The direction towards the vehicle 1 refers to the direction opposite to the direction of movement of the vehicle 1, and the direction away from the vehicle 1 refers to the direction identical to the direction of movement of the vehicle 1. In the present embodiment, the direction towards the vehicle 1 is assigned a positive relative direction and the direction away from the vehicle 1 a negative relative direction.

[0034] Fig. Figure 4 represents the direction of movement of the vehicle 1 as the positive direction along the y-axis, that is, the forward direction. Fig. Figure 4 represents all relative directions of objects 70a to 70c as directions to the own vehicle 1.

[0035] The relative speed refers to the speed of object 70 relative to the own vehicle 1. In the present embodiment, the relative speed takes a positive value if the relative direction is a positive direction, and a negative value if the relative direction is a negative direction.

[0036] Estimator 50 calculates, in particular, the object information based on the observation point information. Estimator 50 specifies a plurality of observation points between which the difference in distance is less than a predefined threshold as observation points of the same object (hereinafter referred to as same-object points). Estimator 50 then calculates the mean of the relative velocities associated with the plurality of specified same-object points. Estimator 50 uses the mean of the relative velocities as a value indicating the relative velocity of object 70.

[0037] Relative velocity is represented as a relative velocity vector. The relative velocity vector has both magnitude and direction. The magnitude of the relative velocity vector corresponds to the magnitude of the relative velocity, and the direction of the relative velocity vector corresponds to the relative direction described above.

[0038] The estimating device 50 also uses the mean of the x-coordinate values ​​of the multitude of same-object points as the x-coordinate value of the object position and uses the mean of the y-coordinate values ​​of the multitude of same-object points as the y-coordinate value of the object position.

[0039] The method for specifying the object information of the observation point information is not limited to this; any other well-known methods can be used.

[0040] Back to Fig. 2. In S20, the estimating device 50 determines whether one or more objects detected by the radar sensor 20 have a newly detected object. A newly detected object refers to an object that is detected for the first time by the radar sensor 20. The object that is detected for the first time refers to an object specified by an observation point at a predetermined distance from one or more observation points that were previously detected by the radar sensor 20.

[0041] In the present embodiment, the estimating device 50 stores the positions of the plurality of observation points that were previously detected by a process carried out separately from this averaging process and that had a reflection intensity less than or equal to a detection threshold (hereinafter referred to as previous points) in the memory 52.

[0042] The estimating device 50 further calculates the amount of movement of the vehicle 1 based on its speed and the angle of rotation, which indicates a change in the direction of movement. The amount of movement indicates how far the vehicle 1 has moved during the period from the acquisition of the previous points to the present time. Based on the amount of movement, the estimating device 50 repeatedly estimates the current positions of the previous points as predicted positions at predetermined intervals and stores these in memory 52. ​​The series of operations for storing the previous points, calculating the amount of movement, and estimating and storing the predicted positions is hereinafter referred to as a cycle.

[0043] Accordingly, if an object exists that has a large number of same-object points at a position different from the predicted position—that is, at a position at a predetermined distance from the previous points—the estimating device 50 determines that the object is a newly detected object. The in Fig. The four objects shown, 70a to 70c, are all depicted as objects recorded for the first time.

[0044] If there is no object being recorded for the first time, the estimating device 50 directs the operation to S25, and if there is an object being recorded for the first time, the estimating device 50 directs the operation to S30.

[0045] In S25, the estimating device 50 calculates the relative velocity vector for the already detected object.

[0046] The estimating device 50 specifies, in particular, the current position and a relative velocity vector of the already detected object based on the predicted positions from one or more previous cycles and the positions of the observation points in the current cycle, and stores these in memory 52. ​​The current cycle refers to a series of operations currently being performed by the estimating device 50. The previous cycle refers to a series of operations performed by the estimating device 50 prior to the current cycle.

[0047] The estimating device 50 uses, in particular, an α-β filter to estimate the current position of the already detected object from the predicted position and the positions of the observation points. The estimating device 50 also estimates the direction of motion and the magnitude of the relative velocity of the already detected object from its current position in the current cycle and its current position in the previous cycle, as stored in memory 52, in order to specify the relative velocity vector. The method for estimating the current position and a relative velocity vector of the already detected object is not limited to this; any other well-known estimation method, such as a Kalman filter, can be used.

[0048] In S30, the estimating device 50 determines whether the relative direction of object 70, as a newly detected object, is a direction towards the vehicle 1. If the relative direction of object 70, as a newly detected object, is a direction towards the vehicle 1, the estimating device 50 proceeds to S35. If, on the other hand, the relative direction of object 70, as a newly detected object, is a direction away from the vehicle 1, the estimating device 50 terminates the averaging process.

[0049] In S35, the estimating device 50 performs an initial value operation. This initial value operation is a process for estimating that a direction specified according to the object position of object 70, as a newly detected object, is the direction of movement of object 70 as a newly detected object, if the relative direction of object 70 as a newly detected object is a direction towards the vehicle 1. That is, the initial value operation is a process for estimating the initial value of the direction of movement of a newly detected object approaching the vehicle 1.

[0050] The initial value process is carried out with reference to the in Fig. The 3 flowcharts shown are described.

[0051] In S100, the estimating device 50 determines, based on the object position obtained in S15, whether object 70 is located in front of the company vehicle 1 as a newly detected object. In the following description of the initial value process, object 70, as a newly detected object, is also simply referred to as object 70. If object 70 is located in front of the company vehicle 1, the estimating device 50 proceeds to S110, and if object 70 is located behind the company vehicle 1, the estimating device 50 proceeds to S105.

[0052] In S105, the estimating device 50 estimates that a direction identical to the direction of movement of the own vehicle 1 is the direction of movement of object 70. Since this is in Fig. Since object 70a, as depicted in section 4, is located particularly behind the vehicle 1, the estimating device 50 estimates that a direction identical to the direction of movement of the vehicle 1 is the direction of movement of object 70a. The estimating device 50 stores the estimated direction of movement of object 70a in memory 52 and terminates the initial value process.

[0053] In S110, the estimating device 50 determines whether the object position of object 70 falls within a crossing region. The crossing region RT refers, as in Fig. 4 shown, on a region that is located in front of a reference plane K or reference plane of the own vehicle 1 at a distance from the reference plane K that is shorter than a crossing distance Y0.

[0054] The reference plane K is a plane that is orthogonal to the direction of movement of the own vehicle 1 and passes through a given reference section 101 of the own vehicle 1.

[0055] Reference section 101 refers to a present section of the vehicle 1. Reference section 101 can, for example, be any predetermined section of the vehicle 1, such as the front end or the rear end of the vehicle 1. In the present embodiment, reference section 101 is located at the end of the front bumper of the vehicle 1. However, reference section 101 is not limited to this location.

[0056] The crossing distance Y0 is a predetermined, arbitrary distance from the reference plane K. In the present embodiment, the crossing distance Y0 is fixed to the road width at a general intersection point. However, the present invention is not limited to this.

[0057] If the object position falls within the crossing region RT, the estimating device 50 executes the operation at S125. If, on the other hand, the object position does not fall within the crossing region RT, the estimating device 50 executes the operation at S115.

[0058] In S115, the estimating device 50 estimates that a direction opposite to the direction of movement of the own vehicle 1 is the direction of movement of object 70. The outer region described below refers to the region located in front of the reference plane K at a distance from the reference plane K equal to or greater than the crossing distance Y0.

[0059] Since this is in Fig. Since object 70b, as depicted in Figure 4, is located particularly in the outer region, the estimating device 50 estimates that a direction opposite to the direction of movement of the vehicle 1 is the direction of movement of object 70b as a newly detected object. The estimating device 50 stores the estimated direction of movement of object 70b in memory 52.

[0060] In S120, the estimating device 50 resets a position flag and terminates the initial value process, since the object position of object 70 does not fall within the crossing region RT.

[0061] The object position of object 70 falls within the crossing region RT, and therefore the estimating device 50 sets the position flag in S125.

[0062] In S130, the estimating device 50 acquires a warning time. The warning time refers to the time available to verify whether the moving vehicle 1 and the moving object 70 will approach each other. Approaching each other means that the distance between the vehicle 1 and the object decreases to the point where the vehicle 1 and the object 70 come into contact.

[0063] In the present embodiment, the warning time is set to several seconds. However, the present invention is not limited to this; the warning time can be set to any desired duration.

[0064] In S135, the estimating device estimates 50, as in Fig. Figure 4 shows a vehicle track 61 (hereinafter referred to as the warning track). In other words, the estimating device 50 detects the warning track. The warning track 61 is a track along which the vehicle 1 travels from its position P along the direction of travel, that is, a track from its position P to a warning point 62. The warning point 62 is the end of the warning track 61, which is opposite to the vehicle's position P. The warning point 62 indicates the position reached by the vehicle 1, moving along the direction of travel at the vehicle speed obtained in S10, after the warning time has elapsed. The estimating device 50 stores the position of the warning point 62 in memory 52.

[0065] In S140, the estimating device 50 acquires an extension distance Y1. The extension distance Y1 refers to a distance that is part of the track along which the vehicle 1 travels from its position P along the direction of travel, and extends from warning point 62 to a point reached by the vehicle 1 after traveling for a predetermined time. The extension distance Y1 can be set to any value. The extension distance Y1 is pre-stored in memory 52.

[0066] In S145, the estimating device 50 defines an extension point. In the present embodiment, an extension point 63 refers to a point before the warning point 62, which, as in Fig. 4 is shown, before the extension distance Y1 from warning point 62 along the direction of movement of the own vehicle 1 is determined.

[0067] In S 150, the estimating device 50 estimates that the direction from the object position to the extension point 63 is the direction of movement of the object. Since this in Fig. Since object 70c, as depicted in Figure 4, falls particularly into the crossing region RT, the estimating device 50 estimates that the direction from the object position (x3, y3) of object 70c to the extension point 63 is the direction of movement of object 70. The estimating device 50 stores the direction of movement of object 70c in memory 52 and terminates the initial value process.

[0068] During the initial value process, the estimated direction of movement of object 70 is stored in memory 52 as a newly detected object, as described above. Additionally, the warning path 61 is estimated and stored in memory 52. ​​If the object position of object 70, as a newly detected object, falls within the crossing region RT, the position flag is set.

[0069] Back to Fig. 2. In S40, the estimating device 50 calculates the relative velocity vector of object 70 as a newly detected object. Specifically, the estimating device 50 calculates the relative velocity vector based on the relative velocity of object 70, which is specified as a newly detected object in S15, and the direction of motion of object 70 as a newly detected object, which is estimated in the initial value operation performed in S35.

[0070] Fig. Figure 4 shows the relative velocity vectors Va to Vc of objects 70a to 70c as newly detected objects with thick line arrows extending from the respective object positions of objects 70a to 70c. Fig. Figure 4 indicates the direction of the relative velocity vector V by the direction of the arrow and indicates the magnitude of the relative velocity vector V by the length of the arrow.

[0071] In S45, the estimating device 50 determines whether the object position of object 70 falls within the RT described later. In the following description, the object includes both objects, the newly detected object and the previously detected object, unless otherwise specified.

[0072] If the position flag for object 70 is set as a newly detected object, the estimation device 50 determines that the object's position falls within the crossing region RT. Meanwhile, in this step, the estimation device 50 determines whether the object position of the already detected object, as determined in S15, falls within the crossing region RT.

[0073] If the object position falls within the crossing region RT, the estimating device 50 proceeds to S50, and if the object position is outside the crossing region RT, the estimating device 50 terminates the averaging process.

[0074] In S50, the estimating device 50 estimates an object track. In other words, the estimating device 50 detects the object track. The object track refers to a track along which the object moves in the direction of its motion, that is, a track up to the point reached by the object after a predetermined time has elapsed (hereinafter referred to as the point of arrival).

[0075] The predetermined time refers to the time available for estimating the object's path. In the present embodiment, the predetermined time is set to be equal to the warning time. However, the present invention is not limited to this; the predetermined time can be set to any desired time, such as a time longer or shorter than the warning time.

[0076] This step is recorded for object 70c as a newly captured object, which is in Fig. Figure 4 is shown, and is carried out as described below. That is, the estimating device 50 calculates the point reached by object 70c after it has moved along the direction of motion at the relative velocity calculated in S40 for the warning time as an arrival point 73. The estimating device 50 then estimates the path from the current position (x3, y3) of object 70c to arrival point 73 as an object path 71. The estimating device 50 stores the current position (x3, y3) of object 70c and the position of arrival point 73 in memory 52.

[0077] Meanwhile, this step is performed in the same way for the already detected object, as described above. In this case, however, the estimating device 50 calculates the point of arrival using the relative velocity and direction of motion calculated in S25 to estimate the object's track.

[0078] In S55, the estimating device 50 obtains the warning track 61. In particular, the estimating device 50 obtains the position of the warning point 62, which indicates the end of the warning track 61, from the memory 52.

[0079] In S60, the estimator 50 determines whether the object track 71 crosses or intersects the warning track 61. If the object track 71 crosses the warning track 61, the estimator 50 proceeds to S65. If, on the other hand, the object track 71 does not cross the warning track 61, the estimator 50 terminates the averaging process.

[0080] In S65, the estimating device 50 instructs the display and the speaker in the driving assistance execution unit 40 to issue a message to warn the driver about the approach of object 70c to the vehicle 1. The estimating device 50 terminates the notification process after the instruction has been provided.

[0081] As described above, the estimating device 50 is configured to provide an instruction to make a notification in order to warn the driver when the object, which includes the newly detected object and the already detected object, falls into the crossing region RT and approaches the vehicle 1. [3. Beneficial Effects]

[0082] According to the first embodiment described in detail above, the following advantageous effects can be obtained.

[0083] (3a) In S15, the estimating device 50 obtains the object information, which includes the position specified by the distance and direction angle to the own vehicle 1, and the relative direction indicating the direction of movement relative to the own vehicle 1, of an object that has reflected a radar wave. In S20, the estimating device 50 determines whether the object 70 is a newly detected object.

[0084] In S30, the estimating device 50 determines whether the obtained relative direction is a direction towards the own vehicle 1 if the object 70 is a newly detected object. In S35, the estimating device 50 estimates that a direction specified according to the object's position is the object's direction of movement if the obtained relative direction is a direction closer to the own vehicle 1.

[0085] It is therefore possible to shorten the time to estimate the direction of movement of object 70 as a newly detected object, since the estimating device 50 estimates that the direction specified according to the detected object position is the direction of movement of the object.

[0086] (3b) In S105, the estimating device 50 estimates that a direction identical to the direction of movement of the own vehicle 1 is the direction of movement of the object 70a if the object position is behind the reference plane K.

[0087] As a result, it is possible to estimate the direction of movement of the first detected object in a shorter time, since the estimating device 50 estimates that the direction specified according to the object position is the direction of movement of object 70a.

[0088] (3c) In S120, the estimating device 50 estimates that the direction opposite to the direction of movement of the own vehicle 1 is the direction of movement of the object 70b if the object position falls in the region which is in front of the reference plane K at a distance from the reference plane K equal to or greater than the crossing distance Y0 indicating the specified distance.

[0089] As a result, the estimating device 50 estimates that the direction specified according to the object position is the direction of movement of the object 70b, providing the same advantageous effects as described above in (3b).

[0090] (3d) The estimating device 50 also obtains the relative speed in S15 and the warning time in S130. In S135, the estimating device 50 estimates the track to warning point 62 as warning track 61. In S50, the estimating device 50 estimates the track on which object 70c is moving, that is, the track to the point reached by object 70c after a predetermined time has elapsed, as object track 71. In S65, the estimating device 50 instructs the loudspeaker and the display in the driving assistance execution unit 40 to make a notification when object track 71 crosses warning track 61.

[0091] As a result, a notification is issued when object 70c approaches the vehicle 1 within the warning time, making it possible to warn the driver before the approach of the first detected object.

[0092] (3e) In S110, the estimator 50 determines whether the object position falls within the crossing region RT, which is located in front of the reference plane K at a distance from reference plane K that is shorter than the crossing distance Y0 and indicates a predetermined distance. In S65, the estimator 50 instructs the driving assistance execution unit 40 to issue a notification if the object 70c falls within the crossing region RT and the object track 71 crosses the warning track 61.

[0093] As a result, the object can approach the vehicle 1 and thus the estimating device 50 can make a suitable notification to warn the driver when the object position of the first detected object falls into the crossing region RT.

[0094] (3f) In S150, the estimating device 50 can estimate that the direction from the object's position to the extension point 63 is the direction of movement of the object 70c. The estimating device 50 can therefore prevent a false notification action. A false notification action is the action to provide an incorrect notification to warn the driver of an approaching object while the vehicle 1 is moving in the direction of movement during the warning time, even though the vehicle 1 and the object are not actually approaching each other. The false notification action is defined with reference to Fig. 5 described.

[0095] An object 9 is, in relation to Fig. 5, an object detected for the first time in the crossing region RT. The arrow with a thick solid line, extending from the current position 901 of object 9, shows a relative velocity vector 90 of object 9 based on the direction of motion estimated by the estimating device 50. The arrow with the thin solid line, extending from the current position 901 of object 9, indicates an object track 91.

[0096] The arrow with the thick dotted line extending from the current position 901 of object 9 indicates an actual relative velocity vector 95 of object 9. The arrow with the thin dotted line extending from the current position 901 of object 9 indicates an actual track 96. The actual track 96 refers to the track along which object 9 actually moves during the warning period.

[0097] It is assumed at this point that a comparison example, configured in the same way as the estimating device 50, estimates that the direction from the current position 901 of object 9 to warning point 62 is the direction of movement of the object. In this case, the object's track 97 is estimated as indicated by the arrow with a dash-double-dotted line in Fig. 5 is displayed.

[0098] In the example of Fig.Since object 9's actual lane 96 does not cross warning lane 61, it is not assumed that object 9 and the vehicle 1 will actually approach each other within the warning time. However, object lane 97, based on the movement direction estimated by the comparison example, does cross warning lane 61, and therefore the comparison example issues a notification about the possibility of approach within the warning time. Such an incorrect notification can be annoying or inconvenient for a driver.

[0099] In the present embodiment, the estimating device 50 thus estimates that the direction towards the extension point 63 is the direction of movement of the object 70c. Accordingly, the estimating device 50 can prevent an incorrect notification action in order to reduce the annoyance or inconvenience that the driver experiences in the event of an incorrect notification.

[0100] In the present embodiment, the estimating device 50 corresponds to an information acquisition unit, a detection determination unit, a direction determination unit, a direction estimation unit, an object estimation unit, a message control unit, a position determination unit, a time acquisition unit, and a vehicle-specific estimation unit. The driving support execution unit 40 corresponds to a message unit.

[0101] S15 corresponds to an operation performed by the information acquisition unit, S20 corresponds to an operation performed by the acquisition determination unit, S30 corresponds to an operation performed by the direction determination unit, S35, S105, S115, and S150 correspond to operations performed by the direction estimation unit, and S45 corresponds to an operation performed by the position determination unit. S50 corresponds to an operation performed by the object estimation unit, S65 corresponds to an operation performed by the message control unit, S130 corresponds to an operation performed by the time acquisition unit, and S135 corresponds to an operation performed by the own vehicle estimation unit. [4. Other embodiments]

[0102] One embodiment for carrying out the present invention has been described so far. However, the present invention is not limited to the preceding embodiment, but can be implemented in various modified ways.

[0103] (4a) In the preceding embodiment, the object position is indicated by coordinates with an origin point at the vehicle's position P, but the present invention is not limited thereto. The object position can, for example, be indicated by absolute coordinates. The object position indicates at least the distance from the reference plane K to a plane that is perpendicular to the direction of movement of the vehicle 1 and that passes through the object's position.

[0104] (4b) In the preceding embodiment, the extension distance Y1 is set to an arbitrary value. However, the extension distance Y1 can be zero. That is, the warning point 62 in the warning track 61 can be set to the extension point 63, and the direction from the object position to the warning point 62 can be estimated as the direction of movement of the object initially detected.

[0105] (4c) In the preceding embodiment, the reference section 101 is located at the end of the front bumper of the vehicle 1, but the present invention is not limited to this. The reference section 101 can be located at any section of the vehicle 1, such as the end of the rear bumper of the vehicle 1 or the barycentric position of the vehicle 1.

[0106] (4d) In the preceding embodiment, it is determined whether the mutual approach of the own vehicle 1 and the object should be communicated, and the communication is provided only if the object's position falls within the crossing region RT, but the present invention is not limited to this. It can be determined whether the communication should be provided, and the communication can be provided according to this condition, even if the object's position is outside the crossing region RT.

[0107] In the preceding embodiment, it is estimated that the direction from the object position to the extension point 63 is the direction of movement when the object position falls within the crossing region RT, but the present invention is not limited to this. It can be estimated that the object position relative to the extension point 63 is the direction of movement even when the object position is outside the crossing region RT.

[0108] (4e) In the preceding embodiment, the direction towards extension point 63 is estimated to be the direction of movement, but the present invention is not limited to this. It can be estimated that the direction towards warning point 62 is the direction of movement. It can also be estimated that the direction towards the own vehicle 1, which is perpendicular to the direction of movement of the own vehicle 1, is the direction of movement. The warning time can be set to any time including zero. The warning distance Yk The warning distance Y can be set to any distance, including zero. k The length of warning lane 61 is represented in the figures.

[0109] (4f) In the preceding embodiment, the radar sensor 20 is installed in the front bumper of the vehicle and oriented such that the area in front of the vehicle falls within its detection range, but the present invention is not limited thereto. The radar sensor 20 can, for example, be provided at least at one end, right end and left end, of the front side of the vehicle. The radar sensor 20 can, for example, be installed on the rear side of the vehicle. In this case, the radar sensor 20 can be provided in the center of the rear part of the vehicle or at least at one end, right end and left end, of the rear part.

[0110] (4g) A plurality of functions represented by a constituent element in the preceding embodiment can be implemented by a plurality of constituent elements, or a function represented by a constituent element can be represented by a plurality of constituent elements. A plurality of functions represented by a plurality of constituent elements can be additionally implemented by a constituent element, or a function represented by a plurality of constituent elements can be implemented by a constituent element. Some of the components may be omitted in the preceding embodiment. At least some of the components in the preceding embodiment can be replaced by or added to the components of other embodiments.The embodiment of the present invention incorporates all aspects of the technical idea specified only by the claims.

[0111] (4h) The present invention can be implemented in various operating modes comprising the estimating device 50 and the driving assistance system 10 described above, in a program that causes the estimating device 50 to perform functions, in a non-transient portable computer-readable storage medium, such as a semiconductor memory, that stores this program, and in an estimating method.

Claims

[1] Estimating device with: an information acquisition unit (S15) configured to acquire object information which includes an object position indicating the position of an object which has reflected a radar wave, wherein the object information is specified by a distance between the object and a self-propelled vehicle, and a direction angle of the object to the self-propelled vehicle and a relative direction indicating a direction of movement of the object relative to the self-propelled vehicle; a capture determination unit (S20) configured to determine whether the object is a newly captured object, or an object that is being captured for the first time; a direction determination unit (S30) configured to determine whether the relative direction obtained by the information acquisition unit is a direction towards the own vehicle when the object is the first object detected; and a direction estimation unit (S35, S105, S115, S150) configured to estimate that a direction specified according to the object position obtained by the information acquisition unit is the direction of movement of the object, if the relative direction obtained by the information acquisition unit is a direction to the own vehicle, where the direction estimation unit (S115) is configured to estimate that a direction opposite to the direction of movement of the own vehicle is the direction of movement of the object if the object position obtained by the information acquisition unit falls in a region in front of a reference plane that indicates a plane orthogonal to the direction of movement of the own vehicle and passes the current reference section of the own vehicle at a distance equal to or greater than a crossing distance indicating a predetermined distance from the reference plane. [2] Estimating device according to claim 1, wherein the information acquisition unit is configured to obtain a relative velocity of the object, which indicates a velocity relative to the own vehicle, and the estimating device further features: a time acquisition unit (S130) configured to acquire a warning time that displays a predetermined time; a self-propelled vehicle estimation unit (S135) configured to estimate as a warning lane a lane on which the self-propelled vehicle travels, i.e., a lane to a warning point indicating a position to be reached by the self-propelled vehicle after the warning time has elapsed; an object estimation unit (S50) configured to estimate a track along which the object travels, that is, an object track to a point reached by the object after a predetermined time, based on the direction of motion of the object and the relative velocity obtained by the information acquisition unit; and a message control unit (S65) configured to cause the message unit (40) to issue a message when the object track crosses the warning track. [3] Estimating device according to claim 2, further comprising: a position determination unit (S45) configured to determine whether the object position falls into a crossing region in front of a reference plane orthogonal to the direction of movement of the own vehicle and indicating a plane passing a current reference section of the own vehicle at a distance shorter than a crossing distance, which is a predetermined distance, from the reference plane, wherein The notification control unit is configured to cause the notification unit to issue a notification when the object falls into the crossing region and the object track crosses the warning track. [4] Estimating device according to claim 2 or 3, wherein the direction estimation unit (S150) is configured to estimate that a direction towards an extension point indicating a point specified in front of the warning point is the direction of movement.

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