Driving assistance system, target recognition system and program

Abstract

Suppresses false target detection. [Solution] The driver assistance device 18, which detects a moving object approaching from the rear of the vehicle 1 and performs driver assistance control, is equipped with a target processing unit 3H. The target processing unit 3H sets a physical object determination area at a predetermined distance from the radar, separate from the driver assistance control target detection area, within the detection area of ​​the radar that detects a moving object approaching from the rear of the vehicle 1. If the movement trajectory of the target detected by the radar is within the physical object determination area, the device determines that the target is a physical moving object and sets the target as a driver assistance control target. If the movement trajectory of the target detected by the radar is not within the physical object determination area, the device determines that the target is not a physical moving object and sets the target as a driver assistance control target.

Description

Technical Field

[0001] The present disclosure relates to a driving support device, a target recognition device, and a program.

Background Art

[0002] Patent Document 1 describes a technique in which a beam is scanned over a detection range in a predetermined azimuth direction and a predetermined distance range, information on a plurality of targets obtained for each scan is compared, and for a target detected due to the same target, the tracking reliability of the target is increased, and when the detection fails, the tracking reliability is decreased.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art as described in Patent Document 1, the previous detection information and the current detection information are compared, and when it can be determined that the target to be detected is the same as the previous and current ones, the reliability is increased, and by repeating this, when the reliability exceeds a predetermined threshold, it is determined that the target to be detected is the target object. On the other hand, when the reliability is below the predetermined threshold, it is determined that the target to be detected is not the target object.

[0005] When the above-described determination method is applied to the detection of targets based on the detection results of a radar that detects targets located behind the vehicle, there is a risk that, for example, when the radar detects diffuse reflection of radio waves caused by the external environment of the vehicle, when multipath of radio waves emitted from the radar occurs inside the vehicle's bumper, or when the vehicle is towing a trailer, the system may mistakenly determine that a target, such as a vehicle engaging in aggressive driving, is located behind the vehicle (i.e., there is a risk of false target detection).

[0006] In view of the above, the purpose of this disclosure is to provide a driver assistance device, a target recognition device, and a program that can suppress false detection of targets. [Means for solving the problem]

[0007] (1) One aspect of the present disclosure is a driver assistance device that detects a moving object approaching from the rear of a vehicle and performs driver assistance control, wherein the driver assistance device includes a target processing unit, and the target processing unit sets an entity determination area at a predetermined distance from the radar, separate from the control target detection area for the driver assistance control, within the detection area of ​​the radar that detects the moving object approaching from the rear of the vehicle, and determines that the target is a moving object with a physical body and sets the target as a target for driver assistance control when the movement trajectory of the target detected by the radar is in the entity determination area, and determines that the target is not a moving object with a physical body and sets the target as a target for driver assistance control.

[0008] (2) One aspect of the present disclosure is a target recognition device comprising: a tracking processing unit that detects a target based on the detection result of a surrounding conditions sensor that detects a target located behind the vehicle and performs a process to determine whether the target detected this time is the same as the target detected last time; a first determination unit that determines whether the target was located in a first area based on target information indicating the result of the process performed by the tracking processing unit; an area existence processing unit that records an area existence record indicating that the target was located in the first area when the first determination unit determines that the target was located in the first area; a second determination unit that determines whether there is an area existence record recorded by the area existence processing unit when the target is located in a second area located between the vehicle and the first area; and a target detection unit that detects the target located in the second area as a real target when the second determination unit determines that there is an area existence record and detects the target located in the second area as a false target when the second determination unit determines that there is no area existence record.

[0009] (3)(2) In the target recognition device, the surrounding environment sensor is a radar installed on the rear bumper of the vehicle, and another vehicle that is tailgating the vehicle is detected as the real target by the target detection unit, and at least one of the following may be detected as a false target by the target detection unit: diffuse reflection of radio waves due to the external environment of the vehicle, multipath generated within the bumper, and a trailer towed by the vehicle.

[0010] (4)(3) In the target recognition device, the first area may be an area in which the other vehicle can be detected by the tracking processing unit, but in which the radio wave scattering, multipath, and trailer cannot be detected by the tracking processing unit.

[0011] (5) One aspect of the present disclosure is a program that causes a processor to execute: a tracking process step which detects an object based on the detection result of a surrounding conditions sensor that detects an object located behind the vehicle and performs a process to determine whether the object detected this time is the same as the object detected last time; a first determination step which determines whether the object was located in a first area based on object information indicating the result of the process performed in the tracking process step; an area existence process step which records an area existence record indicating that the object was located in the first area if it is determined in the first determination step that the object was located in the first area; a second determination step which determines whether there is an area existence record recorded in the area existence process step if the object is located in a second area located between the vehicle and the first area; and an object detection step which detects the object located in the second area as a real object if it is determined in the second determination step that there is an area existence record, and detects the object located in the second area as a false object if it is determined in the second determination step that there is no area existence record. [Effects of the Invention]

[0012] According to this disclosure, false detection of targets can be suppressed. [Brief explanation of the drawing]

[0013] [Figure 1] This figure shows an example of a vehicle 1 to which the driver assistance device 18 of the first embodiment is applied. [Figure 2] This figure shows an example of the entity determination area AR1, the controlled object detection area AR2, etc., set by the target processing unit 3H. [Figure 3] This figure shows an example of a vehicle 1 to which the target recognition device 16 of the second embodiment is applied. [Figure 4] This is a flowchart illustrating an example of processing performed by the processor 163 of the target recognition device 16 of the second embodiment. [Modes for carrying out the invention]

[0014] The embodiments of the driver assistance device, target recognition device, and program of this disclosure will be described below with reference to the drawings.

[0015] <First Embodiment> Figure 1 shows an example of a vehicle 1 to which the driver assistance device 18 of the first embodiment is applied. In the example shown in Figure 1, the vehicle 1 is equipped with a surrounding conditions sensor 11, a vehicle status sensor 12, an HMI (Human Machine Interface) 13, a notification device 14, a drive recorder 15, a driving assistance device 18, a vehicle control device 17, a steering actuator 17A, a braking actuator 17B, and a drive actuator 17C. The surrounding environment sensor 11 detects objects (e.g., obstacles, other vehicles (surrounding vehicles), pedestrians, etc.) present around the vehicle 1 (e.g., behind the vehicle 1) and transmits the detection results of objects present around the vehicle 1 to the driver assistance device 18, vehicle control device 17, etc. The surrounding environment sensor 11 includes, for example, radar. The vehicle status sensor 12 detects the status of the vehicle 1 and transmits the detection result of the vehicle 1's status to the vehicle control device 17, etc. The vehicle status sensor 12 includes, for example, a vehicle speed sensor. The HMI 13 has functions to receive various operations from the driver of the vehicle 1, functions to notify the driver of the vehicle 1, etc., and transmits signals indicating the operations of the driver of the vehicle 1 to the driver assistance device 18, vehicle control device 17, etc. The HMI 13 includes, for example, a switch for switching the surrounding vehicle approach support function ON / OFF, a display, a speaker, a steering wheel (and steering angle sensor), a brake pedal (and a sensor for detecting the amount of operation thereof), an accelerator pedal (and a sensor for detecting the amount of operation thereof), etc. The notification device 14 has a function to notify the police, etc., when it is detected that another vehicle (nearby vehicle) has approached the vehicle 1 from behind to a very close distance away, for example, when the surrounding vehicle approach support function is ON. The drive recorder 15 has a function of recording an image behind the host vehicle 1 including other vehicles when it is detected that another vehicle has approached from behind the host vehicle 1 to a position at a very close distance to the host vehicle 1, for example, when the support function for approaching surrounding vehicles is in the ON state.

[0016] The driving support device 18 detects a moving object such as another vehicle approaching from behind the host vehicle 1 and performs driving support control. The vehicle control device 17 controls the steering actuator 17A, the braking actuator 17B, and the driving actuator 17C based on information (signals) transmitted from, for example, the surrounding situation sensor 11, the HMI 13, etc. The driving support device 18 is constituted by a microcomputer including a communication interface (I / F) 181, a memory 182, and a processor 183. The communication interface 181 has an interface circuit for connecting the driving support device 18 to the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the notification device 14, the drive recorder 15, the vehicle control device 17, etc. The memory 182 stores programs and various data used in processes executed by the processor 183. The processor 183 has functions as an acquisition unit 3G, a target processing unit 3H, and a control unit 3I. The acquisition unit 3G acquires the detection result of a target (for example, another vehicle, etc.) existing behind the host vehicle 1 from the surrounding situation sensor 11 (specifically, a radar). The target processing unit 3H sets an entity determination area (detection required area) AR1, a control target detection area AR2, etc.

[0017] FIG. 2 is a diagram showing an example of the entity determination area AR1, the control target detection area AR2, etc. set by the target processing unit 3H. Specifically, FIG. 2 shows the entity determination area AR1, the control target detection area AR2, etc. of the surrounding situation sensor 11 (radar) installed at the bumper in the right rear part of the host vehicle 1. The right side of FIG. 2 corresponds to the right side of the host vehicle 1, and the lower side of FIG. 2 corresponds to the rear side of the host vehicle 1. In the example shown in Figure 2, the surrounding environment sensor 11 (radar) is positioned at the center of the roughly sector-shaped controlled target detection area AR2 shown in Figure 2 (the intersection of the two line segments constituting the sector), or in its vicinity. The detection area of ​​the surrounding environment sensor 11 includes the entity determination area AR1, the controlled target detection area AR2, etc.

[0018] Through diligent research, the inventors have discovered that when diffuse reflection of radio waves occurs due to the external environment of the vehicle 1, the detection result of the surrounding environment sensor 11 is obtained as shown in Figure 2 as the "trajectory of diffuse reflection". In order to appropriately provide support to the driver of the vehicle 1 when surrounding vehicles approach, it is necessary to prevent the detection result of the surrounding environment sensor 11 when diffuse reflection of radio waves occurs due to the external environment of the vehicle 1 from being incorrectly determined to be approaching the vehicle 1 from behind at a very close distance. Furthermore, the inventors have found that when multipath occurs, the detection result of the surrounding environment sensor 11 is obtained as shown in Figure 2 as the "multipath trajectory" (more specifically, a single point). Environments in which multipath occurs include, for example, environments in which the detection result of the surrounding environment sensor 11 is obtained as shown in Figure 2 as the "multipath trajectory" due to something such as temperature, humidity, vibration, or deflection, and environments in which, in addition to the vehicle being detected (another vehicle approaching the vehicle 1), there are oncoming vehicles, vehicles traveling in other lanes, guardrails, roadside buildings, etc., and these cause the detection result of the surrounding environment sensor 11 to be obtained as shown in Figure 2 as the "multipath trajectory". In order to appropriately provide support to the driver of the vehicle 1 when surrounding vehicles approach, it is necessary to prevent the detection result of the surrounding environment sensor 11 when multipath occurs from being incorrectly determined to be approaching the vehicle 1 from behind to a very close distance, based on the detection result of the surrounding environment sensor 11. Furthermore, the inventor has found that when the trailer is towed by the host vehicle 1, the detection result of the peripheral situation sensor 11 as shown by the "trajectory of the trailer" in FIG. 2 (even though the position fluctuates in the horizontal direction in FIG. 2 but continues to be located near the host vehicle 1) can be obtained. In order to appropriately provide support to the driver of the host vehicle 1 when a peripheral vehicle approaches, it is necessary to prevent an incorrect determination that another vehicle has approached from behind the host vehicle 1 to a position at a very close distance from the host vehicle 1 based on the detection result of the peripheral situation sensor 11 when the trailer is towed by the host vehicle 1. When another vehicle approaches from behind the host vehicle 1 to a position at a very close distance from the host vehicle 1, the detection result of the peripheral situation sensor 11 as shown by the "trajectory of the other vehicle" in FIG. 2 can be obtained. In view of the research results shown in FIG. 2, in the example shown in FIG. 1, the countermeasures described later are taken.

[0019] Specifically, in the example shown in FIG. 1, the target processing unit 3H sets a physical entity determination area AR1 at a predetermined distance from the peripheral situation sensor 11 (radar) in the detection area of the peripheral situation sensor 11 (radar) that detects a moving object (such as another vehicle or the like) approaching from behind the host vehicle 1, which is separate from the control target detection area AR2 for driving support control. Furthermore, when the moving trajectory of the target detected by the peripheral situation sensor 11 (radar) exists in the physical entity determination area AR1 as shown by the "trajectory of the other vehicle" in FIG. 2, the target processing unit 3H determines that the target detected by the peripheral situation sensor 11 (radar) is a moving object with a physical entity, and sets the target detected by the peripheral situation sensor 11 (radar) as an object for driving support control (for example, an object for support when a peripheral vehicle approaches (notification, video recording)). Furthermore, the target processing unit 3H determines that the target detected by the surrounding situation sensor 11 (radar) is not a physical moving object if the movement trajectory of the target detected by the surrounding situation sensor 11 (radar) is not present in the physical object determination area AR1, such as the "irregular reflection trajectory," "multipath trajectory," and "trailer trajectory" shown in Figure 2, and does not include the target detected by the surrounding situation sensor 11 (radar) in the driving assistance control (for example, it does not include support when approaching a nearby vehicle (notification, video recording)). The control unit 3I detects moving objects such as other vehicles approaching from behind the vehicle 1 and performs driving assistance control. Specifically, when the object processing unit 3H determines that the object detected by the surrounding situation sensor 11 (radar) is a physical moving object, the control unit 3I will send a notification to the notification device 14 or have the drive recorder 15 record video of the area behind the vehicle 1, depending on the settings of the surrounding vehicle approach support function made by the driver of the vehicle 1.

[0020] <Second Embodiment> The vehicle 1 to which the target recognition device 16 of the second embodiment is applied is configured in the same way as the vehicle 1 to which the driver assistance device 18 of the first embodiment is applied, except for the points described later.

[0021] Figure 3 shows an example of a vehicle 1 to which the target recognition device 16 of the second embodiment is applied. In the example shown in Figure 3, the vehicle 1 is equipped with a surrounding conditions sensor 11, a vehicle status sensor 12, an HMI 13, a notification device 14, a drive recorder 15, a target recognition device 16, a vehicle control device 17, a steering actuator 17A, a braking actuator 17B, and a drive actuator 17C. The surrounding environment sensor 11 detects objects present in the vicinity of the vehicle 1 (for example, behind it) and transmits the detection results of objects present in the vicinity of the vehicle 1 to the object recognition device 16, vehicle control device 17, etc. The HMI 13 transmits signals indicating the driver's actions on vehicle 1 to the target recognition device 16, vehicle control device 17, etc. The target recognition device 16 is composed of a microcomputer comprising a communication interface 161, a memory 162, and a processor 163. The communication interface 161 has an interface circuit for connecting the target recognition device 16 to a surrounding situation sensor 11, a vehicle status sensor 12, an HMI 13, a notification device 14, a drive recorder 15, a vehicle control device 17, etc. The memory 162 stores programs and various data used in processing performed by the processor 163. The processor 163 has the functions of an acquisition unit 3A, a tracking processing unit 3B, a first determination unit 3C, an area performance processing unit 3D, a second determination unit 3E, and a target detection unit 3F.

[0022] The acquisition unit 3A acquires detection results of targets (e.g., other vehicles, etc.) located behind the vehicle 1 from the surrounding situation sensor 11 (e.g., radar). The tracking processing unit 3B detects an object located behind the vehicle 1 based on the detection results of the surrounding environment sensor 11. Furthermore, the tracking processing unit 3B performs a process to determine whether the object detected this time is the same as the object detected last time. The first determination unit 3C determines whether or not the target was located within the entity determination area (detection required area) AR1 shown in Figure 2, based on the target information indicating the result of the processing performed by the tracking processing unit 3B. The area performance processing unit 3D records, for example, in memory 162 an area presence record indicating that the target was present in the entity determination area (detection required area) AR1 when the first determination unit 3C determines that the target was present in the entity determination area (detection required area) AR1. The second determination unit 3E determines whether or not there is an area existence record recorded by the area existence processing unit 3D when the target is located within the controlled target detection area AR2, which is situated between the vehicle 1 and the entity determination area (detection mandatory area) AR1. The target detection unit 3F detects targets within the controlled target detection area AR2 as real targets if the second determination unit 3E determines that there is a record of area existence. Conversely, the target detection unit 3F detects targets within the controlled target detection area AR2 as false targets if the second determination unit 3E determines that there is no record of area existence.

[0023] In the example shown in Figure 2, for example, when the acquisition unit 3A acquires the "scattered reflection trajectory" shown in Figure 2 as the detection result of a target located behind the vehicle 1 from the surrounding situation sensor 11 (e.g., radar), the first determination unit 3C determines that the target was not located within the physical object determination area (detection required area) AR1, the second determination unit 3E determines that there is no record of the area being present, and the target detection unit 3F detects the target located within the controlled target detection area AR2 (the "scattered reflection trajectory" shown in Figure 2) as a false target. Furthermore, for example, when the acquisition unit 3A acquires the "multipath trajectory" shown in Figure 2 as the detection result of a target located behind the vehicle 1 from the surrounding situation sensor 11 (e.g., radar), the first determination unit 3C determines that the target was not located within the physical determination area (detection required area) AR1, the second determination unit 3E determines that there is no record of the area being present, and the target detection unit 3F detects the target (the "multipath trajectory" shown in Figure 2) located within the controlled target detection area AR2 as a false target. Furthermore, for example, when the acquisition unit 3A acquires the "trailer trajectory" shown in Figure 2 as the detection result of an object located behind the vehicle 1 from the surrounding situation sensor 11 (e.g., radar), the first determination unit 3C determines that the object was not located within the actual object determination area (detection required area) AR1, the second determination unit 3E determines that there is no record of the area being present, and the object detection unit 3F detects the object located within the controlled target detection area AR2 (the "trailer trajectory" shown in Figure 2) as a false object. In other words, in the example shown in Figure 2, the diffuse reflection of radio waves caused by the external environment of the vehicle 1, the multipath generated inside the bumper of the vehicle 1, and the trailer being towed by the vehicle 1 are detected as false targets by the target detection unit 3F.

[0024] Furthermore, in the example shown in Figure 2, for example, when the acquisition unit 3A acquires the "trajectory of another vehicle" shown in Figure 2 as the detection result of a target located behind the vehicle 1 from the surrounding situation sensor 11 (for example, radar), the first determination unit 3C determines that the target was located within the physical determination area (detection required area) AR1, the second determination unit 3E determines that there is a record of area existence, and the target detection unit 3F detects the target (the "trajectory of another vehicle" shown in Figure 2) located within the controlled target detection area AR2 as a real target. In other words, in the example shown in Figure 2, for example, another vehicle that is aggressively tailgating vehicle 1 is detected as a real target by the target detection unit 3F. In other words, in the example shown in Figure 2, the entity determination area (detection required area) AR1 is an area where, for example, another vehicle engaging in aggressive driving against the vehicle 1 can be detected by the tracking processing unit 3B, but where radio wave scattering due to the external environment of the vehicle 1, multipath generated within the bumper of the vehicle 1, and a trailer being towed by the vehicle 1 cannot be detected by the tracking processing unit 3B.

[0025] In the example shown in Figure 3, when the target detection unit 3F detects a target (for example, the "trajectory of another vehicle" shown in Figure 2) within the controlled target detection area AR2 as a real target, the notification device 14 will notify the police, etc., for example, when the surrounding vehicle approach support function is ON. When the target detection unit 3F detects a target (for example, the "trajectory of diffuse reflection," "trajectory of multipath," "trajectory of a trailer," etc. shown in Figure 2) within the controlled target detection area AR2 as a false target, the notification device 14 will not notify the police, etc. Furthermore, when the target detection unit 3F detects a target (for example, the "trajectory of another vehicle" shown in Figure 2) within the controlled target detection area AR2 as a real target, the drive recorder 15 records video of the area behind the vehicle 1, including other vehicles, for example, when the surrounding vehicle approach support function is ON. When the target detection unit 3F detects a target (for example, the "trajectory of diffuse reflection," "trajectory of multipath," "trajectory of a trailer," etc. shown in Figure 2) within the controlled target detection area AR2 as a false target, the drive recorder 15 does not record video of the area behind the vehicle 1. In other words, in the example shown in Figure 3, in order to improve the reliability of the targets, only targets that have been detected within the entity determination area (detection mandatory area) AR1 and that approach the control target detection area AR2 are targeted for control by the notification device 14 and the drive recorder 15 (support when surrounding vehicles approach). As a result, false detection of targets can be suppressed.

[0026] Figure 4 is a flowchart illustrating an example of processing performed by the processor 163 of the target recognition device 16 of the second embodiment. In the example shown in Figure 4, in step S10, the acquisition unit 3A acquires the detection result from the surrounding condition sensor 11. In step S11, the tracking processing unit 3B detects an object located behind the vehicle 1 based on the detection results of the surrounding situation sensor 11. Furthermore, the tracking processing unit 3B performs a process to determine whether the object detected this time is the same as the object detected last time. In step S12, the first determination unit 3C determines whether or not the target was present within the entity determination area (detection required area) AR1, based on the target information indicating the result of the processing performed in step S11. If the result is YES, the process proceeds to step S13; otherwise, the process proceeds to step S14. In step S13, the area performance processing unit 3D records an area presence record indicating that the target was located within the entity determination area (detection required area) AR1. In step S14, the second determination unit 3E determines whether or not there is a record of area presence for the target located within the controlled target detection area AR2. If the answer is YES, the process proceeds to step S15; otherwise, the process proceeds to step S16. In step S15, the target detection unit 3F detects targets within the controlled target detection area AR2 as real targets. For example, another vehicle engaging in aggressive driving against vehicle 1 is detected as a real target by the target detection unit 3F in step S15. In step S16, the target detection unit 3F detects targets within the controlled target detection area AR2 as false targets. For example, radio wave scattering caused by the external environment of the vehicle 1, multipath of radio waves emitted from the surrounding environment sensor 11 (radar) generated inside the bumper of the vehicle 1, and trailers towed by the vehicle 1 are detected as false targets by the target detection unit 3F in step S16.

[0027] As described above, embodiments of the driver assistance device, target recognition device, and program of this disclosure have been explained with reference to the drawings. However, the driver assistance device, target recognition device, and program of this disclosure are not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of this disclosure. The configurations of each example of the embodiments described above may be combined as appropriate. In each example of the embodiments described above, the processing performed by the target recognition device 16 was described as software processing performed by executing a program. However, the processing performed by the target recognition device 16 may be hardware processing. Alternatively, the processing performed by the target recognition device 16 may be a combination of software and hardware processing. Furthermore, the program stored in the memory 162 of the target recognition device 16 (the program that realizes the functions of the processor 163 of the target recognition device 16) may be recorded on a computer-readable storage medium such as a semiconductor memory, magnetic recording medium, or optical recording medium and provided and distributed. [Explanation of Symbols]

[0028] 1...Own vehicle, 11...Surroundings sensor, 12...Vehicle status sensor, 13...HMI, 14...Notification device, 15...Drive recorder, 16...Target recognition device, 161...Communication interface, 162...Memory, 163...Processor, 3A...Acquisition unit, 3B...Tracking processing unit, 3C...First determination unit, 3D...Area performance processing unit, 3E...Second determination unit, 3F...Target detection unit, 17...Vehicle control device, 17A...Steering actuator, 17B...Brake actuator, 17C...Drive actuator, 18...Driving assistance device, 181...Communication interface, 182...Memory, 183...Processor, 3G...Acquisition unit, 3H...Target processing unit, 3I...Control unit

Claims

1. A driver assistance system that detects a moving object approaching from the rear of the vehicle and performs driver assistance control, The aforementioned driving support device includes a target processing unit, The aforementioned target processing unit, In the detection area of ​​the radar that detects the moving object approaching from the rear of the vehicle, a separate entity determination area is set at a predetermined distance from the radar, in addition to the control target detection area of ​​the driver assistance control. If the movement trajectory of the target detected by the radar is within the entity determination area, it is determined that the target is a physical moving object and the target is designated as a target for driver assistance control. If the movement trajectory of the target detected by the radar does not exist within the entity determination area, it is determined that the target is not a physical moving object and the target is not included in the driving assistance control. Driving assistance system.

2. A tracking processing unit detects an object based on the detection result of a surrounding conditions sensor that detects an object located behind the vehicle, and performs a process to determine whether the object detected this time is the same as the object detected last time. A first determination unit determines whether or not the target was located within the first area based on target information indicating the result of processing performed by the tracking processing unit, When the first determination unit determines that the target was located within the first area, an area presence processing unit records an area presence record indicating that the target was located within the first area. A second determination unit determines whether or not there is an area existence record recorded by the area existence processing unit when the target is located within a second area situated between the vehicle and the first area. A target recognition device comprising: a target detection unit that detects the target located within the second area as a genuine target when the second determination unit determines that the area has a history of existence; and a target detection unit that detects the target located within the second area as a fake target when the second determination unit determines that the area has no history of existence.

3. The aforementioned surrounding conditions sensor is a radar installed on the rear bumper of the vehicle. When another vehicle that is aggressively driving towards the aforementioned vehicle is detected as the aforementioned target by the target detection unit, The target recognition device according to claim 2, wherein at least one of the following is detected as a false target by the target detection unit: diffuse reflection of radio waves caused by the external environment of the vehicle, multipath of radio waves emitted from the radar generated within the bumper, and a trailer towed by the vehicle.

4. The target recognition device according to claim 3, wherein the second area is an area in which the other vehicle can be detected by the tracking processing unit, and in which the radio wave scattering, the radio wave multipath, and the trailer cannot be detected by the tracking processing unit.

5. In the processor, A tracking process step that detects an object based on the detection result of a surrounding environment sensor that detects an object located behind the vehicle, and performs a process to determine whether the object detected this time is the same as the object detected last time, A first determination step, based on target information indicating the result of the processing performed in the tracking processing step, determines whether or not the target was located within the first area. If it is determined in the first determination step that the target was located within the first area, an area presence processing step is performed to record an area presence record indicating that the target was located within the first area. A second determination step to determine whether or not there is an area existence record recorded in the area performance processing step when the target is located in a second area situated between the vehicle and the first area, A program for executing a target detection step which, if it is determined in the second determination step that the area has a history of existence, detects the target located within the second area as a real target, and if it is determined in the second determination step that the area has no history of existence, detects the target located within the second area as a fake target.

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