Traction determination device

Abstract

To provide a traction determination device which improves the accuracy of determining whether or not an own vehicle is towing an object.SOLUTION: A traction determination device comprises: a rear sensor that emits an electromagnetic wave or a sound wave to the rear of an own vehicle, and acquires information on an object existing behind the own vehicle on the basis of a distribution of reflection points of the electromagnetic wave or the sound wave; and a processor configured to determine whether or not the own vehicle is towing an object on the basis of the information acquired from the rear sensor. The processor determines that the own vehicle is towing an object OB in the case of detecting an object OB that is following the own vehicle while maintaining a constant interval from the own vehicle without deviating from a track TR of the own vehicle on the basis of the information from the rear sensor under a situation where the own vehicle is turning, and determines that the own vehicle is not towing an object OB in the case of detecting an object OB that is following the own vehicle while maintaining a constant interval from the own vehicle with the object deviating from the track TR of the own vehicle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a towing determination device that determines whether or not a vehicle is towing an object (another vehicle). [Background technology]

[0002] A device has been proposed that determines whether a vehicle is towing an object (see, for example, Patent Document 1 below). The device in Patent Document 1 (hereinafter referred to as the "conventional device") includes a rear sensor and a processor. The rear sensor includes a transmitter that emits radio waves rearward of the vehicle and a receiver that receives reflected waves of the radio waves. The rear sensor acquires (recognizes) the distribution of reflection points based on the received reflected waves, and based on the results, detects the distance between the vehicle and an object located behind the vehicle, the direction of the object relative to the vehicle, etc. If the processor detects an object following the vehicle behind while maintaining a certain distance from the vehicle, based on the information acquired from the rear sensor, it determines that the vehicle is towing the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-211696 Summary of the Invention

[0004] Radio waves emitted from the rear sensor are reflected by objects (such as the road surface, guardrails, and other vehicles) located around the vehicle. The rear sensor may recognize a radio wave reflection point as existing in the space immediately behind the vehicle (the space occupied by the object when the vehicle is towing the object) even though the reflection point does not actually exist. In other words, the rear sensor may recognize an object as existing immediately behind the vehicle even though the object does not actually exist. Such a distribution of non-existent reflection points (non-existent objects) is generally referred to as a "ghost." Ghosts occur when various conditions, including road surface conditions (e.g., conditions related to the depth of road surface irregularities) and conditions related to the relative positions of the vehicle, guardrails, other vehicles, and the vehicle, are met simultaneously (e.g., when radio waves reflected from multiple reflection points interfere with each other). Conventional devices do not have a means for distinguishing between ghosts and actual objects. Therefore, conventional devices may mistakenly determine that the vehicle is towing an object even though it is not.

[0005] An object of the present invention is to provide a towing determination device that improves the accuracy (precision) of determining whether or not the subject vehicle is towing an object.

[0006] In order to achieve the above object, the towing determination device (1) of the present invention comprises: a rear sensor (21) that emits electromagnetic waves or sound waves to the rear of the vehicle (V) and acquires information about an object present behind the vehicle based on a distribution of reflection points of the electromagnetic waves or sound waves; a processor (10) configured to determine whether the host vehicle is towing an object based on information obtained from the rear sensor; Equipped with. The processor, when the host vehicle is turning, based on the information acquired from the rear sensor, When an object (OB) is detected following the host vehicle while maintaining a certain distance from the host vehicle without deviating from the host vehicle's trajectory (TR), the system determines that the host vehicle is towing the object, When an object is detected that deviates from the vehicle's trajectory and follows the vehicle while maintaining a certain distance from the vehicle, it is determined that the vehicle is not towing the object. It is configured as follows.

[0007] In many cases, the relative position between the host vehicle and the ghost when the host vehicle is traveling straight is approximately the same as the relative position between the host vehicle and the ghost when the host vehicle is turning. Therefore, the towing determination device of the present invention determines whether an object detected by a rear sensor is following the host vehicle's trajectory without deviating from the trajectory, and determines the presence or absence of a towed object based on the result. Therefore, the towing determination device of the present invention has higher accuracy (precision) in determining the presence or absence of a towed object than conventional devices (devices that determine whether an object is following the host vehicle and determine the presence or absence of a towed object based solely on the determination result).

[0008] In one aspect of the present invention, there is provided a towing determination device, A steering angle sensor (211) is provided to acquire the steering angle (θ) of the vehicle. The processor recognizes an area through which the vehicle has passed as the trajectory based on information acquired from the steering angle sensor.

[0009] This allows the processor to recognize the trajectory of the host vehicle relatively easily.

[0010] In another aspect of the present invention, there is provided a towing determination device, a forward sensor (23) for acquiring information about a target present in front of the vehicle; The processor recognizes the travel lane (L) in which the vehicle has traveled as the trajectory based on the information acquired from the forward sensor.

[0011] This allows the processor to recognize the trajectory of the host vehicle relatively easily.

[0012] Furthermore, the towing determination method and towing determination program of the present invention include steps executed by various devices included in the towing determination device. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram of a towing determination device according to one embodiment of the present invention. [Figure 2] FIG. 2(A) is a plan view showing the positional relationship between the host vehicle and the towed object, and FIG. 2(B) is a plan view showing the positional relationship between the host vehicle and the ghost. [Figure 3] FIG. 3 is a flowchart of a program for implementing the towing determination function. [Figure 4] FIG. 4 is a block diagram of a towing determination device according to a modified example of the present invention. [Figure 5] Figure 5 is a plan view according to a modified example of the present invention, in which Figure 5(A) is a plan view showing the positional relationship between the host vehicle and the towed object, and Figure 5(B) is a plan view showing the positional relationship between the host vehicle and a ghost. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Summary) A towing determination device 1 according to one embodiment of the present invention is applied to a host vehicle (vehicle V). The towing determination device 1 has a function (tow determination function) of determining whether the host vehicle is towing an object (another vehicle). This towing determination result is provided to another device on the host vehicle. For example, the towing determination result is provided to a notification device that notifies the driver that another vehicle is approaching from behind the host vehicle. If the host vehicle is towing an object, the notification device excludes the object from the notification targets. Note that the host vehicle may also be equipped with an autonomous driving function.

[0015] (Specific configuration) As shown in FIG. 1, the towing determination device 1 includes a towing determination ECU 10 and an on-vehicle sensor 20.

[0016] The towing determination ECU 10 includes a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The towing determination ECU 10 is connected to other ECUs (for example, the ECU of the above-mentioned notification device) via a CAN.

[0017] The on-board sensors 20 include a rear sensor 21 that acquires information about objects present behind (immediately behind and diagonally behind) the vehicle. As the rear sensor 21, a millimeter wave radar 211, for example, can be adopted.

[0018] The millimeter-wave radar 211 includes a transmitter / receiver and a signal processor. The transmitter / receiver emits millimeter-wave band radio waves (hereinafter referred to as "millimeter waves") toward the rear of the vehicle and receives millimeter waves (reflected waves) reflected by objects located within the emission range. The signal processor calculates (recognizes) the distribution of millimeter-wave reflection points based on the time from when the transmitter / receiver emits the millimeter waves until when the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation of the reflected waves, and the like. The signal processor then recognizes (identifies) each object located behind the vehicle based on the distribution of reflection points. The signal processor also recognizes the distance between the vehicle and each object, the position (direction) of each object relative to the vehicle, and the like. The signal processor transmits the above recognition results to the towing determination ECU 10.

[0019] Note that the object recognized by the millimeter-wave radar 211 may actually exist, but may not actually exist. In other words, the object may be a ghost GST. The millimeter-wave radar 211 does not have the function of determining whether the object recognized based on a group of reflection points actually exists.

[0020] The on-vehicle sensors 20 further include a vehicle speed sensor 22. The vehicle speed sensor 22 includes a wheel speed sensor that generates one pulse signal (wheel pulse signal) each time a wheel of the host vehicle rotates a predetermined angle. The vehicle speed sensor 22 measures the number of pulses per unit time of the wheel pulse signal transmitted from the wheel speed sensor, calculates the rotational speed (wheel speed) of each wheel based on the measured number of pulses, and calculates the speed of the host vehicle (actual vehicle speed) vs based on the wheel speed of each wheel. The vehicle speed sensor 22 transmits the calculation result to the towing determination ECU 10.

[0021] The on-vehicle sensors 20 further include a steering angle sensor 23. The steering angle sensor 23 detects the steering angle θ of the steering wheels of the host vehicle. The steering angle sensor 23 transmits the steering angle θ to the towing determination ECU 10.

[0022] (Activation) <Traction judgment function> The towing determination ECU 10 successively acquires various pieces of information from the on-board sensors 20, and determines whether or not the host vehicle is towing an object OB (towed object T) based on this information.

[0023] Generally, the towed object T is coupled to the host vehicle so as to be able to turn relative to the rear end of the host vehicle. As shown in FIG. 2(A), when the host vehicle is traveling straight, the central axis of the host vehicle (indicated by the dashed-dotted line in the figure) and the central axis of the towed object T (indicated by the dashed-dotted line in the figure) are aligned on the same straight line. On the other hand, when the host vehicle is turning, the central axis of the towed object T intersects with the central axis of the host vehicle. In this way, when the host vehicle is turning, the object OB (actual towed object T) being towed by the host vehicle follows the host vehicle without deviating from the trajectory TR of the host vehicle, while maintaining a constant distance between the host vehicle and the object OB.

[0024] In contrast, as shown in Figure 2(B), the position of the ghost GST (a non-existent object OB) relative to the host vehicle when the host vehicle is traveling straight is often approximately the same as the position of the ghost GST relative to the host vehicle when the host vehicle is turning. Therefore, when the host vehicle is turning, the ghost GST follows the host vehicle while maintaining a certain distance between them, but a part of the ghost GST often deviates from the trajectory TR of the host vehicle.

[0025] Therefore, the towing determination ECU 10 determines whether the object OB detected by the millimeter wave radar 211 and located immediately behind the vehicle actually exists (whether the object OB is a towed object T or a ghost GST) as described below.

[0026] Specifically, the towing determination ECU 10 periodically acquires the speed vs and the steering angle θ from the vehicle speed sensor 22 and the steering angle sensor 23. Then, the towing determination ECU 10 acquires (calculates) the trajectory TR of the host vehicle (a map M (plan view) showing the area TRa through which the host vehicle has passed) based on the time-series data of the speed vs and the steering angle θ.

[0027] The towing determination ECU 10 also determines whether the host vehicle is turning based on the steering angle θ acquired from the steering angle sensor 23. If the steering angle θ exceeds the threshold value θth, the towing determination ECU 10 determines that the host vehicle is turning.

[0028] Furthermore, while the host vehicle is turning, the towing determination ECU 10 sequentially acquires information (the position of each object relative to the host vehicle) from the millimeter-wave radar 211. Based on the information acquired from the millimeter-wave radar 211, the towing determination ECU 10 identifies the object OB located immediately behind the host vehicle, and further recognizes the position (position relative to the rear end surface of the host vehicle) of the front end surface of the object OB (the portion facing the rear end surface of the host vehicle). In addition, the towing determination ECU 10 sequentially acquires from the millimeter-wave radar 211 the distance Δd between the center in the width direction of the front end of the object OB (the portion facing the rear end surface of the host vehicle) and the center in the width direction of the rear end of the host vehicle.

[0029] Furthermore, the towing determination ECU 10 sequentially determines whether the object OB deviates from the trajectory TR (area TRa) based on information acquired from the millimeter-wave radar 211. Specifically, when the towing determination ECU 10 detects in the map M that one end in the width direction of the front end face of the object OB is located outside the trajectory TR, the towing determination ECU 10 determines that the object OB has deviated from the trajectory TR. On the other hand, when the towing determination ECU 10 detects that both ends in the width direction of the front end face of the object OB are located inside the trajectory TR in a plan view, the towing determination ECU 10 determines that the object OB has not deviated from the trajectory TR.

[0030] The towing determination ECU 10 determines that the object OB does not exist (is a ghost GST) when the distance Δd is constant (the object OB is following the host vehicle while maintaining a constant distance from the host vehicle) and the time Δta during which the object OB continues to deviate from the trajectory TR exceeds the threshold Δtath while the host vehicle is turning. That is, in this case, the towing determination ECU 10 determines that the host vehicle is not towing the object OB. On the other hand, when the distance Δd is constant (the difference between the maximum and minimum values ​​is small) and the time Δtb during which the object OB continues to not deviate from the trajectory TR exceeds the threshold Δtbth while the host vehicle is turning, the towing determination ECU 10 determines that the object OB exists. That is, in this case, the towing determination ECU 10 determines that the host vehicle is towing the object OB. Note that the threshold Δtath and the threshold Δtbth may be the same or different.

[0031] When the towing determination ECU 10 determines whether the host vehicle is towing an object OB (whether or not a towed object T is present), it transmits the determination result to another ECU (for example, the ECU of the above-mentioned notification device). Note that once the towing determination ECU 10 determines whether or not a towed object T is present after the ignition switch of the host vehicle transitions from the off state to the on state, it does not thereafter determine whether or not a towed object T is present until the ignition switch transitions to the off state.

[0032] Next, with reference to FIG. 3, a program PR1 executed by the CPU 10a (hereinafter referred to as "CPU") of the towing determination ECU 10 to execute the towing determination function will be described.

[0033] When the CPU detects that the ignition switch of the host vehicle has transitioned from an off state to an on state, it starts executing the program PR1.

[0034] When the CPU starts execution of the program PR1 from step 100, the process proceeds to step 101.

[0035] When the CPU proceeds to step 101, it executes initialization processing. Specifically, the CPU sets the time Δta and the time Δtb as the output (time measurement result) of the timer 10d to "0." Then, the CPU proceeds to step 102.

[0036] When the CPU proceeds to step 102, it determines whether the host vehicle is turning. If the steering angle θ exceeds the threshold value θth, the CPU determines that the host vehicle is turning. On the other hand, if the steering angle θ is equal to or less than the threshold value θth, the CPU determines that the host vehicle is not turning. If the CPU determines that the host vehicle is turning (102: Yes), it proceeds to step 103. On the other hand, if the CPU determines that the host vehicle is not turning (102: No), it proceeds to step 117, which will be described later.

[0037] When the CPU proceeds to step 103, it acquires information about each object from the millimeter-wave radar 211 and identifies the object OB located immediately behind the host vehicle based on the acquired information. Then, the CPU determines whether the distance Δd between the host vehicle and the object OB is constant. Specifically, the CPU acquires the distance Δd from the millimeter-wave radar 211 at a predetermined interval and stores the distance Δd in the RAM 10c as time-series data. If the difference between the maximum and minimum values ​​in the time-series data of the distance Δd during the period from when the host vehicle started turning to the present time is small (below a threshold), the CPU determines that the distance Δd is constant. If the CPU determines that the distance Δd is constant, it proceeds to step 104. On the other hand, if the CPU determines that the distance Δd is not constant (103: No), it proceeds to step 117, which will be described later.

[0038] When the CPU proceeds to step 104, it calculates the trajectory TR. Specifically, the CPU acquires the steering angle θ and the speed vs from the on-board sensor 20 at a predetermined cycle, and stores this information as time-series data in the RAM 10c. Based on this time-series data, the CPU calculates (updates) a map M indicating the area TRa (trajectory TR) through which the host vehicle has passed. Then, the CPU proceeds to step 105.

[0039] When the CPU proceeds to step 105, it calculates the position of the object OB in the map M and determines, based on the result of the calculation, whether or not the object OB has deviated from the trajectory TR. If the CPU determines that a part of the object OB has deviated from the trajectory TR (105: Yes), it proceeds to step 106. On the other hand, if the CPU determines that the object OB has not deviated from the trajectory TR (105: No), it proceeds to step 111, which will be described later.

[0040] When the CPU proceeds to step 106, it determines whether or not the time Δta is being measured. If the time Δta is not "0", the CPU determines that the time Δta is being measured. On the other hand, if the time Δta is "0", the CPU determines that the time Δta is not being measured. If the CPU determines that the time Δta is being measured (106: Yes), it proceeds to step 109. On the other hand, if the CPU determines that the time Δta is not being measured (106: No), it proceeds to step 107.

[0041] When the CPU proceeds to step 107, it sets the time Δtb to "0." That is, if the timer 10d is currently measuring the time Δtb, it ends the measurement. Then, the CPU proceeds to step 108. Note that if the timer 10d is not measuring the time Δtb, the CPU proceeds directly to step 108.

[0042] When the CPU proceeds to step 108, it causes the timer 10d to start measuring the time Δta. Then, the CPU proceeds to step 109.

[0043] When the CPU proceeds to step 109, it determines whether the time Δta exceeds the threshold value Δtath. If the time Δta exceeds the threshold value Δtath (109: Yes), the CPU proceeds to step 110. On the other hand, if the time Δta is equal to or less than the threshold value Δtath (109: No), the CPU returns to step 102.

[0044] When the CPU proceeds to step 110, it determines that "the host vehicle is not towing an object OB." Then, the CPU proceeds to step 116, which will be described later.

[0045] When the CPU proceeds from step 105 to step 111, it determines whether or not the time Δtb is being measured. If the time Δtb is not "0", the CPU determines that the time Δtb is being measured. On the other hand, if the time Δtb is "0", the CPU determines that the time Δtb is not being measured. If the CPU determines that the time Δtb is being measured (111: Yes), it proceeds to step 114. On the other hand, if the CPU determines that the time Δtb is not being measured (111: No), it proceeds to step 112.

[0046] When the CPU proceeds to step 112, it sets the time Δta to "0." That is, if the timer 10d is currently measuring the time Δta, it ends the measurement. Then, the CPU proceeds to step 113. Note that if the timer 10d is not measuring the time Δta, the CPU proceeds directly to step 113.

[0047] When the CPU proceeds to step 113, it causes the timer 10d to start measuring the time Δtb. Then, the CPU proceeds to step 114.

[0048] When the CPU proceeds to step 114, it determines whether the time Δtb exceeds the threshold value Δtbth. If the time Δtb exceeds the threshold value Δtbth (114: Yes), the CPU proceeds to step 115. On the other hand, if the time Δtb is equal to or less than the threshold value Δtbth (114: No), the CPU returns to step 102.

[0049] When the CPU proceeds to step 115, it determines that "the host vehicle is towing the object OB." Then, the CPU proceeds to step .

[0050] When the CPU proceeds from step 110 or step 115 to step 116, it transmits the determination result of the presence or absence of the towed object T to another ECU (for example, the ECU of the alarm device). Then, the CPU proceeds to step 118 and ends the execution of the program PR1.

[0051] When the CPU proceeds from step 102 or step 103 to step 117, it resets the timer 10d (times Δta, Δtb) and returns to step 102.

[0052] (effect) As described above, the relative position between the host vehicle and the ghost when the host vehicle is traveling straight is often approximately the same as the relative position between the host vehicle and the ghost when the host vehicle is turning. Therefore, when the host vehicle is turning, the towing determination device 1 determines whether an object detected by the rear sensor 21 is following the host vehicle's trajectory without deviating from the trajectory, and determines the presence or absence of a towed object T based on the result. Therefore, the towing determination device 1 has a higher accuracy (precision) in determining the presence or absence of a towed object T than conventional devices (devices that determine whether an object is following the host vehicle and determine the presence or absence of a towed object T based solely on the determination result).

[0053] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0054] <Variation 1> As shown in FIG. 1 , a sonar 212 may be employed instead of or in addition to the millimeter-wave radar 211 serving as the rear sensor 21. The sonar 212 includes a transmitter / receiver and a signal processor. The transmitter / receiver emits ultrasonic waves rearward of the vehicle and receives the ultrasonic waves (reflected waves) reflected by an object located within the emission range. The signal processor calculates (recognizes) the distribution of ultrasonic reflection points based on the time from when the transmitter / receiver emits the ultrasonic waves to when the reflected waves are received, the phase difference between the transmitted ultrasonic waves and the received reflected waves, the attenuation of the reflected waves, and the like. Then, based on the distribution of the reflection points, the signal processor recognizes the distance between the vehicle and the object OB, the relative position (direction) of the object OB with respect to the vehicle, and the like, and transmits the recognition results to the towing determination ECU 10.

[0055] This makes it possible to accurately determine whether or not an object detected by the sonar 212 is a ghost generated by interference of reflected waves of sound waves.

[0056] <Variation 2> As shown in FIG. 1 , a LiDAR 213 may be used instead of or in addition to the millimeter-wave radar 211 as the rear sensor 21. The LiDAR 213 includes a transceiver and a signal processor. The transceiver emits laser light rearward of the vehicle and receives the laser light (reflected light) reflected by an object located within the emission range. The signal processor calculates (recognizes) the distribution of reflection points of the laser light based on the time from when the transceiver emits ultrasound to when it receives the reflected light, the phase difference between the transmitted laser light and the received reflected wave, the attenuation of the reflected light, and the like. Then, based on the distribution of reflection points, the signal processor recognizes the distance between the vehicle and the object OB, the relative position (direction) of the object OB with respect to the vehicle, and the like, and transmits the recognition results to the towing determination ECU 10.

[0057] This makes it possible to accurately determine whether or not an object detected by the LiDAR 213 is a ghost caused by interference of reflected light.

[0058] <Variation 3> As shown in FIG. 4, the towing determination device 1 may include a front camera 24 as a forward sensor. The front camera 24 includes an imaging device and an image analysis device. The imaging device has, for example, a built-in CCD. The imaging device is installed at the front of the host vehicle. The imaging device captures images of the area in front of the host vehicle at a predetermined frame rate to acquire image data. The imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data and recognizes objects in front of the host vehicle from the images. For example, the image analysis device recognizes lane marks (such as lane markings, curbs, and medians that separate driving lanes) and transmits the recognition results to the towing determination ECU 10.

[0059] The towing determination ECU 10 recognizes the driving lane L in which the host vehicle is traveling, as shown in FIG. 5, based on information acquired from the front camera 24 instead of or in addition to the steering angle sensor 23. When the host vehicle is turning, if the distance Δd is constant (the difference between the maximum and minimum values ​​is small) and the time Δta during which the object OB continues to deviate from the driving lane L exceeds the threshold Δtath, the towing determination ECU 10 determines that the object OB does not actually exist. In other words, in this case, the towing determination ECU 10 determines that the host vehicle is not towing the object OB. On the other hand, when the host vehicle is turning, if the distance Δd is constant (the difference between the maximum and minimum values ​​is small) and the time Δtb during which the object OB continues to deviate from the driving lane L exceeds the threshold Δtbth, the towing determination ECU 10 determines that the object OB actually exists. In other words, in this case, the towing determination ECU 10 determines that the host vehicle is towing the object OB. [Explanation of symbols]

[0060] 1...vehicle control device, 10...driving assistance ECU, 20...vehicle sensor, 21...rear sensor

Claims

1. a rear sensor that emits electromagnetic waves or sound waves to the rear of the vehicle and acquires information about an object present behind the vehicle based on a distribution of reflection points of the electromagnetic waves or sound waves; a processor configured to determine whether the host vehicle is towing an object based on information obtained from the rear sensor; A towing determination device comprising: The processor, when the host vehicle is turning, based on the information acquired from the rear sensor, When an object is detected following the host vehicle while maintaining a certain distance from the host vehicle without deviating from the host vehicle's trajectory, the host vehicle is determined to be towing the object; When an object is detected that deviates from the vehicle's trajectory and follows the vehicle while maintaining a certain distance from the vehicle, it is determined that the vehicle is not towing the object. A towing determination device configured as above.

2. 2. The towing determination device according to claim 1, A steering angle sensor is provided to acquire the steering angle of the vehicle; The towing determination device is configured so that the processor recognizes an area through which the vehicle has passed as the trajectory based on information acquired from the steering angle sensor.

3. 2. The towing determination device according to claim 1, a forward sensor for acquiring information about a target present in front of the vehicle; The towing determination device is configured such that the processor recognizes the driving lane in which the vehicle has been traveling as the trajectory based on information acquired from the forward sensor.

4. an information acquisition step of emitting electromagnetic waves or sound waves behind the vehicle and acquiring information about an object present behind the vehicle based on a distribution of reflection points of the electromagnetic waves or sound waves; a determination step of determining whether or not the host vehicle is towing an object based on the information acquired in the information acquisition step; A towing determination method comprising: The determining step determines, based on the information acquired in the information acquiring step, whether the host vehicle is turning or not. When an object is detected following the host vehicle while maintaining a certain distance from the host vehicle without deviating from the host vehicle's trajectory, the host vehicle is determined to be towing the object; When an object is detected that deviates from the vehicle's trajectory and follows the vehicle while maintaining a certain distance from the vehicle, it is determined that the vehicle is not towing the object. A towing determination method comprising the steps of:

5. The towing determination device has a computer, an information acquisition step of acquiring information about an object present behind the vehicle based on a distribution of reflection points of electromagnetic waves or sound waves radiated behind the vehicle; a determination step of determining whether or not the host vehicle is towing an object based on the information acquired in the information acquisition step; A towing determination program that executes the following: The determining step determines, based on the information acquired in the information acquiring step, whether the host vehicle is turning or not. When an object is detected following the host vehicle while maintaining a certain distance from the host vehicle without deviating from the host vehicle's trajectory, the host vehicle is determined to be towing the object; When an object is detected that deviates from the vehicle's trajectory and follows the vehicle while maintaining a certain distance from the vehicle, it is determined that the vehicle is not towing the object. A towing determination program including a step configured to:

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