Interference detection device, interference detection method, and program

Abstract

To provide an interference determination device, an interference determination method and a program capable of preventing erroneous detection and suppressing unnecessary information while securing safety.SOLUTION: An interference determination device 1 as the interference determination device 1 which is mounted on an own vehicle 100, includes a detection processing part 31 for detecting the other vehicle 200 which approaches the own vehicle 100 in such a direction as to intersect in the longitudinal direction Y of the own vehicle 100 and an interference determination processing part 34 which determines whether the other vehicle 200 moves in such a direction that the other vehicle does not interfere with the own vehicle 100 based on a movement direction D of the other vehicle 200 at the time when the other vehicle 200 retreats from a determination area A2 provided within the range A1 which can be detected by the detection processing part 31.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an interference determination device, an interference determination method, and a program.

Background Art

[0002] Conventionally, technologies related to collision prevention devices mounted on moving bodies such as vehicles to prevent collisions with targets are known. For example, Patent Document 1 describes a technology for performing predetermined notifications based on the presence or absence, relative distance, and speed of targets such as other vehicles detected by a radar. Further, for example, Patent Document 2 describes a technology for notifying other vehicles of event information such as self and obstacle detection by vehicle-to-vehicle communication.

[0003] By the way, the risk of collision is determined based on whether the predicted path of the moving body on which the collision prevention device is mounted and the predicted path of the target detected by the collision prevention device intersect. For example, when a target changes its path at a relatively steep angle before intersecting with the predicted path of the moving body, the target may deviate from the predicted path of the moving body and the risk of collision may decrease.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, even though the actual danger is low, these objects are still designated as targets that pose a risk of collision and are subject to notification, which can be annoying for users. Patent Document 1 describes how unnecessary notifications can be eliminated depending on the type of moving object, but it does not describe how to handle changes in the target's path. Furthermore, the technology described in Patent Document 2 cannot distinguish between steering information exchanged via vehicle-to-vehicle communication, for example, between steering information for turning right or left and steering information for avoiding obstacles.

[0006] The present invention aims to provide an interference detection device, an interference detection method, and a program that ensure safety, prevent false detections, and suppress unnecessary notifications. [Means for solving the problem]

[0007] The present invention relates to an interference determination device mounted on a moving body, comprising: a detection processing unit that detects an object approaching the moving body in a direction intersecting the direction of the moving body's movement or reversal direction; and an interference determination processing unit that determines and outputs whether the object moves in a direction that does not interfere with the moving body, based on the direction of movement of the object when the object exits a determination area provided within the detection range of the detection processing unit.

[0008] The interference determination processing unit may determine whether the object moves in a direction that does not interfere with the moving body, based on the angle of the intersection of a reference line, which is a straight line passing through the entry position where the object enters the determination area and the exit position where the object exits the determination area, and the angle of the direction of movement with respect to the intersection.

[0009] The interference determination processing unit may determine that the target moves in a direction that does not interfere with the moving body if the difference between the angle of the reference line with respect to the intersecting direction and the angle of the movement direction with respect to the intersecting direction is greater than or equal to a predetermined threshold.

[0010] The interference determination processing unit may set the threshold according to the distance between the exit position and the position of the moving body.

[0011] It may be connected to a collision prevention device that prevents collisions between the moving body and the target, and may be configured to transmit the determination result from the interference determination processing unit to the collision prevention device.

[0012] The present invention also relates to an interference determination method performed by an interference determination device mounted on a moving body, comprising: a detection processing step of detecting an object approaching the moving body in a direction intersecting the direction of movement or reversal of the moving body; and an interference determination processing step of determining and outputting whether the object moves in a direction that does not interfere with the moving body, based on the direction of movement of the object when the object exits a determination area provided within the detectable range in the detection processing step.

[0013] The present invention also relates to a program that causes a computer in an interference determination device mounted on a moving body to execute a detection processing function that detects an object approaching the moving body in a direction intersecting the direction of the moving body's movement or backward movement, and an interference determination processing function that determines and outputs whether the object moves in a direction that does not interfere with the moving body, based on the direction of movement of the object when the object exits a determination area provided within the detectable range of the detection processing function. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide an interference detection device, an interference detection method, and a program that ensure safety, prevent false detections, and suppress unnecessary notifications. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram showing a vehicle equipped with an interference detection device according to one embodiment of the present invention. [Figure 2] This is a block diagram showing the hardware configuration of the control unit of an interference detection device according to one embodiment of the present invention. [Figure 3] It is a block diagram showing a functional configuration related to the interference determination process of the control unit of the interference determination device according to an embodiment of the present invention. [Figure 4] It is a plan view schematically explaining the interference determination process by the interference determination device mounted on a vehicle stopped in front of an intersection. [Figure 5] It is an enlarged plan view enlarging the exit position and its vicinity in FIG. 4. [Figure 6] It is a flowchart showing an example of the flow of the interference determination process of the interference determination device according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0017] The interference determination device 1 according to the present embodiment will be described. FIG. 1 is a schematic diagram of a vehicle 100 (hereinafter referred to as the host vehicle) equipped with the interference determination device 1 according to an embodiment of the present invention.

[0018] The interference determination device 1 is mounted on the host vehicle 100 as a moving body, connected to an ECU (Electric Control Unit) 2 as a collision prevention device, and is a device that assists the operation of the ECU 2. The interference determination device 1 is arranged, for example, in the bumper on the right front side and the bumper on the left front side of the host vehicle 100. Note that the arrangement location of the interference determination device 1 is not limited to the bumper on the right front side and the bumper on the left front side of the host vehicle 100, and may be arranged in the bumper on the right rear side or the bumper on the left rear side of the host vehicle 100.

[0019] The interference determination device 1 is a radar device including a control unit 10 and an antenna unit 20. The antenna unit 20 has a transmitting antenna 21 that transmits electromagnetic waves and a receiving antenna 22 that receives reflected waves reflected by a target. That is, the interference determination device 1 detects targets around the host vehicle 100 by transmitting and receiving electromagnetic waves by the antenna unit 20. The transmitting antenna 21 and the receiving antenna 22 are each composed of a plurality of antenna elements. The antenna unit 20 processes the reception signal of the receiving antenna 22 and transmits it to the control unit 10.

[0020] Based on the reception signal from the receiving antenna 22, the control unit 10 detects information (such as distance, speed, and azimuth angle) regarding the target, determines whether the target moves in a direction where it does not interfere with the host vehicle 100, and outputs the determination result to the ECU 2. The direction where there is no interference refers to the moving direction of another vehicle 200 where the risk of collision with the host vehicle 100 disappears. The specific configuration and processing of the control unit 10 will be described later.

[0021] The ECU 2 is a computer that controls various electronic components of the host vehicle 100. When the ECU 2 receives information indicating the risk of collision between the host vehicle 100 and the target determined based on the reception signal from the receiving antenna 22 or the like, it performs control to operate the notification unit.

[0022] The notification unit is a device that notifies the user that there is a risk of collision by light, sound, video, or a combination thereof. The notification unit is composed of, for example, an indicator light that lights up, a speaker that generates sound, a display that displays video, and the like.

[0023] Next, the hardware configuration of the control unit 10 of the interference determination device 1 will be described while referring to FIG. 2. FIG. 2 is a block diagram showing the hardware configuration of the control unit 10. As shown in FIG. 2, the control unit 10 is a computer including a processor 11, a ROM (read-only memory) 12, a RAM (random-access memory) 13, an auxiliary storage device 14, and a communication I / F (interface) 15, and each unit is connected by a bus 16 or the like.

[0024] The processor 11 is the central part of the computer that performs calculations and control necessary for the operation of the interference detection device 1, and performs various calculations and processes. The processor 11 is, for example, a CPU (central processing unit), MPU (micro processing unit), SoC (system on a chip), DSP (digital signal processor), GPU (graphics processing unit), ASIC (application specific integrated circuit), PLD (programmable logic device), or FPGA (field-programmable gate array). Alternatively, the processor 11 is a combination of several of these. Furthermore, the processor 11 may also be a combination of these with hardware accelerators, etc.

[0025] The processor 11 controls various parts of the interference detection device 1 to realize various functions of the interference detection device 1 based on programs such as firmware, system software, and application software stored in the ROM 12 or auxiliary storage device 14. The processor 11 also executes the processes described later based on the said programs. Note that some or all of the said programs may be incorporated into the circuit of the processor 11.

[0026] ROM12 and RAM13 are the main memory of the computer, with the processor 11 at its core. ROM12 is a non-volatile memory used exclusively for reading data. ROM12 stores programs such as firmware. ROM12 also stores data used by the processor 11 in various processes. RAM13 is memory used for reading and writing data. RAM13 is used as a work area to store data temporarily used by the processor 11 in various processes. RAM13 is typically a volatile memory.

[0027] The auxiliary storage device 14 is, for example, an EEPROM (electric erasable programmable read-only memory), an HDD (hard disk drive), or flash memory. The auxiliary storage device 14 stores, for example, system software and application software from the above-mentioned programs. The auxiliary storage device 14 also stores data used by the processor 11 in performing various processes, data generated by processing by the processor 11, and various setting values.

[0028] Communication I / F15 is an interface for communicating with ECU2. The detection results from the control unit 10 are transmitted to ECU2 via communication I / F15.

[0029] Next, the functions of the control unit 10 of the interference detection device 1 will be explained with reference to Figures 3 to 5. Figure 3 is a block diagram showing an example of the functional configuration related to interference detection of the interference detection device 1 of this embodiment. Figure 4 is a schematic plan view illustrating the interference detection process by the interference detection device 1 mounted on the vehicle 100 which is stopped before the intersection where road R1 and road R2 intersect. Figure 5 is an enlarged plan view of the region Z shown in Figure 4.

[0030] As shown in Figure 3, the control unit 10 of the interference detection device 1 includes a detection processing unit 31, a determination area setting unit 32, an entry / exit determination unit 33, and an interference determination processing unit 34, as functional units executed by the processor 11.

[0031] The detection processing unit 31 performs a process to detect targets based on the signal received by the receiving antenna 22 of the antenna unit 20. The detection processing unit 31 detects vehicles (hereinafter referred to as "other vehicles") 200, etc., that have entered the detectable range A1 of the field of view angle θ1 as targets. For example, as shown in Figure 4, the detection processing unit 31 detects targets such as other vehicles 200 that are approaching the vehicle 100 in a direction (hereinafter referred to as the left-right direction X) that intersects the direction in which the vehicle 100 is moving forward or backward (hereinafter referred to as the front-rear direction Y). The detection processing unit 31 also acquires information about the targets (distance, relative speed, and azimuth angle, etc.).

[0032] The determination area setting unit 32 sets a determination area A2 within the detectable range A1 when the vehicle 100 is stopped or moving at a predetermined speed Vs (for example, 10 km / h) or less.

[0033] Details of the determination area A2 set by the determination area setting unit 32 will be explained with reference to Figure 4. Figure 4 shows the determination area A2 set by the determination area setting unit 32 of the interference determination device 1, which is located on the front right side of the vehicle 100 that is stopped before an intersection on road R1. In Figure 4, the vehicle 100 is stopped in the leftmost lane of road R1, which has two lanes in each direction. Note that the vehicle 100 may be stopped in any lane of road R1, which has one or more lanes in each direction.

[0034] As shown in Figure 4, for example, the determination area A2 is a rectangle that is long in the left-right direction X, and is an area enclosed by four lines: the reference line A21, the left-turn line A22, the right-turn line A23, and the starting line A24.

[0035] Reference line A21 is a line that extends a predetermined distance d2 in the direction of travel of the vehicle 100 from point P1, which is a predetermined distance d1 forward of the vehicle 100. Reference line A21 extends approximately parallel to the longitudinal direction Y.

[0036] The left-turn lane A22 is a line that starts at point P1 and extends a predetermined distance d3 to the right from the perspective of the vehicle 100. The left-turn lane A22 extends approximately parallel to the left-right direction X.

[0037] The right-turn line A23 starts at the end P2 opposite to point P1 on the reference line A21 and extends to the right from the perspective of the vehicle 100 for the same distance d3 as the left-turn line A22. The right-turn line A23 extends approximately parallel to and opposite the left-turn line A22.

[0038] The starting line A24 is a line extending from the left-turn line A22 at the opposite end P3 from the reference line A21 to the right-turn line A23 at the opposite end P4 from the reference line A21. In other words, the starting line A24 is a line formed to the right of the reference line A21 at a predetermined distance d3 from the perspective of the vehicle 100, and is approximately parallel to it. In the example shown in Figure 4, the determination area A2 is provided along the road R2.

[0039] The entry / exit determination unit 33 executes a process to determine whether a target such as another vehicle 200 has entered or exited the determination area A2. The entry / exit determination unit 33 refers to the location information of the determination area A2 set by, for example, the determination area setting unit 32, and determines whether the other vehicle 200 detected by the detection processing unit 31 has entered or exited the determination area A2. If the entry / exit determination unit 33 determines that the other vehicle 200 has entered the determination area A2, it stores the entry position B of the other vehicle 200 into the determination area A2 in the auxiliary storage device 14 or the like. If the entry / exit determination unit 33 determines that the other vehicle 200 has exited the determination area A2, it stores the exit position C of the other vehicle 200 from the determination area A2 in the auxiliary storage device 14 or the like.

[0040] The dashed line within the judgment area A2 shown in Figure 4 indicates the trajectory T of the other vehicle 200 as it moved within the judgment area A2, and the dashed arrow extending from the exit position C indicates the direction of movement D when the other vehicle 200 exits the judgment area A2.

[0041] The interference determination processing unit 34 determines whether the other vehicle 200 moves in a direction that will not interfere with the self-vehicle 100, based on the direction of movement D when the other vehicle 200 exits the determination area A2, and transmits the determination result to the ECU2. The direction that will not interfere refers to the direction of movement of the other vehicle 200 in which there is no risk of collision with the self-vehicle 100. The direction of movement D may be determined, for example, based on the trajectory T of the other vehicle 200 from just before it exits the determination area A2 (a predetermined time before it exits) to the time of exit, or it may be determined based on the relative velocity vector of the other vehicle 200 at the exit position C. The trajectory T of the other vehicle 200 may be determined, for example, from data such as multiple positions of the other vehicle 200 that are continuously detected by the detection processing unit 31.

[0042] The interference determination processing unit 34, for example via the communication I / F 15, determines that another vehicle 200 is moving in a direction that will not interfere with the vehicle 100, and sends a notification prohibition signal to the ECU2 to prohibit the notification unit from notifying the approach of the other vehicle 200. Upon receiving the notification prohibition signal, the ECU2 prohibits the operation of the notification unit, and the notification operation to the user by the notification unit is suppressed. Alternatively, the control unit 10 may have a notification determination unit that suppresses the notification operation.

[0043] The details of the interference detection process performed by the interference detection processing unit 34 will be explained with reference to Figures 4 and 5.

[0044] As shown in Figure 5, the interference determination processing unit 34 determines whether the other vehicle 200 is moving in a direction that will not interfere with the own vehicle 100, based on the angle θ2 of the reference line L, which is a straight line passing through the entry position B on the starting line A24 and the exit position C on the left-turn line A22, with respect to the left-right direction X, and the angle θ3 of the direction of movement D with respect to the left-right direction X. More specifically, for example, the interference determination processing unit 34 may determine that the other vehicle 200 is moving in a direction that will not interfere with the own vehicle 100 if the difference between the angle θ2 of the reference line L with respect to the left-right direction X and the angle θ3 of the direction of movement D with respect to the left-right direction X is greater than or equal to a predetermined threshold, and determine that the other vehicle 200 is moving in a direction that will interfere with the own vehicle 100 if the difference between the angles θ2 and θ3 is less than the threshold. By comparing the angles θ2 and θ3, it is possible to determine to what extent the other vehicle 200 has turned left or right compared to when it moves straight from the entry position B to the exit position C. The threshold value may be a fixed value, or it may be a value that varies depending on the distance between the exit position C and the position of the vehicle 100. For example, the interference detection processing unit 34 may set the threshold value to a larger value as the distance between the exit position C and the position of the vehicle 100 decreases.

[0045] Here, the collision avoidance system determines the risk of collision based on whether the predicted path of the vehicle 100 intersects with the predicted path of the other vehicle 200, which is determined from relative speed, etc. If it determines that there is a risk of collision, it notifies the user of the vehicle 100 of a warning, etc. In the example shown in Figure 4, the other vehicle 200 travels straight from road R2, shown by trajectory T, towards the intersection, then turns left when it reaches the intersection, changing its course to enter lane R12, which is the opposite lane to lane R11 where the vehicle 100 is stopped on road R1. In reality, the possibility of collision between such a vehicle 200 and the vehicle 100 is low because it is turning left towards lane R12, but since the risk of collision is predicted in advance using relative speed, etc. when it is traveling straight within the judgment area A2, it may be subject to notification.

[0046] According to the interference determination device 1 of this embodiment, it is determined whether another vehicle 200 is moving in a direction that will not interfere with the vehicle 100 based on the direction of movement D at the exit position C of the determination area A2, so that it is possible to distinguish between the straight-ahead movement and the left-turn movement of the other vehicle 200. For example, it is possible to distinguish between another vehicle 200 that is approaching the vehicle 100 in a straight line from an oblique direction, as shown by the reference line L, which poses a high risk of collision, and another vehicle 200 that is traveling along the road R2 as shown by the trajectory T and turning left to travel in lane R12, and output this information. Upon receiving this information, the ECU 2 can prevent the generation of notifications for other vehicles 200 that will not interfere with the vehicle 100, or stop unnecessary notifications that have been issued. In other words, the interference determination device 1 makes it possible to suppress unnecessary notifications while ensuring safety.

[0047] Next, an example of the flow of interference determination processing performed by the interference determination device 1 according to this embodiment will be described with reference to Figure 6. Figure 6 is a flowchart showing an example of the flow of interference determination processing by the interference determination device 1. Note that Figure 6 shows an example of processing when the vehicle 100 on which the interference determination device 1 is mounted is stopped.

[0048] As shown in Figure 6, in step S11, the detection processing unit 31 detects another vehicle 200 within the detectable range A1. At this time, the determination area setting unit 32 sets the determination area A2 within the detectable range A1.

[0049] In step S12, the entry / exit determination unit 33 determines whether the other vehicle 200 has entered the determination area A2. If the entry / exit determination unit 33 determines that the other vehicle 200 has entered the determination area A2 (step S12; YES), it proceeds to step S13. On the other hand, if the entry / exit determination unit 33 determines that the other vehicle 200 has not entered the determination area A2 (step S12; NO), it repeats the process of step S12 after a predetermined time interval.

[0050] In step S13, the entry / exit determination unit 33 stores the entry position B where the other vehicle 200 entered the determination area A2 in the auxiliary storage device 14 or the like.

[0051] In step S14, the entry / exit determination unit 33 determines whether the other vehicle 200 has exited the determination area A2. If the entry / exit determination unit 33 determines that the other vehicle 200 has exited the determination area A2 (step S14; YES), it proceeds to step S15. On the other hand, if the entry / exit determination unit 33 determines that the other vehicle 200 has not exited the determination area A2 (step S14; NO), it repeats the process of step S14 after a predetermined time interval.

[0052] In step S15, the entry / exit determination unit 33 stores the exit position C from which the other vehicle 200 exited the determination area A2, and the direction of movement D of the other vehicle 200 at the time of exit, in the auxiliary storage device 14 or the like.

[0053] In step S16, the interference determination processing unit 34 determines whether the other vehicle 200 moves in a direction that does not interfere with the self-vehicle 100, based on the direction of movement D when the other vehicle 200 exits the determination area A2. For example, the interference determination processing unit 34 determines that the other vehicle 200 moves in a direction that does not interfere with the self-vehicle 100 if the difference between the angle θ2 of the reference line L, which is a straight line passing through the entry position B stored in step S13 and the exit position C stored in step S15, with respect to the left-right direction X, and the angle θ3 of the direction of movement D with respect to the left-right direction X is greater than or equal to a predetermined threshold, and determines that the other vehicle 200 moves in a direction that interferes with the self-vehicle 100 if the difference between the angles θ2 and θ3 is less than the predetermined threshold. If the interference determination processing unit 34 determines that the other vehicle 200 moves in a direction that does not interfere with the self-vehicle 100 (step S16; YES), it proceeds to step S17. On the other hand, if the interference determination processing unit 34 determines that the other vehicle 200 is moving in a direction that will cause it to interfere with its own vehicle 100 (step S16; NO), the processing performed by the interference determination device 1 in the interference determination process is terminated.

[0054] In step S17, the interference determination processing unit 34 transmits a notification prohibition signal to the ECU2 to prohibit the notification operation to the user regarding the approach of another vehicle 200 to the vehicle 100. As a result, the notification prohibition signal is transmitted from the ECU2 to the notification unit, and the notification operation to the user regarding the approach of another vehicle 200 to the vehicle 100 is suppressed. After the processing in step S17, the interference determination processing performed by the interference determination device 1 is completed. If the control unit 10 has a notification determination unit as part of its functions, the notification prohibition signal may be transmitted to the notification determination unit to suppress the notification operation.

[0055] According to the embodiments described above, the following effects are achieved.

[0056] The interference determination device 1 according to this embodiment is an interference determination device 1 mounted on the vehicle 100, and comprises a detection processing unit 31 that detects other vehicles 200 approaching the vehicle 100 in a direction intersecting the longitudinal direction Y of the vehicle 100, and an interference determination processing unit 34 that determines whether the other vehicle 200 moves in a direction that does not interfere with the vehicle 100, based on the direction of movement D of the other vehicle 200 when it exits a determination area A2 provided within the detection range A1 of the detection processing unit 31, and outputs the determination result.

[0057] This allows the system to determine whether other vehicles 200 will move in a direction that avoids interference, taking into account their direction of movement D when they exit the judgment area A, and output the result. This makes it possible to distinguish between other vehicles 200 that change direction before intersecting the predicted path of the self-vehicle 100 and other vehicles 200 that continue straight, and to output the judgment result to the ECU2, etc. In other words, targets that deviate from the predicted path of the self-vehicle 100 and reduce the risk of collision can be excluded from the notification target, reducing the occurrence of unnecessary notifications by the notification unit and supplying the ECU2 with information that reduces user annoyance. Thus, it is possible to suppress unnecessary notifications while ensuring safety.

[0058] Furthermore, in the interference determination device 1 according to this embodiment, the interference determination processing unit 34 determines whether the other vehicle 200 is moving in a direction that does not interfere with the own vehicle 100, based on the angle θ2 with respect to the left-right direction X of the reference line L, which is a straight line passing through the entry position B where the other vehicle 200 entered the determination area A2 and the exit position C where the other vehicle exited the determination area A2, and the angle θ3 with respect to the left-right direction X of the direction of movement D.

[0059] This allows for more accurate identification of other vehicles 200 traveling straight and targets that change direction at an angle so as not to interfere with the vehicle 100 after traveling straight.

[0060] Furthermore, in the interference determination device 1 according to this embodiment, the interference determination processing unit 34 determines that the other vehicle 200 will move in a direction that does not interfere with the vehicle 100 if the difference between the angle θ2 of the reference line L with respect to the left-right direction X and the angle θ3 of the movement direction D with respect to the left-right direction X is greater than or equal to a predetermined threshold.

[0061] This allows for more accurate identification of other vehicles 200 that are traveling straight and other vehicles 200 that change direction at an angle so as not to interfere with the vehicle 100 after traveling straight.

[0062] Furthermore, in the interference determination device 1 according to this embodiment, the interference determination processing unit 34 sets a threshold value according to the distance d4 between the exit position C and the position of the vehicle 100.

[0063] This makes it possible to more accurately identify other vehicles 200 that are changing lanes at an angle that will not interfere with the vehicle 100.

[0064] Furthermore, the interference determination device 1 according to this embodiment is connected to an ECU 2 that prevents collisions between the vehicle 100 and other vehicles 200, and is configured to transmit the determination result from the interference determination processing unit 34 to the ECU 2.

[0065] As a result, the interference detection device 1 notifies the ECU 2 only of other vehicles 200 that are changing direction at an angle that would interfere with its own vehicle 100. This prevents false alarms due to misdetection and more reliably reduces the inconvenience experienced by the user of its own vehicle 100.

[0066] The interference determination method according to this embodiment is an interference determination method executed by an interference determination device 1 mounted on the vehicle 100, and includes: a detection processing step of detecting another vehicle 200 approaching the vehicle 100 in a direction intersecting the longitudinal direction Y of the vehicle 100; and an interference determination processing step of determining whether the other vehicle 200 moves in a direction that does not interfere with the vehicle 100, based on the direction of movement D of the other vehicle 200 when it exits a determination area A2 provided within the detectable range A1 of the detection processing step, and outputting the determination result.

[0067] This allows the system to determine whether other vehicles 200 will move in a direction that avoids interference, taking into account their direction of movement D when they exit the judgment area A, and output the result. This makes it possible to distinguish between other vehicles 200 that change direction before intersecting the predicted path of the self-vehicle 100 and other vehicles 200 that continue straight, and to output the judgment result to the ECU2, etc. In other words, targets that deviate from the predicted path of the self-vehicle 100 and reduce the risk of collision can be excluded from the notification target, reducing the occurrence of unnecessary notifications by the notification unit and supplying the ECU2 with information that reduces user annoyance. Thus, it is possible to suppress unnecessary notifications while ensuring safety.

[0068] The program according to this embodiment causes the computer of the interference determination device 1 mounted on the vehicle 100 to execute a detection processing function that detects other vehicles 200 approaching the vehicle 100 in a direction intersecting the longitudinal direction Y of the vehicle 100, and an interference determination processing function that determines whether the other vehicles 200 move in a direction that does not interfere with the vehicle 100, based on the direction of movement D of the other vehicles 200 when they exit the determination area A2 provided within the detection range A1 of the detection processing function, and outputs the determination result.

[0069] This allows the system to determine whether other vehicles 200 will move in a direction that avoids interference, taking into account their direction of movement D when they exit the judgment area A, and output the result. This makes it possible to distinguish between other vehicles 200 that change direction before intersecting the predicted path of the self-vehicle 100 and other vehicles 200 that continue straight, and to output the judgment result to the ECU2, etc. In other words, targets that deviate from the predicted path of the self-vehicle 100 and reduce the risk of collision can be excluded from the notification target, reducing the occurrence of unnecessary notifications by the notification unit and supplying the ECU2 with information that reduces user annoyance. Thus, it is possible to suppress unnecessary notifications while ensuring safety.

[0070] Furthermore, the present invention is particularly effective in situations such as when a vehicle 100 that has stopped before an intersection where two or more lanes of road intersect is checking for safety before crossing the intersection.

[0071] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above and can be modified as appropriate.

[0072] In the above embodiment, the interference detection device 1 was composed of a radar device that detects the position and relative velocity of a target by transmitting and receiving electromagnetic waves, but the mechanism for detecting the target is not particularly limited. For example, it may be an ultrasonic sensor configuration that can detect the position and relative velocity of a target by transmitting and receiving ultrasonic waves, or it may be an imaging device such as a camera that can detect the position and velocity of a target by image.

[0073] For example, the interference determination processing unit 34 may determine that the other vehicle 200 is moving in a direction that does not interfere with the vehicle 100 if the angle of the direction of movement D with respect to the reference line L is greater than or equal to a predetermined threshold, or it may determine that the other vehicle 200 is moving in a direction that interferes with the vehicle 100 if the angle of the direction of movement D with respect to the reference line L is less than a predetermined threshold.

[0074] Furthermore, the series of processes in the above-described embodiments and modifications can be executed by hardware or by software. When the series of processes are executed by software, the programs constituting the software are installed on a computer or the like from a network or recording medium. The computer may be a computer built into dedicated hardware. Alternatively, the computer may be a computer capable of performing various functions by installing various programs, such as a general-purpose personal computer. [Explanation of symbols]

[0075] 1. Interference detection device 100 Self-vehicle (mobile object) 200 Other targets (targets) 31 Detection Processing Unit 34 Interference detection unit A1 Detectable range A2 Judgment Area D Moving direction X Forward / backward direction (direction of movement or backward direction)

Claims

1. An interference detection device mounted on a mobile vehicle, A detection processing unit for detecting a target approaching the moving body in a direction intersecting the direction of the moving body's movement or reversal, An interference determination device comprising: an interference determination processing unit that determines whether the target moves in a direction that does not interfere with the moving body, based on the direction of movement of the target when the target exits a determination area provided within the detectable range of the detection processing unit, and outputs the determination result.

2. The interference determination device according to claim 1, wherein the interference determination processing unit uses a reference line, which is a straight line passing through the entry position where the target enters the determination area and the exit position where it exits the determination area, as an indicator for estimating the direction of movement, and determines whether the target moves in a direction that does not interfere with the moving body based on the angle of the reference line with respect to the direction of intersection and the angle of the direction of movement with respect to the direction of intersection.

3. The interference determination device according to claim 2, wherein the interference determination processing unit determines that the target moves in a direction that does not interfere with the moving body when the difference between the angle of the reference line with respect to the intersecting direction and the angle of the movement direction with respect to the intersecting direction is greater than or equal to a predetermined threshold.

4. The interference determination device according to claim 3, wherein the interference determination processing unit sets the threshold according to the distance between the exit position and the position of the moving body.

5. The interference determination device according to claims 1 to 4, which is connected to a collision prevention device for preventing collisions between the moving body and the target, and is configured to transmit the determination result from the interference determination processing unit to the collision prevention device.

6. An interference detection method performed by an interference detection device mounted on a mobile body, A detection process step for detecting a target approaching the moving body in a direction intersecting the direction of the moving body's movement or reversal, An interference determination method comprising: an interference determination process step that determines whether the target moves in a direction that does not interfere with the moving body, based on the direction of movement of the target when the target exits a determination area provided within the detectable range in the detection processing step, and outputs the determination result.

7. The computer in the interference detection device mounted on the mobile vehicle, A detection processing function for detecting a target approaching the moving body in a direction intersecting the direction of the moving body's movement or reversal, A program that executes an interference determination processing function which determines whether the target moves in a direction that does not interfere with the moving body, based on the direction of movement of the target when the target exits a determination area provided within the detectable range of the detection processing function, and outputs the determination result.

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