Collision determination apparatus, collision determination method, collision avoidance system
A collision determination apparatus is provided. The collision determination apparatus is provided with an acquiring unit that acquires a posture and movement characteristics of an object to be determined whether a collision risk is present; and a reliability determination unit that determines a reliability of the movement characteristics using the posture and the movement characteristics acquired by the acquiring unit.
1 . A collision predicting apparatus configured to be mounted on a vehicle to predict whether a collision will occur between the vehicle and an object, the collision predicting apparatus comprising:
an acquiring unit that acquires a posture and movement characteristics of an object, the movement characteristics including one or more of a velocity of the object or a movement locus of the object; and
a reliability determination unit that determines a reliability of the movement characteristics using the posture and the movement characteristics, wherein the reliability determination unit determines that the reliability is low when one or more of:
a first angle formed between a current direction of the velocity of the object and a travelling direction of the is larger than a first predetermined determination value, or
a second angle formed between a current direction of a tangential line of the movement locus of the object and the travelling direction of the object is larger than a second predetermined determination value,
wherein the collision predicting apparatus predicts whether the collision will occur between the vehicle and the object using the reliability determined by the reliability determination unit.
2 . The collision predicting apparatus according to claim 1 , wherein the reliability determination unit does not determine the reliability when the object is a specific object where a type of the object is a predetermined type.
3 . The collision predicting apparatus according to claim 1 , wherein
the collision predicting apparatus includes a determination unit that determines whether a collision risk with the object is present; and
the determination unit lowers a level of a collision avoidance assist process, executed by a collision avoidance assist execution unit, for the vehicle.
4 . A collision avoidance system comprising:
a collision predicting apparatus including:
an acquiring unit that acquires a posture and movement characteristics of an object to be determined whether a collision risk for a vehicle is present with respect to the object, the movement characteristics including one or more of a speed of the object or a movement locus of the object;
a reliability determination unit that determines a reliability of the movement characteristics using the posture and the movement characteristics acquired by the acquiring unit in which the reliability determination unit determines that the reliability is low when one or more of:
a first angle formed between a direction of the speed at a current location of the object and a current direction of the object determined using the posture is larger than a first predetermined determination value, or
a second angle formed between a direction of a tangential line of the movement locus at the current location of the object and the current direction of the object determined using the posture is larger than a second predetermined determination value; and
a determination unit that predicts whether a collision risk with the object is present using the reliability determined by the reliability determination unit,
wherein the determination unit lowers a level of a collision avoidance assist process of the vehicle executed by a collision avoidance assist execution unit.
5 . A collision predicting method comprising steps of:
acquiring a posture and movement characteristics of an object to be determined whether a collision risk for a vehicle is present with respect to the object, the movement characteristics including one or more of a speed of the object or a movement locus of the object;
determining a reliability of the movement characteristics using the acquired posture and the movement characteristics in which it is determined that the reliability is low when one or more of:
a first angle formed between a direction of the speed at a current location of the object and a current direction of the object determined using the posture is larger than a first predetermined determination value, or
a second angle formed between a direction of a tangential line of the movement locus at the current location of the object and the current direction of the object determined using the posture is larger than a second predetermined determination value; and
predicting whether a collision will occur between the vehicle and the object using the reliability.