Assistance apparatus, vehicle, computer readable storage medium, and assistance method
An assistance apparatus comprises a receiving unit which receives information indicating a position of a preceding vehicle which is traveling ahead of a vehicle in a running direction, a setting unit which sets a reference point to provide traveling assistance for the vehicle based on the position of the preceding vehicle when the preceding vehicle is determined to be hazardous for the vehicle to travel, and an assistance controlling unit which provides the traveling assistance based on the reference point, wherein the setting unit updates the reference point while predetermined conditions for determining that the preceding vehicle is hazardous are satisfied after the preceding vehicle is determined to be hazardous.
1 . An assistance apparatus provided in a first vehicle, the assistance apparatus comprising at least one processor, wherein
the at least one processor causes a communication apparatus to receive information indicating a position of a second vehicle which is traveling ahead of the first vehicle in a running direction,
the at least one processor sets a reference point to the position of the second vehicle at a time that the second vehicle is determined to be hazardous for the first vehicle to travel, the reference point being used for providing traveling assistance for the first vehicle,
the at least one processor provides the traveling assistance with the first vehicle based on the reference point, and
the at least one processor updates the reference point, while predetermined conditions for determining that the second vehicle is hazardous are satisfied after the second vehicle is determined to be hazardous, by setting a latest position of the second vehicle to be the reference point.
2 . The assistance apparatus according to claim 1 , wherein
the at least one processor updates the reference point while the predetermined conditions are satisfied after the second vehicle is determined to be hazardous for the first vehicle to travel, and stops updating the reference point when the predetermined conditions are no longer satisfied.
3 . The assistance apparatus according to claim 2 , wherein
the at least one processor updates the reference point while the predetermined conditions are satisfied after the second vehicle is determined to be hazardous for the first vehicle to travel, and stops updating the reference point and fixes the reference point when the predetermined conditions are no longer satisfied.
4 . The assistance apparatus according to claim 2 , wherein
the predetermined conditions include conditions regarding at least one of speed or acceleration of the second vehicle.
5 . The assistance apparatus according to claim 2 , wherein
the predetermined conditions include a condition that a magnitude of acceleration of the second vehicle is less than or equal to a predetermined acceleration value.
6 . The assistance apparatus according to claim 2 , wherein
the predetermined conditions include a condition that speed of the second vehicle is less than or equal to a predetermined first speed value.
7 . The assistance apparatus according to claim 6 , wherein
the at least one processor determines that the second vehicle is hazardous for the first vehicle to travel when the speed of the second vehicle falls below a second speed value which is lower than the first speed value.
8 . The assistance apparatus according to claim 2 , wherein
the predetermined conditions include a condition that speed of the second vehicle is not constant.
9 . The assistance apparatus according to claim 1 , wherein
the at least one processor updates the reference point while the predetermined conditions are satisfied after the second vehicle is determined to be hazardous for the first vehicle to travel, and stops updating the reference point and fixes the reference point when the predetermined conditions are no longer satisfied.
10 . The assistance apparatus according to claim 9 , wherein
the at least one processor updates the reference point while the predetermined conditions are satisfied after the second vehicle is determined to be hazardous for the first vehicle to travel, and stops updating the reference point and fixes the reference point when the predetermined conditions are no longer satisfied; and
the at least one processor provides the traveling assistance, based on the reference point which is fixed, at least until the first vehicle passes through the reference point which is fixed.
11 . The assistance apparatus according to claim 9 , wherein
the predetermined conditions include conditions regarding at least one of speed or acceleration of the second vehicle.
12 . The assistance apparatus according to claim 1 , wherein
the predetermined conditions include conditions regarding at least one of speed or acceleration of the second vehicle.
13 . The assistance apparatus according to claim 1 , wherein
the predetermined conditions include a condition that a magnitude of acceleration of the second vehicle is less than or equal to a predetermined acceleration value.
14 . The assistance apparatus according to claim 1 , wherein
the predetermined conditions include a condition that speed of the second vehicle is less than or equal to a predetermined first speed value.
15 . The assistance apparatus according to claim 14 , wherein
the at least one processor determines that the second vehicle is hazardous for the first vehicle to travel when the speed of the second vehicle falls below a second speed value which is lower than the first speed value.
16 . The assistance apparatus according to claim 1 , wherein
the predetermined conditions include a condition that speed of the second vehicle is not constant.
17 . The assistance apparatus according to claim 1 , wherein
the at least one processor calculates a distance and an orientation from the first vehicle to the reference point based on the reference point and a current position of the first vehicle,
the at least one processor detects the reference point within a range of detection which is set within a predetermined range from the current position of the first vehicle, and
the at least one processor provides the traveling assistance when the reference point is detected within the range of detection.
18 . A vehicle comprising the assistance apparatus according to claim 1 .
19 . An assistance method performed in a first vehicle, the assistance method comprising:
causing a communication apparatus provided in the first vehicle to receive information indicating a position of a second vehicle which is traveling ahead of the first vehicle in a running direction;
setting a reference point to the position of the second vehicle at a time that the second vehicle is determined to be hazardous for the first vehicle to travel, the reference point being used for providing traveling assistance for the first vehicle;
providing the traveling assistance with the first vehicle based on the reference point; and
updating the reference point, while predetermined conditions for determining that the second vehicle is hazardous are satisfied after the second vehicle is determined to be hazardous, by setting a latest position of the second vehicle to be the reference point.
20 . A non-transitory computer readable storage medium having a program stored therein, the program causes a computer provided in a first vehicle, when executed by the computer, to execute:
causing a communication apparatus provided in the first vehicle to receive information indicating a position of a second vehicle which is traveling ahead of the first vehicle in a running direction;
setting a reference point to the position of the second vehicle at a time that the second vehicle is determined to be hazardous for the first vehicle to travel, the reference point being used for providing traveling assistance for the first vehicle;
providing the traveling assistance with the first vehicle based on the reference point; and
updating the reference point, while predetermined conditions for determining that the second vehicle is hazardous are satisfied after the second vehicle is determined to be hazardous, by setting a latest position of the second vehicle to be the reference point.