Detection apparatus, detection method, driving assistance apparatus, and driving assistance method
A jump-out determination unit determines whether or not an object is approaching a travel direction of a vehicle based on movement information relating to movement of the object, the movement information having been acquired by a speed variation calculation unit after a pre-indication of that the object approaches the travel direction of the vehicle is detected by a jump-out pre-indication calculation unit of a detection apparatus. As a result, the sudden approach of the object toward the travel direction, which is difficult to determine solely from the movement information relating to the object, can be detected with improved precision.
1. A detection apparatus comprising:
a computer programmed to:
detect a pre-indication that an object approaches a travel direction of a vehicle;
in parallel with the pre-indication detection, determine whether a speed of the object exceeds a threshold α at predetermined time intervals;
acquire movement information, which is information relating to movement of the object; and
determine whether or not the object is approaching the travel direction of the vehicle based on the movement information that is acquired after the pre-indication is detected,
wherein the object is determined to be approaching the travel direction of the vehicle when the speed of the object in an approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, increases between a time T 2 when the pre-indication is detected and a time T 2 +Tβ following the time T 2 of detection of the pre-indication,
the object is determined to be approaching the travel direction of the vehicle when the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, exceeds the threshold α at a time T 1 before the time T 2 +Tβ following detection of the pre-indication,
the object is determined to be approaching the travel direction of the vehicle using the threshold α, which is set to be lower as a time of the increase in the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, approaches a time Tγ that is earlier than the time T 2 +Tβ following detection of the pre-indication, so that T 2 <Tγ<T 2 +Tβ,
wherein, when the speed of the object varies after the time T 2 of the pre-indication detection, the probability of the object jumping out is determined, based on a histogram, to increase until the time Tγ after the time T 2 of the pre-indication detection, reach a maximum value at the time Tγ following the time T 2 of the pre-indication detection, and then decrease from the time Tγ; and
after the time T 2 of the pre-indication detection, lower the threshold α as the time T 1 approaches the time Tγ of when the probability of the object jumping out reaches the maximum value.
2. A driving assistance apparatus comprising:
a computer programmed to:
detect a pre-indication that an object approaches a travel direction of a vehicle;
in parallel with the pre-indication detection, determine whether a speed of the object exceeds a threshold α at predetermined time intervals;
acquire movement information, which is information relating to movement of the object; and
determine whether or not the object is approaching the travel direction of the vehicle based on the movement information that is acquired after the pre-indication is detected,
implement driving assistance on the vehicle based on the determination of whether or not the object is approaching the travel direction of the vehicle based on the movement information,
wherein
the object is determined to be approaching the travel direction of the vehicle when the speed of the object in an approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, increases between a time T 2 when the pre-indication is detected and a time T 2 +Tβ following the time T 2 of detection of the pre-indication,
the object is determined to be approaching the travel direction of the vehicle when the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, exceeds the threshold α at a time T 1 before the time T 2 +Tβ following detection of the pre-indication,
the computer is further programmed to determine whether or not the object is approaching the travel direction of the vehicle using the threshold α, which is set to be lower as a time of the increase in the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, approaches a time Tγ that is earlier than the time T 2 +Tβ following detection of the pre-indication, so that T 2 <Tγ<T 2 +Tβ,
wherein, when the speed of the object varies after the time T 2 of the pre-indication detection, the probability of the object jumping out is determined, based on a histogram, to increase until the time Tγ after the time T 2 of the pre-indication detection, reach a maximum value at the time Tγ following the time T 2 of the pre-indication detection, and then decrease from the time Tγ; and
after the time T 2 of the pre-indication detection, lower the threshold α as the time T 1 approaches the time Tγ of when the probability of the object jumping out reaches the maximum value.
3. The driving assistance apparatus according to claim 2 , wherein when the computer determines that the object is approaching the travel direction of the vehicle, the implementation of the driving assistance on the vehicle is implemented to a greater extent than when the computer determines that the object is not approaching the travel direction of the vehicle.
4. A driving assistance apparatus comprising:
a computer programmed to:
detect a pre-indication that an object approaches a travel direction of a vehicle;
in parallel with the pre-indication detection, determine whether a speed of the object exceeds a threshold α at predetermined time intervals;
acquire movement information, which is information relating to movement of the object; and
implement driving assistance on the vehicle based on the determination of whether the object is approaching the travel direction of the vehicle based on the movement information,
determine that the object is approaching the travel direction of the vehicle when the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, increases between time T 2 when the pre-indication is detected and a time T 2 +Tβ following the time T 2 of detection of the pre-indication, and
promote implementation of the driving assistance on the vehicle to a greater extent as a time of the increase in the speed of the object in the approaching direction relative to the travel direction of the vehicle, the speed being included in the movement information that is acquired, approaches a time Tγ that is earlier than the time T 2 +Tβ following detection of the pre-indication, so that T 2 <Tγ<T 2 +Tβ,
wherein, when the speed of the object varies after the time T 2 of the pre-indication detection, the probability of the object jumping out is determined, based on a histogram, to increase until the time Tγ after the time T 2 of the pre-indication detection, reach a maximum value at the time Tγ following the time T 2 of the pre-indication detection, and then decrease from the time Tγ; and
after the time T 2 of the pre-indication detection, lower the threshold α as the time Tγ, of when the probability of the object jumping out reaches the maximum value, approaches.