Apparatus for monitoring adjacent lanes
In an apparatus for monitoring an adjacent lane to a lane in which an own vehicle that is a vehicle carrying the apparatus is traveling, a travel trajectory calculation unit calculates a travel trajectory of the own vehicle based on odometry information of the own vehicle. An adjacent lane estimation unit estimates an adjacent-lane region based on the travel trajectory of the own vehicle. An other-vehicle determination unit determines whether or not a target (the other vehicle) is present in the adjacent lane based on a position of the target detected by an other-vehicle detector and the estimated adjacent-lane region.
1. An apparatus for monitoring an adjacent lane to a lane in which an own vehicle is traveling, the own vehicle being a vehicle carrying the apparatus, the apparatus comprising:
a control processing unit (CPU);
an other-vehicle detector comprising radar sensors, configured to detect, using the radar sensors, other-vehicle position information indicative of a position of another vehicle around the own vehicle relative to the own vehicle;
an odometry acquisition unit configured to acquire, using the CPU, odometry information indicative of a driving state of the own vehicle;
a travel trajectory calculation unit configured to, using the CPU and based on the odometry information acquired by the odometry acquisition unit, calculate a travel trajectory of the own vehicle by calculating estimated positions of the own vehicle at respective control timings until N cycles prior to the current cycle relative to a current position of the own vehicle as an origin and connecting the current and estimated positions of the own-vehicle;
an adjacent lane estimation unit configured to, using the CPU and based on the travel trajectory of the own vehicle calculated by the travel trajectory calculation unit, estimate an adjacent-lane region that is a region where the adjacent lane is present without using the other-vehicle position information; and
an other-vehicle determination unit configured to, using the CPU and based on the other-vehicle position information detected by the other-vehicle detector and the adjacent-lane region estimated by the adjacent lane estimation unit, determine whether or not the other vehicle is present in the adjacent lane,
wherein in response to determining that the other vehicle is present in the adjacent lane, the CPU outputs an alert to notify a driver of the presence of the other vehicle.
2. The apparatus according to claim 1 , further comprising:
a probability distribution calculation unit configured to, based on error factors for the odometry information acquired by the odometry acquisition unit, calculate an adjacent lane probability distribution indicative of a distribution of existence probability of the adjacent-lane region; and
a region estimation unit configured to, based on the adjacent lane probability distribution calculated by the probability distribution calculation unit, estimate, for each of at least one specific probability value, a region where the existence probability of the adjacent-lane region is equal to the specific probability value as a specific adjacent-lane region corresponding to the specific probability value,
wherein the other-vehicle determination unit is configured to determine in which region of at least one specific adjacent-lane region estimated by the region estimation unit respectively corresponding to the at least one specific probability value the position of the other vehicle indicated by the other-vehicle position information detected by the other-vehicle detector exists, and based on the determination result, determine whether or not the other vehicle is present in the adjacent lane.
3. The apparatus according to claim 2 , wherein the probability distribution calculation unit is configured to calculate the adjacent lane probability distribution in a lane-widthwise direction of the adjacent lane.
4. The apparatus according to claim 3 , wherein the probability distribution calculation unit is configured to calculate the adjacent lane probability distribution as a probability distribution according to a normal probability distribution.
5. The apparatus according to claim 1 , wherein the travel trajectory calculation unit is configured to calculate past positions of the own vehicle relative to the current position of the own vehicle at respective past control timings of a predetermined control period for a predetermined number of control periods previous to the current control timing, and based on the calculated positions of the own vehicle at the respective past control timings and the current position of the own vehicle, calculate the travel trajectory of the own vehicle.
6. The apparatus according to claim 1 , further comprising an other-vehicle state determination unit configured to, if it is determined by the other-vehicle determination unit that the other vehicle is present in the adjacent lane, determine whether or not the other vehicle is in a specific state to the own vehicle,
wherein the specific state comprises at least one of a state that a relative distance which is a distance between the other vehicle and the own vehicle is equal to or less than a predetermined distance and a state that a rate of decrease in the relative distance is equal to or greater than a predetermined rate of decrease, and
wherein a specific-processing unit is configured to, if it is determined by the other-vehicle determination unit that the other vehicle is present in the adjacent lane and if it is determined by the other-vehicle state determination unit that the other vehicle is in the specific state, output an alert indicating the presence of an object.