Determination device and determination method

1. A determination system, comprising:

a processor that receives information on a sidewalk area and information on a target object recognized in the sidewalk area, the sidewalk area extending along and adjacent a side of a road or a side of a street and being between a position where a vehicle is present and the side of the road or the side of the street;

the processor that (i) divides the sidewalk area into a plurality of partial areas including at least a first partial area and a second partial area based on the information on the sidewalk area, the second partial area extending along and adjacent the side of the road or the side of the street, the first partial area extending along and adjacent one of the plurality of partial areas, the first partial area and the second partial area each further extending perpendicular to a direction in which the vehicle is to cross the sidewalk area, the first partial area being closest to the vehicle among the plurality of partial areas, and the second partial area being adjacent to the side of the road or the side of the street, and (ii) determines, based on the information on the target object, at least one partial area among the plurality of partial areas to be a range where the vehicle is allowed to enter; and

a vehicle controller that controls one of the vehicle to enter the at least one partial area or a display to indicate the vehicle is allowed to enter the at least one partial area.

2. The determination system according to claim 1 , wherein the processor receives the information on the sidewalk area from at least one of a camera, a sensor, or radar that detects information for distinguishing between the sidewalk area and the side of the road or the side of the street.

3. The determination system according to claim 1 , wherein the processor receives the information on the sidewalk area from a memory that stores a map database, the map database including the information about the sidewalk area.

4. The determination system according to claim 1 , wherein the processor determines a number of divisions of the sidewalk area based on a length of the sidewalk area in the direction in which the vehicle is to cross the sidewalk area.

5. The determination system according to claim 1 , wherein

after the vehicle enters the at least one partial area determined by the processor, the processor further (i) divides a part of the sidewalk area between the at least one partial area the vehicle has entered and the side of the road or the side of the street into a plurality of sub-partial areas, and (ii) determines at least one sub-partial area among the plurality of sub-partial areas to be a second range where the vehicle is allowed to enter.

6. The determination system according to claim 1 ,

wherein the vehicle controller controls the vehicle to enter the first partial area, when the range which the processor determines includes the first partial area.

7. The determination system according to claim 1 , wherein the at least one partial area includes the first partial area.

8. A determination method, comprising:

receiving information on a sidewalk area and information on a target object recognized in the sidewalk area, the sidewalk area extending along and adjacent a side of a road or a side of a street and being between a position where a vehicle is present and the side of the road or the side of the street;

dividing the sidewalk area into a plurality of partial areas including at least a first partial area and a second partial area based on the information on the sidewalk area, the second partial area extending along and adjacent the side of the road or the side of the street, the first partial area extending along and adjacent one of the plurality of partial areas, the first partial area and the second partial area each further extending perpendicular to a direction in which the vehicle is to cross the sidewalk area, the first partial area being closest to the vehicle among the plurality of partial areas, and the second partial area being adjacent to the side of the road or the side of the street;

determining, based on the information on the target object, at least one partial area among the plurality of partial areas to be a range where the vehicle is allowed to enter; and

controlling, by a processor, one of the vehicle to enter the at least one partial area or a display to indicate the vehicle is allowed to enter the at least one partial area.

9. A determination device, comprising:

a processor; and

a memory including a program that, when executed by the processor, causes the processor to perform operations, the operations including:

receiving information on a sidewalk area and information on a target object recognized in the sidewalk area, the sidewalk area extending along and adjacent a side of a road or a side of a street and being between a position where a vehicle is present and the side of the road or the side of the street;

dividing the sidewalk area into a plurality of partial areas including at least a first partial area and a second partial area based on the information on the sidewalk area, the second partial area extending along and adjacent the side of the road or the side of the street, the first partial area extending along and adjacent one of the plurality of partial areas, the first partial area and the second partial area each further extending perpendicular to a direction in which the vehicle is to cross the sidewalk area, the first partial area being closest to the vehicle among the plurality of partial areas, and the second partial area being adjacent to the side of the road or the side of the street;

determining, based on the information on the target object, at least one partial area among the plurality of partial areas to be a range where the vehicle is allowed to enter; and

controlling one of the vehicle to enter the at least one partial area or a display to indicate the vehicle is allowed to enter the at least one partial area.