Blind spot detection control apparatus and method
A blind spot detection control apparatus for a vehicle, configured for judging whether an object detected during a detection cycle in blind spot zone of the vehicle is an alert object, for outputting a result of judgement to a warning which warns a driver of vehicle that an object is present in blind spot zone based on judging that object detected in blind spot zone is an alert object, wherein apparatus is configured to judge whether an object detected in blind spot zone is an alert object by comparing detection parameters relating to a current target object detected in blind spot zone during a current detection cycle with detection parameters relating to a reference moving object corresponding to a target object detected in blind spot zone at least during a previous detection cycle.
1 . A blind spot detection control apparatus ( 10 ) for using with a vehicle, comprising:
judging means ( 20 ) for judging whether an object detected during a detection cycle in a blind spot zone of the vehicle is an alert object, and for outputting a result of judgement to warning means ( 30 ) which triggers a warning to a driver of the vehicle based on the judging means ( 20 ) judging that the object detected in the blind spot zone is an alert object,
wherein the judging means ( 20 ) is configured to judge whether the object detected in the blind spot zone is an alert object by comparing detection parameters relating to a current target object detected in the blind spot zone during a current detection cycle corresponding to the object detected in the blind spot zone with detection parameters relating to a reference moving object corresponding to a target object detected in the blind spot zone at least during a previous detection cycle; and
wherein the warning means ( 30 ) is configured, when the warning has been triggered, to continue to output the warning as long as the reference moving object is retained in the blind spot zone and the target object is found to be similar to the reference moving object.
2 . The blind spot detection control apparatus ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to compare the detection parameters relating to the current target object with the detection parameters relating to the reference moving object based on at least one of a difference of position coordinates, with respect to the vehicle, of the current target object and the reference moving object or a difference of relative velocities, with respect to the vehicle, of the current target object and the reference moving object.
3 . The blind spot detection control apparatus ( 10 ) according to claim 2 , wherein the judging means ( 20 ) is configured to judge the current target object to be the alert object based on the comparison of the detection parameters relating to the current target object with the detection parameters relating to the reference moving object satisfying one or more predetermined conditions with respect to the position coordinates or relative velocities.
4 . The blind spot detection control apparatus ( 10 ) according to claim 3 , wherein the judging means ( 20 ) is configured to judge the current target object to be the alert object based on the following conditions being satisfied:
Abs(DistX−DistXref)<DistX_Thresh,
Abs(DistY−DistYref)<DistY_Thresh,
Abs(VrelX−VrelXref)<VrelX_Thresh,
Abs(VrelY−VrelYref)<VrelY_Thresh,
where
DistX is X position of the current target object with respect to the vehicle,
DistY is Y position of the current target object with respect to the vehicle,
DistXref is X position of the reference moving object with respect to the vehicle,
DistYref is Y position of the reference moving object with respect to the vehicle,
VrelX is X relative velocity of the current target object with respect to vehicle,
VrelY is Y relative velocity of the current target object with respect to vehicle,
VrelXref is X relative velocity of the reference moving object with respect to vehicle,
VrelYref is Y relative velocity of the reference moving object with respect to vehicle,
DistX_Thersh is threshold value for X position difference,
DistY_Thersh is threshold value for Y position difference,
VrelX_Thersh is threshold value for X velocity difference,
VrelY_Thersh is threshold value for Y velocity difference.
5 . The blind spot detection control apparatus ( 10 ) according to claim 1 , further comprising
reference moving object setting/updating means ( 40 ) configured to at least one of
set the current target object detected during the current detection cycle in the blind spot zone to be the reference moving object based on no reference moving object being presently set and a trigger for causing the warning means to warn the driver being set,
set the current target object detected in the blind spot zone in the current detection cycle to be the reference moving object based on the reference moving object being presently set but being not detected in the blind spot detection zone and the current target object having been judged to be an alert object in a previous detection cycle,
initialize the setting of the reference moving object based on the reference moving object being presently not detected in the blind spot detection zone, no current target object having been judged to be an alert object in a previous detection cycle and a difference between the current time and the time when the reference moving object was detected to have left the blind spot detection zone exceeding a predetermined threshold value.
6 . The blind spot detection control apparatus ( 10 ) according to claim 5 , wherein the reference moving object setting/updating means ( 40 ) is configured to maintain the set reference moving object based on the reference moving object being presently not detected in the blind spot detection zone, no current target object having been judged to be an alert object in a previous detection cycle and the difference between the current time and the time when the reference moving object was detected to have left the blind spot detection zone being smaller than the predetermined threshold value.
7 . A driver assistance system ( 1 ) for a vehicle, comprising
the blind spot detection apparatus ( 10 ) according to claim 1 ,
detecting means ( 60 ) for detecting the object in the blind spot zone of the vehicle during a detection cycle, and
the warning means ( 30 ) for warning the driver of the vehicle that the object detected in the blind spot zone is present based on the judging means ( 20 ) of the blind spot detection apparatus ( 10 ) judging that the object detected in the blind spot zone is an alert object.
8 . The driver assistance system ( 1 ) according to claim 7 , wherein the warning means ( 30 ) is configured to at least one of warn the driver of the vehicle that the object detected in the blind spot zone is present based on the judging means ( 20 ) judging that the object detected in the blind spot zone is an alert object or keep a warning to be maintained as long as a timer T exceeds 0, wherein the timer Tis updated on the basis of the following function:
T =MIN( TMAX ,MAX( T,TTC )) −Tcycle
where:
TTC is the time until the object detected in the blind spot zone exits a warning zone
T is the timer length,
TMAX is the maximum threshold for timer length, and
Tcycle is the time length of a detection cycle.
9 . A computer-implemented method for controlling blind spot detection of a vehicle, the method comprising:
judging whether an object detected in a blind spot zone of the vehicle during a detection cycle is an alert object, and outputting a result of judgement for warning a driver of the vehicle that the object detected in the blind spot zone is present based on judging that the object detected in the blind spot zone is an alert object,
wherein it is judged whether the object detected in the blind spot zone is an alert object by comparing detection parameters relating to a current target object detected in the blind spot zone during a current detection cycle with detection parameters relating to a reference moving object corresponding to a target object detected in the blind spot zone at least during a previous detection cycle.
10 . A computer-readable medium having stored thereon a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the computer-implemented method of claim 9 .