Risk potential calculation apparatus
A risk potential estimating device 20 of a driving support apparatus 10 calculates the risk potential of an object at each of a plurality of points which are set around a host vehicle 100 . When there is a pedestrian M 2 in a blind spot B caused by a pedestrian M 1 in the field of view of the host vehicle 100 , the risk potential estimating device 20 omits the calculation of the risk potential of the pedestrian M 2 . When there is the pedestrian M 1 close to the host vehicle 100, first, the behavior of avoiding the pedestrian M 1 is performed. Therefore, the risk potential of the pedestrian M 1 may be calculated at each point. In many cases, the calculation of the risk potential of the pedestrian M 2 which is located in the blind spot B caused by the pedestrian M 1 and is away from the host vehicle 100 is redundant. When the calculation of the risk potential of the pedestrian M 2 which is located in the blind spot B caused by the pedestrian M 1 is omitted, it is possible to reduce the load of an operation for calculating the risk potential while maintaining the accuracy of calculating the risk potential around the vehicle.
1. A risk potential calculation apparatus comprising:
a risk potential calculation unit including executable program logic configured to calculate a risk potential at each intersection point of lattice-shaped regions set for a host vehicle or in each region within the lattice-shaped regions, the risk potential being based on an object detected in the lattice-shaped regions by an obstacle detecting device mounted on the host vehicle,
wherein the lattice shaped regions are set in a field of view of the host vehicle, and
wherein, when there is a second object present in a blind spot behind a first object in the lattice shaped regions, the second object being detected by the obstacle detecting device, the risk potential calculation unit omits the calculation of the risk potential based on the second object.
2. The risk potential calculation apparatus according to claim 1 ,
wherein the risk potential calculation unit searches for objects in ascending order of distance from the host vehicle using the obstacle detecting device.
3. The risk potential calculation apparatus according to claim 1 , wherein the risk potential calculation unit omits the calculation of the risk potential at the intersection point or in the region where the one object is present but the risk potential of another object is already applied.
4. The risk potential calculation apparatus according to claim 2 , wherein the risk potential calculation unit omits the calculation of the risk potential at the intersection point or in the region where the one object is present but the risk potential of another object is already applied.
5. A risk potential calculation apparatus comprising:
a risk potential calculation unit including executable program logic configured to calculate a risk potential at each intersection point of lattice-shaped regions set for a host vehicle or in each region within the lattice-shaped regions, the risk potential being based on an object detected in the lattice-shaped regions by an obstacle detecting device mounted on the host vehicle,
wherein the lattice shaped regions are set in a field of view of the host vehicle, and
wherein, when there is a second object present in a blind spot behind a first object in the lattice shaped regions, the second object being detected by the obstacle detecting device:
(a) the risk potential calculation unit omits the calculation of the risk potential based on the second object if the second object does not exist in a region where the host vehicle will pass through, or
(b) the risk potential calculation unit calculates the risk potential based on the second object if the second object exists in the region where the host vehicle will pass through.
6. The risk potential calculation apparatus according to claim 5 ,
wherein the risk potential calculation unit searches for objects in ascending order of distance from the host vehicle using the obstacle detecting device.
7. The risk potential calculation apparatus according to claim 5 ,
wherein the risk potential calculation unit omits the calculation of the risk potential at the intersection point or in the region where the one object is present but the risk potential of another object is already applied.
8. The risk potential calculation apparatus according to claim 6 ,
wherein the risk potential calculation unit omits the calculation of the risk potential at the intersection point or in the region where the one object is present but the risk potential of another object is already applied.