Collision determination device and collision mitigation device
A collision determination device is mounted to an own vehicle and determines a probability of a collision with a moving object. The collision determination device determines whether or not an own vehicle will collide with a moving object that is detected within a captured image. The collision determination device determines whether or not the moving object is in a shielded state where at least a portion of the moving object is hidden behind another object or the moving object appears from behind another object. The collision determination device sets an amount of time required for the collision determining means to complete a determination related to the collision to a shorter amount of time when the moving object is in the shielded state, compared to when the moving object is not in the shielded state.
1. A collision determination device that is mounted to an own vehicle and determines a probability of a collision with a moving object so as to enable an actuator capable of avoiding the collision to be actuated based on the probability of the collision, the collision determination device comprising:
image capturing means that detects a moving object within a captured image;
collision determining means that determines, after the moving object is detected within the captured image, whether or not an own vehicle will collide with the moving object;
shielding determining means that determines whether or not the moving object is in a predetermined state that relates to a shielded state where at least a first portion of the moving object appears from behind another object while a second portion of the moving object remains hidden behind the another object or a previously shielded state where at least a portion of the moving object was previously hidden behind the another object and appears from behind the another object;
setting changing means that sets a data collection time required for the collision determining means to collect data for completing a determination related to the collision to a shorter amount of time when the moving object is in the predetermined state, compared to when the moving object is not in the predetermined state; and
collision avoiding means that actuates the actuator capable of controlling the own vehicle to avoid the collision based on the probability of the collision.
2. The collision determination device according to claim 1 , wherein:
the collision determining means determines whether or not the own vehicle will collide with the moving object that is detected within the captured image, based on whether or not a parameter value related to a positional relationship between the moving object and the own vehicle meets a predetermined reference condition; and
the setting changing means sets an amount of time required until the collision determining means completes a determination related to the collision to a shorter amount of time by relaxing the predetermined reference condition when the collision determining means determines the collision.
3. The collision determination device according to claim 2 , further comprising:
shielding object extracting means that extracts a shielding object which is positioned in a specific area set as a partial area within the captured image and which is capable of shielding the moving object; and
pedestrian area setting means that sets a moving object extracting area to an area in which a field of view is estimated to be shielded by the shielding object that is positioned further towards a depth direction in the captured image than the specific area from which the shielding object has been extracted,
wherein the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area.
4. The collision determination device according to claim 3 , wherein
the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area during a period from when the shielding object is extracted until the own vehicle moves by a predetermined distance after the moving object has been extracted.
5. The collision determination device according to claim 3 , wherein
the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area during a period from when the shielding object is extracted until a predetermined moving object extraction time elapses.
6. The collision determination device according to claim 3 , further comprising
specific area setting means that sets a position and a size of the specific area based on a traveling speed of the own vehicle or a relative speed to the shielding object.
7. The collision determination device according to claim 3 , further comprising
moving object extracting area setting means that sets a position and a size of the moving object extracting area based on a traveling speed of the own vehicle or a relative speed to the shielding object.
8. The collision determination device according to claim 3 , wherein
the pedestrian area setting means sets the moving object extracting area with reference to a position of a shielding object closest to the own vehicle, among the shielding object within the specific area.
9. The collision determination device according to claim 3 , wherein
the specific area is set on a left side and a right side in the traveling direction of the own vehicle.
10. The collision determination device according to claim 9 , wherein
the pedestrian area setting means sets the moving object extracting area on the left side in the traveling direction of the own vehicle when the shielding object is extracted within the specific area on the left side, and sets the moving object extracting area on the right side in the traveling direction of the own vehicle when the shielding object is extracted within the specific area on the right side.
11. The collision determination device according to claim 1 , further comprising:
shielding object extracting means that extracts a shielding object which is positioned in a specific area set as a partial area within the captured image and which is capable of shielding the moving object; and
pedestrian area setting means that sets a moving object extracting area to an area in which a field of view is estimated to be shielded by the shielding object that is positioned further towards a depth direction in the captured image than the specific area from which the shielding object has been extracted,
wherein the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area.
12. The collision determination device according to claim 11 , wherein
the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area during a period from when the shielding object is extracted until the own vehicle moves by a predetermined distance after the moving object has been extracted.
13. The collision determination device according to claim 11 , wherein
the setting changing means determines that the moving object is in the predetermined state when the moving object is detected in the moving object extracting area during a period from when the shielding object is extracted until a predetermined moving object extraction time elapses.
14. The collision determination device according to claim 11 , further comprising
specific area setting means that sets a position and a size of the specific area based on a traveling speed of the own vehicle or a relative speed to the shielding object.
15. The collision determination device according to claim 11 , further comprising
moving object extracting area setting means that sets a position and a size of the moving object extracting area based on a traveling speed of the own vehicle or a relative speed to the shielding object.
16. The collision determination device according to claim 11 , wherein
the pedestrian area setting means sets the moving object extracting area with reference to a position of a shielding object closest to the own vehicle, among the shielding object within the specific area.
17. The collision determination device according to claim 11 , wherein
the specific area is set on a left side and a right side in the traveling direction of the own vehicle.
18. The collision determination device according to claim 17 , wherein
the pedestrian area setting means sets the moving object extracting area on the left side in the traveling direction of the own vehicle when the shielding object is extracted within the specific area on the left side, and sets the moving object extracting area on the right side in the traveling direction of the own vehicle when the shielding object is extracted within the specific area on the right side.
19. The collision determination device according to claim 17 , wherein
when the moving object is in the predetermined state, the setting changing means sets an amount of time required until the collision determining means completes a determination related to collision to a shorter amount of time as a distance in a lateral direction from a position of the own vehicle to a position of the detected moving object becomes smaller.
20. The collision determination device according to claim 1 , wherein:
the collision determining means that determines, after a moving object is detected within a captured image, whether or not an own vehicle will collide with the moving object based on a moving history of the moving object during a predetermined period, and when the moving object is in the predetermined state, sets the predetermined period to be shorter compared to when the moving object is not in the predetermined state.
21. A collision mitigation device that is mounted to an own vehicle and mitigates collision damages when a probability of a collision of the own vehicle with a moving object is greater than a predetermined threshold, the collision mitigation device comprising:
collision estimating means that estimates a probability of a collision of the own vehicle with a moving object; and
collision avoiding means that actuates an actuator capable of controlling the own vehicle to avoid the collision when the probability of the collision is higher than the predetermined threshold,
wherein the collision estimating means is configured as a collision determination device that is mounted to an own vehicle and determines the probability of the collision with a moving object,
the collision determination device comprising image capturing means that detects the moving object within a captured image;
collision determining means that determines, after the moving object is detected within the captured image, whether or not the own vehicle will collide with the moving object;
shielding determining means that determines whether or not the moving object is in a predetermined state that relates to a shielded state where at least a first portion of the moving object appears from behind another object while a second portion of the moving object remains hidden behind the another object or a previously shielded state where at least a portion of the moving object was previously hidden behind the another object and appears from behind the another object, and
setting changing means that sets a data collection time required for the collision determining means to collect data for completing a determination related to the collision to a shorter amount of time when the moving object is in the predetermined state, compared to when the moving object is not in the predetermined state.
22. The collision mitigation device according to claim 21 , wherein the collision determining means that determines, after a moving object is detected within a captured image, whether or not an own vehicle will collide with the moving object based on a moving history of the moving object during a predetermined period, and when the moving object is in the predetermined state, sets the predetermined period to be shorter compared to when the moving object is not in the predetermined state.