Determination apparatus and vehicle
An onboard determination apparatus, comprising a first acquisition unit configured to acquire peripheral information of a self-vehicle detected by a first sensor, a second acquisition unit configured to acquire peripheral information of the self-vehicle detected by a second sensor of a type different from the first sensor, and a determination unit configured to determine a type of an on-road raised object on the periphery of the self-vehicle based on both the peripheral information acquired by the first acquisition unit and the peripheral information acquired by the second acquisition unit.
1. An onboard determination apparatus comprising:
a first acquisition unit configured to acquire peripheral information using a first sensor which generates a millimeter wave as a projected wave and detects the millimeter wave as a reflected wave, the peripheral information including at least information of an object around a self-vehicle;
a second acquisition unit configured to acquire the peripheral information using a second sensor which generates a laser beam as a projected wave and detects the laser beam as a reflected wave; and
a determination unit configured to
determine an on-road raised object on a periphery of the self-vehicle as rainwater, when the peripheral information acquired by the first acquisition unit does not indicate existence of the on-road raised object and when the peripheral information acquired by the second acquisition unit indicates existence of the on-road raised object; and
determine the on-road raised object as snow/ice, when the peripheral information acquired by both the first and second acquisition units indicates existence of the on-road raised object.
2. The apparatus according to claim 1 , wherein the determination unit determines the type of the on-road raised object further based on a temperature and a humidity outside the self-vehicle.
3. A vehicle comprising:
a determination apparatus of claim 1 ; and
a control unit configured to perform a driving operation of the self-vehicle,
wherein the control unit performs, based on a determination result of a determination unit, (i) an adjustment of a vehicle speed, (ii) an adjustment of a distance between the self-vehicle and its preceding vehicle, and/or (iii) a decision whether to change a lane.
4. The vehicle according to claim 3 , wherein the control unit limits the vehicle speed in a first case of determining the on-road raised object as rainwater, and further limits the vehicle speed in a second case of determining the on-road raised object as snow/ice such that the vehicle speed in the second case is lower than that in the first case.
5. The vehicle according to claim 3 , wherein the control unit moves the self-vehicle in a vehicle width direction moderately in a first case of determining the on-road raised object as rainwater, and further moves the self-vehicle in the vehicle width direction moderately in a second case of determining the on-road raised object as snow/ice such that the movement in the second case is more moderate than that in the first case.
6. The vehicle according to claim 3 , further comprising the first sensor and the second sensor.
7. The vehicle according to claim 3 , further comprising an image capturing sensor, wherein the determination unit determines a type of an on-road raised object in response to detection of the on-road raised object by the image capturing sensor.
8. The vehicle according to claim 3 , wherein the determination unit determines a type of an on-road raised object raised by a preceding vehicle traveling ahead of the self-vehicle.
9. The vehicle according to claim 8 , wherein the determination unit determines the type of the on-road raised object existing within a predetermined region that is located behind the preceding vehicle and is set based on a traveling state of the preceding vehicle.
10. The vehicle according to claim 3 , wherein the determination unit determines a type of an on-road raised object raised by the self-vehicle.