Vehicle control method and apparatus
In an apparatus, an attention region defining unit defines an attention region near a blocking obstacle upon the blocking object being determined to be located between the own vehicle and the target object based on the results of the detection operations. The blocking object at least partly blocks a view from the own vehicle. A determiner determines whether the target object is located in the attention region. An obtaining unit obtains, upon it being determined that the target object is located in the attention region, a detection history of the target object by the object detection sensor before the target object is determined to be located in the attention region. An adjuster adjusts, based on the obtained detection history, a predetermined procedure of recognition for the target object upon it being determined that the target object is located in the attention region.
1. An apparatus to be installed in an own vehicle equipped with an object detection sensor that repeatedly performs a detection operation for detecting objects around the own vehicle, the apparatus being configured to recognize, based on results of the detection operations, a target object upon at least part of results of the detection operations associated with the target object satisfying a recognition condition that is predetermined, and perform at least one of a collision avoidance operation and a damage mitigation operation for the own vehicle with respect to the recognized target object, the apparatus comprising:
an attention region defining unit configured to define an attention region near a blocking obstacle in response to the blocking obstacle being determined to be located between the own vehicle and the target object based on the results of the detection operations;
a determiner configured to determine whether the target object is located in the attention region;
an obtaining unit configured to obtain, in response to the target object being determined to be is located in the attention region, a detection history of the target object by the object detection sensor before the target object is determined to be located in the attention region;
a detection determiner configured to determine, based on the obtained detection history, whether the target object has been captured before the target object is determined to be located in the attention region; and
an adjuster configured to relax the recognition condition in response to the target object being determined to have not been captured before the target object is determined to be located in the attention region.
2. The apparatus according to claim 1 , wherein
the adjuster is configured to maintain the recognition condition unchanged upon it being determined that the target object has been captured before the target object is determined to be located in the attention region.
3. The apparatus according to claim 1 , wherein:
the detection determiner is configured to:
determine, based on the obtained detection history, whether a number of detections of the target object before the target object is determined to be located in the attention region is less than a threshold number;
determine that the target object has not been captured before the target object is determined to be located in the attention region upon it being determined that the number of detections of the target object before the target object is determined to be located in the attention region is less than the threshold number; and
determine that the target object has been captured before the target object is determined to be located in the attention region upon it being determined that the number of detections of the target object before the target object is determined to be located in the attention region is equal to or more than the threshold number.
4. The apparatus according to claim 3 , further comprising:
a threshold setter configured to set the threshold number as a function of a speed of the own vehicle.
5. The apparatus according to claim 3 , further comprising:
a threshold setter configured to set the threshold number as a function of a relative position of the target object relative to the own vehicle.
6. The apparatus according to claim 3 , further comprising:
a threshold setter configured to set the threshold number as a function of a relative position of the target object relative to the own vehicle.
7. A method applied to an apparatus to be installed in an own vehicle equipped with an object detection sensor that repeatedly performs a detection operation for detecting objects around the own vehicle, the method recognizing, based on results of the detection operations, a target object upon at least part of results of the detection operations associated with the target object satisfying a recognition condition that is predetermined, and perform at least one of a collision avoidance operation and a damage mitigation operation for the own vehicle with respect to the recognized target object, the method comprising:
defining an attention region near a blocking obstacle in response to the blocking obstacle being determined to be located between the own vehicle and the target object based on the results of the detection operations;
determining whether the target object is located in the attention region;
obtaining, in response to the target object being determined to be located in the attention region, a detection history of the target object by the object detection sensor before the target object is determined to be located in the attention region;
determining, based on the obtained detection history, whether the target object has been captured before the target object is determined to be located in the attention region; and
relaxing the recognition condition in response to the target object being determined to have not been captured before the target object is determined to be located in the attention region.
8. The method according to claim 7 ,
the method further comprising:
maintaining the recognition condition unchanged upon it being determined that the target object has been captured before the target object is determined to be located in the attention region.
9. The method according to claim 7 , wherein:
the step of determining whether the target object has been captured further comprises:
determining, based on the obtained detection history, whether a number of detections of the target object before the target object is determined to be located in the attention region is less than a threshold number;
determining that the target object has not been captured before the target object is determined to be located in the attention region upon it being determined that the number of detections of the target object before the target object is determined to be located in the attention region is less than the threshold number; and
determining that the target object has been captured before the target object is determined to be located in the attention region upon it being determined that the number of detections of the target object before the target object is determined to be located in the attention region is equal to or more than the threshold number.
10. The method according to claim 9 , further comprising:
setting the threshold number as a function of a speed of the own vehicle.
11. The method according to claim 9 , further comprising:
setting the threshold number as a function of a relative position of the target object relative to the own vehicle.
12. The method according to claim 9 , further comprising:
setting the threshold number as a function of a relative position of the blocking obstacle relative to the own vehicle.