Vehicle control device and vehicle control method

1. A vehicle control device comprising:

an acquiring unit that:

acquires, using an electromagnetic wave sensor, a first distance and a first orientation of a first object with respect to a host vehicle as a first position of the first object in front of the host vehicle, and

acquires, using an image sensor, a second distance and a second orientation of a second object with respect to the host vehicle as a second position of the second object in front of the host vehicle;

an object determining unit that determines as an object identicalness determination, whether the first object detected using the electromagnetic wave sensor and the second object detected using the image sensor are identical as an identical object based on the first position and the second position;

a position calculating unit that calculates, based on the first position and the second position, a position of a target object that is determined as the identical object; and

a reliability determining unit that determines whether a current situation is such that a reliability of the object identicalness determination by the object determining unit is at a predetermined level or higher, wherein

in a case where the current situation is determined to be such that the reliability is at the predetermined level or higher, the position calculating unit calculates the position of the target object that is determined as the identical object based on the first distance and the second orientation, and in a case where the current situation is determined not to be such that the reliability is at the predetermined level or higher, the position calculating unit calculates the position of the target object that is determined as the identical object based on the second distance and the second orientation.

2. The vehicle control device according to claim 1 , wherein

the acquiring unit acquires:

the first position of the first object moving in a lateral direction in front of the host vehicle; and

the second position of the second object moving in the lateral direction in front of the host vehicle;

the reliability determining unit determines whether the target object that is determined as the identical object is moving toward the front of the vehicle, and

in a case where the target object that is determined as the identical object is moving toward the front of the host vehicle, the reliability determining unit determines the current situation to be such that the reliability of the object identicalness determination is at the predetermined level or higher.

3. The vehicle control device according to claim 1 , wherein

the reliability determining unit determines whether the first distance from the host vehicle is shorter than the second distance from the host vehicle, and in a case where the first distance from the host vehicle is shorter than the second distance from the host vehicle, the reliability determining unit determines the current situation not to be such that the reliability of the object identicalness determination is at the predetermined level or higher.

4. The vehicle control device according to claim 1 , further comprising

a focus-of-expansion leaning unit that learns a position of a focus of expansion in the captured image, wherein

the second distance is detected based on the position of the focus of expansion in the captured image, and

even in a case where the current situation is determined not to be such that the reliability of the object identicalness determination is at the predetermined level or higher, the position calculating unit calculates the position of the target object that is determined as the identical object based on the first distance and the second orientation in a case where learning of the focus of expansion is incomplete.

5. The vehicle control device according to claim 1 , further comprising

a Time to Collision calculating unit that calculates a Time to Collision indicative of a time until the target object that is determined as the identical object collides against the host vehicle based on the first position or the second position of the target object that is determined as the identical object, wherein

even in a case where the current situation is determined not to be such that the reliability of the object identicalness determination is at the predetermined level or higher, the position calculating unit calculates the position of the target object that is determined as the identical object based on the first distance and the second orientation in a case where the Time to Collision is longer than or equal to a threshold.

6. A vehicle control method comprising:

acquiring, using an electromagnetic wave sensor, a first distance and a first orientation of a first object with respect to a host vehicle, and

acquiring, using an image sensor, a second distance and a second orientation of a second object with respect to the host vehicle;

determining, as an identicalness determination, whether the first object detected using the electromagnetic wave sensor and the second object detected using the image sensor are identical based on a first position and a second position;

calculating, based on the first position and the second position, a position of a target object that is determined as the identical object; and

determining whether a current situation is such that a reliability of the identicalness determination is at a predetermined level or higher, wherein

calculating the position of the target object includes:

calculating the position of the target object that is determined as the identical object based on the first distance and the second orientation in a case where the current situation is determined to be such that the reliability is at the predetermined level or higher; and

calculating the position of the target object that is determined as the identical object based on the second distance and the second orientation in a case where the current situation is determined not to be such that the reliability is at the predetermined level or higher.