Driving support apparatus

1. A driving support apparatus provided on a subject vehicle, the driving support apparatus comprising:

processing circuitry configured to:

calculate a trajectory of a tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of a first area and a second area and a trajectory of the tracking-target moving body estimated in a blind spot area are continuous to each other, by estimating a position of the tracking-target moving body when the tracking-target moving body leaves one of the first area and the second area and enters the blind spot area and by detecting the position of the tracking-target moving body when the tracking-target moving body leaves the blind spot area and enters the other one of the first area and the second area,

determine that the tracking-target moving body leaves the second area and enters the blind spot area using a blind spot entrance confirmation area, the blind spot entrance confirmation area being set in advance, being set to have a predetermined range, being situated on a rear side of the subject vehicle with respect to the blind spot area, and having boundaries that are different from boundaries of the second area, and

execute driving support based on the calculated trajectory of the tracking-target moving body.

2. The driving support apparatus according to claim 1 , further comprising:

position detection circuitry configured to detect a position of the tracking-target moving body moving in the first area and the second area, the first area being located on a front side of the subject vehicle, the second area being located on the rear side of the subject vehicle,

wherein the processing circuitry is further configured to estimate the position of the tracking-target moving body moving in the blind spot area based on the position of the tracking-target moving body detected in any one of the first area and the second area by the position detection circuitry, the blind spot area being an area other than the first area and the second area.

3. The driving support apparatus according to claim 1 , wherein the processing circuitry is configured to change a content of the support for the driving support in accordance with an estimation accuracy of the position of the tracking-target moving body.

4. The driving support apparatus according to claim 3 , wherein the processing circuitry is configured to execute the driving support by executing vehicle control in a case where the estimation accuracy is higher than a case where the driving support is executed by providing notification.

5. The driving support apparatus according to claim 3 , wherein the estimation accuracy is set to decrease as a relative speed between the subject vehicle and the tracking-target moving body decreases and to increase as the relative speed increases.

6. The driving support apparatus according to claim 3 , wherein the estimation accuracy is set in accordance with an attribute of the tracking-target moving body.

7. The driving support apparatus according to claim 3 , wherein the estimation accuracy is set to increase as an acceleration and deceleration of a moving body other than the tracking-target moving body present around the subject vehicle at which the moving body approaches the tracking-target moving body decreases and to decrease as the acceleration and deceleration increases.

8. A driving support method performed by a driving support apparatus provided on a subject vehicle, the method comprising:

calculating a trajectory of a tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of a first area and a second area and a trajectory of the tracking-target moving body estimated in a blind spot area are continuous to each other, by estimating a position of the tracking-target moving body when the tracking-target moving body leaves one of the first area and the second area and enters the blind spot area and by detecting the position of the tracking-target moving body when the tracking-target moving body leaves the blind spot area and enters the other one of the first area and the second area;

determining that the tracking-target moving body leaves the second area and enters the blind spot area using a blind spot entrance confirmation area, the blind spot entrance confirmation area being set in advance, being set to have a predetermined range, being situated on a rear side of the subject vehicle with respect to the blind spot area, and having boundaries that are different from boundaries of the second area; and

executing driving support based on the calculated trajectory of the tracking-target moving body.

9. The method according to claim 8 , further comprising:

detecting a position of the tracking-target moving body moving in the first area and the second area, the first area being located on a front side of the subject vehicle, the second area being located on the rear side of the subject vehicle; and

estimating the position of the tracking-target moving body moving in the blind spot area based on the position of the tracking-target moving body detected in any one of the first area and the second area, the blind spot area being an area other than the first area and the second area.

10. The method according to claim 8 , further comprising changing a content of the support for the driving support in accordance with an estimation accuracy of the position of the tracking-target moving body.

11. The method according to claim 10 , further comprising executing the driving support by executing vehicle control in a case where the estimation accuracy is higher than a case where the driving support is executed by providing notification.

12. The method according to claim 10 , wherein the estimation accuracy is set to decrease as a relative speed between the subject vehicle and the tracking-target moving body decreases and to increase as the relative speed increases.

13. The method according to claim 10 , wherein the estimation accuracy is set in accordance with an attribute of the tracking-target moving body.

14. The method according to claim 10 , wherein the estimation accuracy is set to increase as an acceleration and deceleration of a moving body other than the tracking-target moving body present around the subject vehicle at which the moving body approaches the tracking-target moving body decreases and to decrease as the acceleration and deceleration increases.

15. A non-transitory computer readable medium having instructions stored therein, which when executed by a processor of a driving support apparatus provided on a subject vehicle cause the processor to execute a method comprising:

calculating a trajectory of a tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of a first area and a second area and a trajectory of the tracking-target moving body estimated in a blind spot area are continuous to each other, by estimating a position of the tracking-target moving body when the tracking-target moving body leaves one of the first area and the second area and enters the blind spot area and by detecting the position of the tracking-target moving body when the tracking-target moving body leaves the blind spot area and enters the other one of the first area and the second area;

determining that the tracking-target moving body leaves the second area and enters the blind spot area using a blind spot entrance confirmation area, the blind spot entrance confirmation area being set in advance, being set to have a predetermined range, being situated on a rear side of the subject vehicle with respect to the blind spot area, and having boundaries that are different from boundaries of the second area; and

executing driving support based on the calculated trajectory of the tracking-target moving body.

16. The non-transitory computer readable medium according to claim 15 , further comprising:

detecting a position of the tracking-target moving body moving in the first area and the second area, the first area being located on a front side of the subject vehicle, the second area being located on the rear side of the subject vehicle; and

estimating the position of the tracking-target moving body moving in the blind spot area based on the position of the tracking-target moving body detected in any one of the first area and the second area, the blind spot area being an area other than the first area and the second area.

17. The non-transitory computer readable medium according to claim 15 , further comprising changing a content of the support for the driving support in accordance with an estimation accuracy of the position of the tracking-target moving body.

18. The non-transitory computer readable medium according to claim 17 , further comprising executing the driving support by executing vehicle control in a case where the estimation accuracy is higher than a case where the driving support is executed by providing notification.

19. The non-transitory computer readable medium according to claim 17 , wherein the estimation accuracy is set to decrease as a relative speed between the subject vehicle and the tracking-target moving body decreases and to increase as the relative speed increases.

20. The non-transitory computer readable medium according to claim 17 , wherein the estimation accuracy is set in accordance with an attribute of the tracking-target moving body.