Driver assistance system and computer-readable recording medium
A driver assistance system includes at least one processor and at least one memory communicably coupled to the processor. The processor is configured to acquire data regarding presence or absence of a passer-by in a blind spot region as viewed from a vehicle to be assisted. The presence or the absence of the passer-by is identified based on, at least, recognition results by object recognition systems including an object recognition system other than an object recognition system of the vehicle to be assisted. The processor is configured to calculate certainty of a recognition result of the presence or the absence of the passer-by based on, at least, the number of the object recognition systems that recognize the same passer-by, and carry out processing of reducing a risk of collision between the vehicle to be assisted and the passer-by, in accordance with the certainty calculated.
1. A driver assistance system configured to assist in driving a vehicle, the driver assistance system comprising:
one or more processors; and
one or more memories communicably coupled to the one or more processors, wherein
the one or more processors are configured to:
acquire data regarding presence of a passer-by in a blind spot region as viewed from the vehicle, the passer-by in the blind spot region being identified based on, at least, recognition results by object recognition systems including one or more external object recognition systems other than a vehicle-mounted object recognition system, wherein each object recognition system includes a sensor;
determine how many external object recognition systems of the one or more external object recognition systems detect the passer-by in the blind spot region;
calculate a recognition certainty for the presence of the passer-by based on, at least, how many external object recognition systems detect the passer-by in the blind spot region; and
carry out processing of reducing a risk of collision between the vehicle and the passer-by, in accordance with the recognition certainty calculated,
wherein the one or more processors are further configured to:
determine ranges of recognition of the object recognition systems that overlap with the blind spot region;
segment the blind spot region into subregions based on how many object recognition systems covering each part of the blind spot region;
assign predefined values to the subregion depending on how many object recognition systems cover each subregion and obtain a ratio of each subregion to the blind spot region as a whole; and
calculate, using each assigned predefined value and each ratio related to respective one of the subregions, a recognition certainty for the blind spot region; and
carry out the processing of reducing the risk of collision between the vehicle and the passer-by in accordance with the calculated recognition certainty for the blind spot region in addition to the calculated recognition certainty for the presence of the passer-by.
2. The driver assistance system according to claim 1 , wherein the one or more processors are configured to:
raise the recognition certainty for the presence of the passer-by as a number of the object recognition systems which detect the same passer-by increases; and
maintain the recognition certainty for the presence of the passer-by and carry out the processing of reducing the risk of collision during a period after the passer-by is identified, until determining that there is no risk of collision between the passer-by and the vehicle.
3. The driver assistance system according to claim 2 , wherein
the one or more processors are configured to calculate the recognition certainty additionally based on kinds of surrounding environment sensors of the respective object recognition systems.
4. The driver assistance system according to claim 1 , wherein
the one or more processors are configured to set contents of the processing of reducing the risk of collision, based on a location of the passer-by on a condition that the detected passer-by is present in the blind spot region.
5. A non-transitory computer-readable recording medium containing a program applicable to a driver assistance system configured to assist in driving a vehicle,
the program causing, when executed by one or more processors, the one or more processors to implement processing, the processing comprising:
acquire data regarding presence of a passer-by in a blind spot region as viewed from the vehicle, the passer-by in the blind spot region being identified based on, at least, recognition results by object recognition systems including one or more external object recognition systems other than a vehicle-mounted object recognition system, wherein each object recognition system includes a sensor;
determine how many external object recognition systems of the one or more external object recognition systems detect the passer-by in the blind spot region;
calculating a recognition certainty for the presence of the passer-by based on, at least, how many external object recognition systems detect the passer-by in the blind spot region; and
carrying out processing of reducing a risk of collision between the vehicle to be assisted and the passer-by, in accordance with the recognition certainty calculated,
wherein, when calculating the recognition certainty for the presence of the passer-by, the one or more processors are further configured to:
assign a base certainty value to the passer-by based on how many external object recognition systems detect the passer-by in the blind spot; and
adjust the assigned base certainty value based on predefined values assigned to sensors included in the external object recognition systems to obtain the recognition certainty for the presence of the passer-by.
6. A driver assistance system configured to assist in driving a vehicle, the driver assistance system comprising:
one or more processors; and
one or more memories communicably coupled to the one or more processors, wherein
the one or more processors are configured to:
acquire data regarding presence of a passer-by in a blind spot region as viewed from the vehicle, the passer-by in the blind spot region being identified based on, at least, recognition results by object recognition systems including one or more external object recognition systems other than a vehicle-mounted object recognition system, wherein each object recognition system includes a sensor;
determine how many external object recognition systems of the one or more external object recognition systems detect the passer-by in the blind spot region;
calculate a recognition certainty for the presence of the passer-by based on, at least, how many external object recognition systems detect the passer-by in the blind spot region; and
carry out processing of reducing a risk of collision between the vehicle and the passer-by, in accordance with the recognition certainty calculated,
wherein, when calculating the recognition certainty for the presence of the passer-by, the one or more processors are further configured to:
assign a base certainty value to the passer-by based on how many external object recognition systems detect the passer-by in the blind spot; and
adjust the assigned base certainty value based on predefined values assigned to sensors included in the external object recognition systems to obtain the recognition certainty for the presence of the passer-by.
7. The driver assistance system according to claim 6 , wherein the one or more processors are further configured to adjust the assigned base certainty value based on a distance between the passer-by and each sensor in addition to the predefined values assigned to the sensors included in the external object recognition systems.
8. The driver assistance system according to claim 6 , wherein the one or more processors are further configured to:
determine ranges of recognition of the object recognition systems that overlap with the blind spot region;
segment the blind spot region into subregions based on how many object recognition systems covering each part of the blind spot region;
assign predefined values to the subregion depending on how many object recognition systems cover each subregion and obtain a ratio of each subregion to the blind spot region as a whole; and
calculate, using each assigned predefined value and each ratio related to respective one of the subregions, a recognition certainty for the blind spot region and
carry out the processing of reducing the risk of collision between the vehicle and the passer-by in accordance with the calculated recognition certainty for the blind spot region in addition to the calculated recognition certainty for the presence of the passer-by.
9. The driver assistance system according to claim 8 , wherein the one or more processors are further configured to determine whether to notify a driver of the presence of the passer-by in the blind spot region and whether to control the vehicle to avoid the passer-by in the blind spot region for carrying out the processing of reducing the risk of collision, based on (1) the calculated recognition certainty for the presence of the passer-by and (2) the calculated recognition certainty for the blind spot region.
10. The driver assistance system according to claim 8 , wherein the one or more processors are further configured to determine whether to notify a driver of the presence of the passer-by in the blind spot region and whether to control the vehicle to avoid the passer-by in the blind spot region for carrying out the processing of reducing the risk of collision, based on (1) the calculated recognition certainty for the presence of the passer-by, (2) the calculated recognition certainty for the blind spot region, and (3) a location of the passer-by in the blind spot region.