Collision prevention control apparatus
According to one aspect of the disclosure, a collision prevention control apparatus is provided which includes an image sensor that detects an object near the vehicle; a radar sensor that detects the object near the vehicle; and a controller that, if only one of the sensors, among the image sensor and the radar sensor, detects the object, determines reliability of the other sensor, and changes, based on the determined reliability, a way of performing a collision prevention control for preventing a collision with the object detected by the one of the sensors.
1. A collision prevention control apparatus, comprising:
an image sensor that detects an object near a vehicle;
a radar sensor that detects the object near the vehicle; and
a controller that, when only a first one of the sensors, among the image sensor and the radar sensor, detects the object, determines a reliability of data obtained by a second one of the sensors, and changes, based on the determined reliability of the data obtained by the second one of the sensors, a performance of a collision prevention control for preventing a collision with the object detected by the first one of the sensors, wherein
the controller changes the performance of the collision prevention control such that a prevention capability by the collision prevention control is reduced as the determined reliability of the data obtained by the second one of the sensors increases.
2. The collision prevention control apparatus of claim 1 , wherein the controller determines the reliability of the data obtained by the second one of the sensors based on a number of items of effective data obtained by the second one of the sensors, and
the number of items of effective data corresponds to a number of reflection points whose reception levels are higher than a predetermined strength, when the second one of the sensors is the radar sensor, and corresponds to a number of pixels for which edges or parallaxes are detected or optical flows can be determined, when the second one of the sensors is the image sensor.
3. The collision prevention control apparatus of claim 1 , wherein, when only one of the image sensor and the radar sensor detects the object, the controller changes the performance of the collision prevention control such that the prevention capability by the collision prevention control is reduced compared to a case where both the image sensor and the radar sensor detect the object.
4. The collision prevention control apparatus of claim 1 , wherein, when only one of the image sensor and the radar sensor detects the object that is stationary, the controller changes, based on the determined reliability of the data obtained by the second one of the sensors, the performance of the collision prevention control for preventing the collision with the object that is stationary.