VEHICULAR PERIPHERAL SURVEILLANCE DEVICE
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Abstract
A vehicular peripheral surveillance device includes an obstacle recognition sensor 12 which monitors an obstacle around a host vehicle 100, a lane recognition sensor 11 and a vehicle state quantity sensor 13 which detect the traveling state of the host vehicle 100, and a risk computing unit 20 which predicts the movement of the obstacle using information acquired by the obstacle recognition sensor 12, and computes a risk of the obstacle to the host vehicle 100 on the basis of the predicted movement of the obstacle. The risk computing unit 20 changes the prediction range of the movement of the obstacle on the basis of the traveling state of the host vehicle 100 detected by the lane recognition sensor 11 and the vehicle state quantity sensor 13. Therefore, the situation of the host vehicle 100 is predicted taking into consideration the movement of the obstacle, thereby realizing computation with high precision while reducing a computation load.
100 Citations
20 Claims
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1-11. -11. (canceled)
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12. A vehicular peripheral surveillance device comprising:
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a monitoring sensor which monitors an obstacle around a host vehicle; a state detection unit which detects any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle; and a risk computing unit which predicts the movement of the obstacle being monitored by the monitoring sensor using information acquired by the monitoring sensor, and computes a risk of the obstacle to the host vehicle on the basis of the predicted movement of the obstacle, wherein the risk computing unit changes the prediction range of the movement of the obstacle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit, the risk computing unit sets a natural number n, predicts the movement of an n-th obstacle which is around an (n-1)th obstacle and more distant from the host vehicle than the (n-1)th obstacle and also predicts the movement of the (n-1)th obstacle on the basis of the predicted movement of the n-th obstacle, and sequentially predicts the movement of (n-2)th to first obstacles on the basis of the movement of (n-1)th to second obstacles in the same manner, and the risk computing unit sets priority on a plurality of first obstacles around the host vehicle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit, and sequentially predicts the movement of the n-th to first obstacles while changing the natural number n in accordance with the priority. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification