Vehicle safety determination apparatus, method, and computer-readable storage medium

A vehicle safety determination method comprising:

• acquiring, using a processor of a vehicle safety determination apparatus mounted to a vehicle, an image of an area observed from a vehicle;
• recognizing, using the processor, a type, position, and shape of each recognition target in an image, based on the image acquired,
• recording the type, position, and shape of each recognition target, and detecting a target to be subjected to safety determination among the recognition targets;
• calculating, using the processor, a predicted path of the target based on the recognition results of the image recognition for the recorded target;
• detecting, using the processor, a traveling state of the vehicle;
• detecting, using the processor, a distance from the vehicle and a movement state of the target;
• calculating, using the processor, a most proximal time at which the vehicle and the target are in closest proximity, based on the traveling state of the vehicle, and the distance from the vehicle and the movement state of the target;
• calculating, using the processor, a predicted position of the target at the most proximal time based on the predicted path;
• and
• performing, using the processor, the safety determination regarding the target based on the predicted position and on the type, position, and shape of at least one recognition target other than the target.

A non-transitory computer-readable storage medium storing a vehicle safety determination program for enabling a computer executing the vehicle safety determination program to:

• acquire an image of an area observed from a vehicle;
• recognize a type, position, and shape of each recognition target in an image, based on the image acquired;
• record the type, position, and shape, and detect a target to be subjected to a safety determination among the recognition targets;
• calculate a predicted path of the target based on the recognition results of the image recognition for the recorded target;
• detect a traveling state of the vehicle;
• detect a distance from the vehicle and a movement state of the target;
• calculate a most proximal time at which the vehicle and the target are in closest proximity, based on the traveling state of the vehicle, and the distance from the vehicle and the movement state of the target;
• calculate a predicted position of the target at the most proximal time based on the predicted path;
• and
• perform the safety determination regarding the target based on the predicted position and on the type, position, and shape of at least one recognition target other than the target.