Control device for controlling safety device in vehicle

A control device to be applied to a vehicle equipped with an imaging device configured to capture images of surroundings of the vehicle, a ranging device configured to measure a distance to an object around the vehicle, and a safety device configured to perform a first actuation process to avoid colliding of the vehicle with moving objects or reducing collision damage of the vehicle based on moving-object detection information acquired from the images captured by the imaging device or a second actuation process to avoid colliding of the vehicle with stationary objects or reducing collision damage of the vehicle based on stationary-object detection information acquired from measurements made by the ranging device, the control device comprising:

• a non-transitory memory storing one or more computer programs;
• a processor executing the one or more computer programs to:
• based on the moving-object detection information, determine whether a moving object is present around the vehicle, wherein the moving-object detection information detected from the images includes certain information indicating that it is certain that the object around the vehicle is moving and uncertain information indicating that it is not certain whether the object around the vehicle is moving, the certain information and the uncertain information are determined based on a probability that the moving object is present, and the certain information comprises a higher probability that the moving object is present than the uncertain information;
• based on the stationary-object detection information, determine whether a stationary object is present around the vehicle;
• detect a plurality of detection points on an outer surface of the stationary object based on the stationary-object detection information acquired from measurements made by the ranging device;
• set at least one of neighborhood-of-stationary-object regions that are regions including the stationary object determined to be present around the vehicle and its surroundings, far-side regions that are regions on a far side of the stationary object with respect to the vehicle, or a combination thereof, as a mask region, wherein an individual mask region is set for each of the plurality of detection points;
• and
• in response to the moving object being present in the mask region and on a condition that a presence of the moving object has been determined based on the uncertain information, actuate the safety device of the vehicle to perform the second actuation process to avoid colliding of the vehicle with the moving object or reducing collision damage of the vehicle, wherein in a case where the moving-object detection information detected from the images is the uncertain information but there are no stationary objects around the vehicle, determine whether the moving object is present around the vehicle based on a position history thereof acquired from the measurements made by the ranging device,
• in response to determining that the moving object is present around the vehicle based on the position history thereof, perform the first actuation process with an actuation region where the safety device is to be actuated set to a narrower region than an actuation region in which the moving-object detection information includes the certain information.