Periphery monitoring apparatus and program thereof

A periphery monitoring apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, the periphery monitoring apparatus setting a precaution region in a laterally rear side of an own vehicle and causing a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region, the periphery monitoring apparatus comprising:

• an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• a recognition unit that recognizes a position of the lane marking based on the lane information;
• and
• a precaution region setting unit that sets the precaution region based on the position of the lane marking recognized by the recognition unit,
• wherein
• in the case where the own vehicle makes a lane change on a road having adjacent lanes at both left and right sides of an own lane where the own vehicle travels,
• the precaution region setting unit temporarily changes a state from a first state in which the precaution regions are set on the adjacent lanes at the left and right sides, to a second state in which the precaution regions are set on two lanes at both sides of a lane marking which the own vehicle crosses due to the lane change.

A periphery monitoring apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, the periphery monitoring apparatus setting a precaution region in a laterally rear side of an own vehicle and causing a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region, the periphery monitoring apparatus comprising:

• an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• a recognition unit that recognizes a position of the lane marking based on the lane information;
• and
• a precaution region setting unit that sets the precaution region based on the position of the lane marking recognized by the recognition unit,
• wherein
• the acquiring unit acquires, as the lane information, a plurality of detection points detected by a detection apparatus at a lane marking on a road surface;
• the recognition unit recognizes a position of the lane marking based on the plurality of detection points;
• the precaution region setting unit determines whether a lane marking of an adjacent lane adjacently positioned to an own lane where the own vehicle travels is a regulated lane that regulates a vehicle deviating from a traffic lane or a non-regulated lane that does not regulate a vehicle deviating from a traffic lane;
• the precaution region setting unit, when determined that the lane marking of the adjacent lane is the regulated lane, sets the precaution region to which a region corresponding to an amount of variation of the plurality of detection points is added;
• and
• the precaution region setting unit, when determined that the lane marking of the adjacent lane is the non-regulated lane, sets the precaution region without adding a region corresponding to an amount of variation of the plurality of detection points.

A program stored in a non-transitory tangible computer readable media executed by a control apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves,

• the program causes the control apparatus to set a precaution region in a laterally rear side of an own vehicle and to execute a collision avoidance operation when the ranging sensor detects an object in the precaution region,
• wherein
• the program causes the control apparatus to execute:
• an acquiring process that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• a recognition process that recognizes a position of the lane marking based on the lane information;
• and
• a precaution region setting process that sets the precaution region based on the position of the lane marking recognized by the recognition process,
• wherein
• the precaution region setting process temporarily changes a state from a first state to a second state when the own vehicle makes a lane change;
• the first state being a state where the precaution region is set, with respect to an own lane where the own vehicle travels before changing lane, to be in an outer side of a lane marking positioned in an opposite side of an object traffic lane to which the own vehicle changes lane;
• and
• the second state being a state where the precaution region is set, with respect to an own lane where the own vehicle travels before changing lane, to be in an inner side of the lane marking positioned in the opposite side of the object traffic lane to which the own vehicle changes lane.

A program stored in a non-transitory tangible computer readable media executed by a control apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves,

• the program causes the control apparatus to set a precaution region in a laterally rear side of an own vehicle and to execute a collision avoidance operation when the ranging sensor detects an object in the precaution region,
• wherein
• the program causes the control apparatus to execute:
• an acquiring process that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• a recognition process that recognizes a position of the lane marking based on the lane information;
• and
• a precaution region setting process that sets the precaution region based on the position of the lane marking recognized by the recognition process,
• wherein
• in the case where the own vehicle makes a lane change on a road having adjacent lanes at both left and right sides of an own lane where the own vehicle travels,
• the precaution region setting process temporarily changes a state from a first state in which the precaution regions are set on the adjacent lanes at the left and right sides, to a second state in which the precaution regions are set on two lanes at both sides of a lane marking which the own vehicle crosses due to the lane change.

A program stored in a non-transitory tangible computer readable media executed by a control apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves,

• the program causes the control apparatus to set a precaution region in a laterally rear side of an own vehicle and to execute a collision avoidance operation when the ranging sensor detects an object in the precaution region,
• wherein
• the program causes the control apparatus to execute:
• an acquiring process that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• a recognition process that recognizes a position of the lane marking based on the lane information;
• and
• a precaution region setting process that sets the precaution region based on the position of the lane marking recognized by the recognition process,
• wherein
• the acquiring process acquires, as the lane information, a plurality of detection points detected by a detection apparatus at a lane marking on a road surface;
• the recognition process recognizes a position of the lane marking based on the plurality of detection points;
• the precaution region setting process determines whether a lane marking of an adjacent lane adjacently positioned to an own lane where the own vehicle travels is a regulated lane that regulates a vehicle deviating from a traffic lane or a non-regulated lane that does not regulate a vehicle deviating from a traffic lane;
• the precaution region setting process, when determined that the lane marking of the adjacent lane is the regulated lane, sets the precaution region to which a region corresponding to an amount of variation of the plurality of detection points is added;
• and
• the precaution region setting process, when determined that the lane marking of the adjacent lane is the non-regulated lane, sets the precaution region without adding a region corresponding to an amount of variation of the plurality of detection points.

A periphery monitoring apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, the periphery monitoring apparatus sets a precaution region in a laterally rear side of an own vehicle and causes a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region, the periphery monitoring apparatus comprising:

• an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• and
• a precaution region setting unit that sets the precaution region based on the lane information of the lane marking which is receding from the own vehicle or approaching the own vehicle in the case where the own vehicle makes a lane change,
• wherein
• the precaution region setting unit sets a region from a lane marking receding from the own vehicle among lane markings positioned at left and right sides of an own lane where the own vehicle travels before the lane change, to the own vehicle to be the precaution region during the lane change.

A program stored in a non-transitory tangible computer readable media executed by a control apparatus applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves,

• the program causes the control apparatus to set a precaution region in a laterally rear side of an own vehicle and to execute a collision avoidance operation when the ranging sensor detects an object in the precaution region,
• wherein
• the program causes the control apparatus to execute:
• an acquiring process that acquires lane information indicating presence or absence of a lane marking on a traffic lane;
• and
• a precaution region setting process that sets the precaution region based on the lane information of the lane marking which is receding from the own vehicle or approaching the own vehicle in the case where the own vehicle makes a lane change,
• wherein
• the precaution region setting process sets a region from a lane marking receding from the own vehicle among lane markings positioned at left and right sides of an own lane where the own vehicle travels before the lane change, to the own vehicle to be the precaution region during the lane change.