Driving assistance device
AssigneesAisin Corporation, Honda Motor Co., Ltd.
InventorsYuichi UKAI, Hiroki TAKAKU, Zekun XIU
Life of this patent
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Abstract
On condition that an object whose position has been identified by the probe wave detection process and an object whose position has been identified by the image detection process are allowed to be regarded as the identical object, an object determined as identical that has been regarded as the identical object is set as an assistance target for which driving assistance of the vehicle is performed. On the other hand, even when an unidentified period in which a position of the object determined as identical is not allowed to be identified by the probe wave detection process occurs after the condition is satisfied, the object determined as identical is maintained as an assistance target in the unidentified period.
Claims6
A driving assistance device that
- acquires detection results by a plurality of detection sensors installed at different places with respect to a vehicle, each of the detection sensors transmitting a probe wave to surroundings of the vehicle, the detection sensors being in a positional relationship in which a reception wave including a reflected wave obtained by the probe wave being reflected by an object around the vehicle is allowed to be mutually received,
- performs a probe wave detection process of identifying a position of the object by triangulation using a first detection distance calculated by a detection sensor as a transmission source receiving a reflected wave of the probe wave as a direct wave and a second detection distance calculated by another detection sensor different from the transmission source receiving a reflected wave of the probe wave as an indirect wave, based on the acquired detection results by the detection sensors,
- performs an image detection process of identifying a position of an object around the vehicle as a result of an image recognition process on a captured image captured by an imaging device included in the vehicle,
- on condition that an object whose position is identified by the probe wave detection process and an object whose position is identified by the image detection process are allowed to be regarded as an identical object, sets an object determined as identical that is regarded as the identical object as an assistance target for which driving assistance of the vehicle is performed, and even when an unidentified period in which a position of the object determined as identical is not allowed to be identified by the probe wave detection process occurs after the condition is satisfied, maintains the object determined as identical as the assistance target in the unidentified period.
Dependencies are inferred from the claim text.