Driving assistance device and computer program

A driving assistance device for a vehicle comprising:

• a point cloud data acquisition unit that acquires point cloud data of an object target in time series using a sensor mounted on the vehicle;
• an image acquisition unit that acquires a captured image of the object target in time series using a camera mounted on the vehicle;
• a fusion unit that combines the captured image, parameters of which satisfy a predetermined criterion, with the point cloud data to generate a fusion target of the object target;
• and
• a collision avoidance control suppression unit that suppresses collision avoidance control from being executed for avoiding a collision between the vehicle and the object target traveling ahead of the vehicle;
• wherein
• the fusion unit generates the fusion target at a first period by using the captured image acquired at a second period occurring earlier than the first period when the captured image is not acquired at the first period or when the parameters related to the captured image acquired at the first period do not satisfy the predetermined criterion;
• and
• the collision avoidance control suppression unit suppresses the collision avoidance control from being executed when the fusion target at the first period is generated using the captured image acquired at the second period.

A computer program comprising:

• a computer configured to perform the following:
• a function of acquiring point cloud data of an object target in time series using a sensor mounted on a vehicle;
• a function of acquiring a captured image of the object target in time series using a camera mounted on the vehicle;
• a function of combining the captured image, parameters of which satisfy a predetermined criterion, with the point cloud data to generate a fusion target of the object target;
• and
• a collision avoidance control suppression function of suppressing collision avoidance control from being executed for avoiding a collision between the vehicle and the object target traveling ahead of the vehicle;
• wherein
• the collision avoidance control suppression function includes a function of suppressing collision avoidance control from being executed when a part of the object target is located outside an angle of view of the camera.

A computer program comprising:

• a computer configured to perform the following:
• a function of acquiring point cloud data of an object target in time series using a sensor mounted on a vehicle;
• a function of acquiring a captured image of the object target in time series using a camera mounted on the vehicle;
• a fusion function of combining the captured image, parameters of which satisfy a predetermined criterion, with the point cloud data to generate a fusion target of the object target;
• and
• a collision avoidance control suppression function of suppressing collision avoidance control from being executed for avoiding a collision between the vehicle and the object target traveling ahead of the vehicle;
• wherein
• the fusion function includes a function of generating the fusion target at a first period by using the captured image acquired at a second period occurring earlier than the first period when the captured image is not acquired at the first period or when the parameters related to the captured image acquired at the first period do not satisfy the predetermined criterion;
• and
• the collision avoidance control suppression function includes a function of suppressing the collision avoidance control from being executed when the fusion target at the first period is generated using the captured image acquired at the second period.