To provide a mobile object detection system that can improve the accuracy of the prediction of collision when driving in a curve section.SOLUTION: A mobile object detection system comprises: means 21 for recognizing a road structure in front of a self-vehicle on the basis of detection information of an outside sensor 11 for detecting the front of the self-vehicle; means 22 for predicting a future position of a mobile object by extracting the mobile object; and means 24 for setting a collision determination area in a predicted route based on the present driving state of the self-vehicle. When the future position of the mobile object is determined to be in the collision determination area and a route guidance is in operation, the mobile object detection system: obtains the shape of a curve from map data 13 before the mobile object enters the curve section in a scheduled driving route; predicts an approaching velocity to the curve section and a passing velocity through the curve section on the basis of the shape of the curve, a velocity at a prescribed time before arriving at the entering position into the curve section, and a deceleration starting time; and corrects the collision determination area on the basis of the positional distribution obtained by vehicle position prediction means 23 for estimating the approaching-direction positional distribution and width-direction positional distribution of the self-vehicle in the curve section.SELECTED DRAWING: Figure 1

    【課題】カーブ走行時における衝突予測の精度を向上する移動体検知システムを提供する。【解決手段】移動体検知システムは自車両の前方を検知する外界センサ11の検知情報に基づいて自車前方の道路構造を認識する手段21、移動体を抽出しその未来位置を予測する手段22及び自車の現在走行状態に基づく予測進路に衝突判定領域を設定する手段24を備える。移動体の未来位置が、衝突判定領域にあると判定されかつ経路誘導が作動している場合、走行予定経路におけるカーブ区間への進入前に地図データ13からカーブ形状を取得し、カーブ形状と、カーブ区間への進入地点に到達する所定時間前の速度と、減速開始時期とに基づいて、当該カーブ区間への進入速度と当該カーブ区間の通過速度を予測し、当該カーブ区間における自車の進行方向位置分布と幅方向位置分布を推定する車両位置予測手段23を備え、位置分布に基づいて衝突判定領域を補正する機能を有する。【選択図】図1


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    Titel :

    MOBILE OBJECT DETECTION SYSTEM


    Weitere Titelangaben:

    移動体検知システム


    Beteiligte:
    OHIGATA KEI (Autor:in) / MIYAYAMA HIROYUKI (Autor:in) / ONO KATSUICHI (Autor:in) / OTSUKA YASUSHI (Autor:in) / KAWANO YOZO (Autor:in) / OSATO TAKUMA (Autor:in)

    Erscheinungsdatum :

    2020-03-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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