PROBLEM TO BE SOLVED: To provide a vehicle surrounding-situation estimation apparatus capable of appropriately estimating a surrounding situation of a vehicle even in a case where abnormality occurs to a sensor due to a collision, disabling detection of a surrounding situation.SOLUTION: A vehicle surrounding-situation estimation apparatus includes: collision detection means for detecting an event of a vehicle itself colliding with an object outside of the vehicle; surrounding-situation detection means for detecting a situation of a detection zone surrounding the vehicle itself; surrounding-situation estimation means for estimating a situation of a prediction zone surrounding the vehicle itself when the collision occurs on the basis of the detection result of the surrounding-situation detection means before the collision detection means detects the collision; surrounding-situation record means for recording a situation of the prediction zone estimated by the surrounding-situation estimation means; and surrounding-situation prediction means for predicting a situation of a vehicle-surrounding zone that is surrounding the vehicle itself, after the collision detection means detects the collision, on the basis of a situation of the prediction zone recorded by the surrounding-situation record means before the collision detection means detects the collision.
【課題】衝突によってセンサに異常が発生して周辺状況を検出できなくなった場合であっても、車両の周辺状況を好適に推定することができる車両周辺状況推定装置を提供することを課題とする。【解決手段】車両周辺状況推定装置は、自車両が車両外部の物体に衝突したことを検出する衝突検出手段と、自車両周辺における検出領域の状況を検出する周辺状況検出手段と、衝突検出手段が衝突を検出する前の周辺状況検出手段の検出結果に基づいて、衝突した際の自車両周辺の予測領域の状況を推定する周辺状況推定手段と、周辺状況推定手段により推定された予測領域の状況を記録する周辺状況記録手段と、衝突検出手段が衝突を検出した後、前記衝突検出手段が衝突を検出する前に周辺状況記録手段により記録された予測領域の状況に基づいて、自車両周辺の車両周辺領域の状況を予測する周辺状況予測手段と、を備える。【選択図】図10
VEHICLE SURROUNDING-SITUATION ESTIMATION APPARATUS
車両周辺状況推定装置
2015-07-06
Patent
Electronic Resource
Japanese
SURROUNDING SITUATION DISPLAY METHOD AND SURROUNDING SITUATION DISPLAY DEVICE
European Patent Office | 2019
|Surrounding situation display method and surrounding situation display device
European Patent Office | 2022
|