To provide a collision risk object detection device that detects a collision risk object with high accuracy without being affected by the position of an object that is present near a vehicle, and a program and a recording medium.SOLUTION: A collision risk object detection device comprises: a sonar sensor 20; an on-road stationary object detection unit 30 that detects an on-road stationary object S from an image at a rear side of a vehicle V, and calculates a position of the on-road stationary object S; a position estimation unit 60 that, when the on-road stationary object S has become undetectable by the on-road stationary object detection unit 30 due to backward traveling of the vehicle V, estimates the last position of the on-road stationary object S detected by the on-road stationary object detection unit 30 and a position of the on-road stationary object S on the basis of traveling speed information and steering angle information for the vehicle V, and calculates an angle θ between a central axis of the sonar sensor 20 and the position of the on-road stationary object S estimated; a correction unit 70 that corrects sensitivity reduction of a sensor output value on the basis of the angle θ; and a collision risk object determination unit 80 that determines whether or not the on-road stationary object S is a collision risk object on the basis of the sensor output value corrected by the correction unit 70.SELECTED DRAWING: Figure 1
【課題】車両周辺にある物体の位置に影響されることなく、精度よく衝突危険物体を検出する衝突危険物体検出装置、プログラムおよび記録媒体を提供する。【解決手段】ソナーセンサ20と、車両Vの後方の画像から路上静止物Sを検出し、路上静止物Sの位置を算出する路上静止物検出部30と、車両Vの後退走行により路上静止物検出部30において路上静止物Sが検出できなくなったとき、路上静止物検出部30において最後に検出された路上静止物Sの位置と、車両Vの走行速度情報と舵角情報とに基づいて路上静止物Sの位置を推定し、ソナーセンサ20の中心軸と推定した路上静止物Sの位置との間の角度θを算出する位置推定部60と、角度θに基づいてセンサ出力値の感度低下を補正する補正部70と、補正部70において補正されたセンサ出力値に基づいて、路上静止物Sが衝突危険物体であるか否かを判定する衝突危険物体判定部80と、を備えている。【選択図】図1
COLLISION RISK OBJECT DETECTION DEVICE, PROGRAM, AND RECORDING MEDIUM
衝突危険物体検出装置、プログラムおよび記録媒体
2024-01-17
Patent
Electronic Resource
Japanese
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