Risk potential calculation apparatus

摘要

A risk potential estimating device 20 of a driving support apparatus 10 calculates the risk potential of an object at each of a plurality of points which are set around a host vehicle 100. When there is a pedestrian M2 in a blind spot B caused by a pedestrian M1 in the field of view of the host vehicle 100, the risk potential estimating device 20 omits the calculation of the risk potential of the pedestrian M2. When there is the pedestrian M1 close to the host vehicle 100, first, the behavior of avoiding the pedestrian M1 is performed. Therefore, the risk potential of the pedestrian M1 may be calculated at each point. In many cases, the calculation of the risk potential of the pedestrian M2 which is located in the blind spot B caused by the pedestrian M1 and is away from the host vehicle 100 is redundant. When the calculation of the risk potential of the pedestrian M2 which is located in the blind spot B caused by the pedestrian M1 is omitted, it is possible to reduce the load of an operation for calculating the risk potential while maintaining the accuracy of calculating the risk potential around the vehicle.

主权项

1. A risk potential calculation apparatus comprising:
a risk potential calculation unit including executable program logic configured to calculate a risk potential at each intersection point of lattice-shaped regions set for a host vehicle or in each region within the lattice-shaped regions, the risk potential being based on an object detected in the lattice-shaped regions by an obstacle detecting device mounted on the host vehicle, wherein the lattice shaped regions are set in a field of view of the host vehicle, and wherein, when there is a second object present in a blind spot behind a first object in the lattice shaped regions, the second object being detected by the obstacle detecting device, the risk potential calculation unit omits the calculation of the risk potential based on the second object.