| CPC B60W 30/09 (2013.01) [G08G 1/16 (2013.01); G08G 1/167 (2013.01); B60W 2520/06 (2013.01); B60W 2552/10 (2020.02); B60W 2554/00 (2020.02)] | 9 Claims |
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1. A monitoring area setting apparatus that is mountable to an own vehicle and is configured to set a monitoring area that indicates an area for monitoring objects in a vicinity of the own vehicle, the monitoring area setting apparatus comprising one or more processors configured to implement:
an information acquiring unit that is configured to acquire (i) at least either of a vehicle-width movement amount that indicates an amount of movement in a vehicle-width direction of the own vehicle and an inclination amount that indicates a degree of inclination of the own vehicle relative to an extending direction of a road on which the own vehicle is traveling, and (ii) information that the own vehicle has changed traffic lanes; and
an area setting unit that is configured to set the monitoring area taking into consideration at least either of the vehicle-width movement amount and the inclination amount, in response to the own vehicle changing traffic lanes; and
a trajectory acquiring unit that is configured to acquire a traveling trajectory of the own vehicle, wherein:
the area setting unit comprises:
a provisional setting unit that is configured to set a provisional area with reference to a position of the own vehicle; and
an area correcting unit that is configured to:
correct a position of the provisional area taking into consideration at least either of the vehicle-width movement amount and the inclination amount, in response to the own vehicle changing traffic lanes; and
set the provisional area after correction as the monitoring area;
regarding a first portion of the traveling trajectory before a start of lane change, the area setting unit is configured to set the first portion as a part of the monitoring area;
regarding a second portion of the traveling trajectory after the start of lane change, the provisional setting unit is configured to set a predetermined area that is positioned in a predetermined direction in the vicinity of the own vehicle as the provisional area; and
the area correcting unit is configured to:
correct the position of the provisional area by rotating the provisional area by an amount amounting to the inclination amount, in response to the own vehicle changing traffic lanes; and
set the provisional area after correction as another part of the monitoring area.
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3. A monitoring area setting apparatus that is mountable to an own vehicle and is configured to set a monitoring area that indicates an area for monitoring objects in a vicinity of the own vehicle, the monitoring area setting apparatus comprising one or more processors configured to perform operations, the operations comprising:
acquiring (i) at least either of a vehicle-width movement amount that indicates an amount of movement in a vehicle-width direction of the own vehicle and an inclination amount that indicates a degree of inclination of the own vehicle relative to an extending direction of a road on which the own vehicle is traveling, and (ii) information that the own vehicle has changed traffic lanes;
setting the monitoring area taking into consideration at least either of the vehicle-width movement amount and the inclination amount, in response to the own vehicle changing traffic lanes;
acquiring positions of a line of vehicles that indicate a plurality of vehicles that are arrayed along the extending direction; and
setting an end portion of the monitoring area on the line of vehicles side such that the monitoring area does not include the line of vehicles, based on the positions of the line of vehicles.
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