US 12,412,475 B2
Control device, warning control method, and non-transitory computer-readable storage medium
Tetsuo Nakamura, Kanagawa Ken (JP); Takayuki Suzuki, Kanagawa Ken (JP); and Akitoshi Yamashita, Hyogo Ken (JP)
Assigned to PANASONIC AUTOMOTIVE SYSTEMS CO., LTD., Kanagawa (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Sep. 6, 2023, as Appl. No. 18/242,986.
Application 18/242,986 is a continuation of application No. PCT/JP2021/047714, filed on Dec. 22, 2021.
Claims priority of application No. 2021-054330 (JP), filed on Mar. 26, 2021.
Prior Publication US 2024/0013660 A1, Jan. 11, 2024
Int. Cl. B60Q 1/00 (2006.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01); G08G 1/04 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/167 (2013.01) [G06T 7/60 (2013.01); G06T 7/73 (2017.01); G08G 1/04 (2013.01); G06T 2207/30256 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control device, comprising:
a memory configured to store a program; and
a processor coupled to the memory and configured to execute the program to perform processing,
the processing comprising:
receiving lane position information indicating a position of a lane boundary line;
detecting the position of the lane boundary line, the lane boundary line indicating a boundary in a width direction of a road on which an own vehicle travels, based on a captured image captured by a camera configured to capture the captured image around the own vehicle;
receiving position information indicating a position of an other vehicle;
receiving distance information of the other vehicle, the distance information being based on the position of the other vehicle;
detecting the position of the other vehicle based on the captured image, the position information, and the distance information;
performing a traveling state determination of determining whether the other vehicle and the own vehicle are traveling in a same lane or the other vehicle and the own vehicle are about to travel in the same lane, based on the lane position information and the position of the other vehicle;
determining whether a distance between the other vehicle and the own vehicle is within a predetermined distance range based on the distance information, when the processor determines that the other vehicle and the own vehicle are traveling in the same lane, or when the processor determines that the other vehicle and the own vehicle are about to travel in the same lane; and
performing control to output a warning to a driver of the own vehicle based on a relationship between the position of the lane boundary line and the position of the other vehicle,
wherein the warning is output to the driver of the own vehicle at least when the processor determines that the other vehicle and the own vehicle are traveling in the same lane or when the processor determines that the other vehicle and the own vehicle are about to travel in the same lane, and when the processor determines that the distance between the other vehicle and the own vehicle is within the predetermined distance range.