| CPC B60W 50/14 (2013.01) [B60W 30/0956 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01)] | 2 Claims |
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1. A driver assistance device sending a notification to a driver of a vehicle, comprising:
a server comprising an arithmetic device, a storage device, and a server communication device,
wherein the vehicle comprises
a control device,
a notification device,
a storage device,
a first sensor configured to detect surroundings of the vehicle;
a second sensor configured to detect a motion state of the vehicle, and
a vehicle communication device configured to transmit surroundings information detected by the first sensor and motion state information detected by the second sensor to the server,
the server is configured to
receive the surroundings information and the motion state information transmitted from the vehicle communication device,
store the surroundings information and the motion state information in the arithmetic device,
calculate a degree of similarity between the surroundings information and the motion state information and vehicle environment information stored in the storage device,
select a computational model based on the calculated similarity,
input the surroundings information and the motion state information into the selected computational model to generate predicted trajectories for objects including the vehicle,
determine a possibility of contact between the vehicle and at least one object based on the predicted trajectories,
determine whether the driver of the vehicle needs to perform a safety confirmation action based on the possibility of contact, and
transmit, via the server communication device, safety confirmation necessity information indicating whether the driver needs to perform the safety confirmation action, to the vehicle, and
the notification device is configured to provide the notification based on the possibility of contact between the vehicle and the at least one object, the possibility being determined from a trajectory of the vehicle and a trajectory of surrounding object:
the trajectory of the vehicle is predicted:
based on first position potential information indicating a relationship between a plurality of first future positions where the vehicle may be present at a second time point that is a first predetermined time after a first time point and probabilities that the vehicle is present at each of the plurality of first future positions at the second time point, and
assuming that the vehicle is present, at the second time point, at one of the plurality of first future positions having a probability equal to or greater than a first threshold,
by calculating second position potential information indicating a relationship between a plurality of second future positions where the vehicle may be present at a third time point that is a second predetermined time after the second time point, and probabilities that the vehicle is present at each of the plurality of second future positions at the third time point, and
the trajectory of surrounding object is predicted:
based on third position potential information indicating a relationship between a plurality of third future positions where the surrounding object present around the vehicle may be present at the second time point, and probabilities that the surrounding object is present at each of the plurality of third future positions at the second time point,
assuming that the surrounding object is present, at the second time point, at one of the plurality of third future positions having a probability equal to or greater than a second threshold,
by calculating fourth position potential information indicating a relationship between a plurality of fourth future points where the surrounding object may be present at the third time point, and probabilities that the surrounding object is present at each of the plurality of fourth future positions at the third time point.
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