| CPC B60W 30/09 (2013.01) [B60Q 9/008 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/02 (2013.01); G06V 10/40 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01); G08G 1/165 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] | 20 Claims |
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1. A vehicle drive assist apparatus to be applied to a vehicle, the vehicle drive assist apparatus comprising:
one or more sensors configured to obtain information regarding a surrounding environment around the vehicle;
one or more processors; and
one or more memories having programs, when executed, causing the one or more processors to be configured to:
recognize the surrounding environment around the vehicle based on the information regarding the surrounding environment;
acquire feature information of three-dimensional objects in the recognized surrounding environment,
set a first traveling path of the vehicle based on the recognized surrounding environment;
recognize an aerial object from among the three-dimensional objects based on the acquired feature information;
identify a type of the aerial object based on movement amounts of the aerial object in a horizontal direction, a vertical direction, and a depth direction, by:
comparing the movement amounts with respective thresholds; and
determining whether the aerial object is:
(a) a stationary aerial object, when a first movement amount in one of left and right directions, a second movement amount in an upward direction, and a third movement amount in one of forward and backward directions of the aerial object are all less than first to third thresholds, respectively;
(b) a first type falling object, when the first movement amount in the one of left and right directions and the second movement amount in the upward direction are less than the first and second thresholds, respectively, and the third movement amount in the one of forward and backward directions is not less than third threshold, and when moving the aerial object in another one of forward and backward directions is not detected;
(c) an airborne object, when the first movement amount in the one of left and right directions and the second movement amount in the upward direction are less than the first and second thresholds, respectively, and the third movement amount in the one of forward and backward directions is not less than the third threshold, and when moving the aerial object in another one of forward and backward directions is detected; and
(d) a second type falling object, when the first movement amount in the one of left and right directions is not less than the first threshold, and the second movement amount in the upward direction is less than the second threshold, and when moving the aerial object in the another one of left and right directions is not detected;
estimate a falling point of the aerial object on a road surface based on the identified type of the aerial object;
determine whether the estimated falling point is on the first traveling path of the vehicle;
in response to determining that the estimated falling point is not on the first traveling path of the vehicle, continue traveling control along the first traveling path; and
in response to determining that the estimated falling point is on the traveling path of the vehicle, set a second traveling path to steer around the falling point and execute traveling control along the second traveling path.
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