| CPC G06V 20/58 (2022.01) [B62D 15/0265 (2013.01); G06T 7/70 (2017.01); G06V 20/588 (2022.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01); G06V 2201/08 (2022.01)] | 5 Claims |
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1. A target vehicle recognition apparatus for recognizing a target vehicle to be avoided by steering control of a host vehicle, the apparatus comprising:
an electronic control unit configured to:
detect a stopped vehicle located in front of the host vehicle based on at least one of a captured image captured by a front camera of the host vehicle or a detection result of a front radar sensor of the host vehicle;
determine whether the stopped vehicle is in a forward-facing state to the host vehicle or in a rearward-facing state to the host vehicle based on a captured image of the front camera;
determine whether the stopped vehicle is in a right boundary line deviation state crossing a right boundary line of a travel lane of the host vehicle, whether the stopped vehicle is in a left boundary line deviation state crossing a left boundary line of the travel lane, or whether the stopped vehicle is neither in the right boundary line deviation state nor the left boundary line deviation state, based on the captured image; and
recognize the target vehicle for the steering control based on the captured image, a determination result of the electronic control unit, and a determination result of the electronic control unit,
wherein the electronic control unit does not recognize the stopped vehicle as the target vehicle for the steering control when the electronic control unit determines that the stopped vehicle is neither in the right boundary line deviation state nor the left boundary line deviation state,
wherein when the electronic control unit determines that the stopped vehicle is in the rearward-facing state and the electronic control unit determines that the stopped vehicle is in the left boundary line deviation state, the electronic control unit recognizes the stopped vehicle as the target vehicle for the steering control when a front left end of the stopped vehicle is not included in the captured image, and does not recognize the stopped vehicle as the target vehicle for the steering control when the front left end of the stopped vehicle is included in the captured image,
wherein when the electronic control unit determines that the stopped vehicle is in the rearward-facing state and the electronic control unit determines that the stopped vehicle is in the right boundary line deviation state, the electronic control unit recognizes the stopped vehicle as the target vehicle for the steering control when a front right end of the stopped vehicle is not included in the captured image, and does not recognize the stopped vehicle as the target vehicle for the steering control when the front right end of the stopped vehicle is included in the captured image,
wherein when the electronic control unit determines that the stopped vehicle is in the forward-facing state and the electronic control unit determines that the stopped vehicle is in the left boundary line deviation state, the electronic control unit recognizes the stopped vehicle as the target vehicle for the steering control when a rear right end of the stopped vehicle is not included in the captured image, and does not recognize the stopped vehicle as the target vehicle for the steering control when the rear right end of the stopped vehicle is included in the captured image,
wherein when the electronic control unit determines that the stopped vehicle is in the forward-facing state, and the electronic control unit determines that the stopped vehicle is in the right boundary line deviation state, the electronic control unit recognizes the stopped vehicle as the target vehicle for the steering control when a rear left end of the stopped vehicle is not included in the captured image, and does not recognize the stopped vehicle as the target vehicle for the steering control when the rear left end of the stopped vehicle is included in the captured image, and
wherein the electronic control unit is configured to perform the steering control to avoid the target vehicle in response to recognizing the target vehicle and the captured image by the front camera of the host vehicle.
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