Patent ID: 11948461
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A non-transitory computer-readable medium storing a program that causes a computer to execute steps comprising:
a data acquisition step of acquiring sensor data from a sensor that is provided in a traffic environment and senses an object present in the traffic environment;
an object information generation step of generating object information that is information for identifying at least a position and movement for each of the objects based on the sensor data;
a detection range estimation step of estimating an object detection range based on at least partial information constituting the object information, the object detection range being a range in which another object is detectable for each of the objects;
an intersection determination step of determining whether the objects intersect with each other within a predetermined time based on at least partial information constituting the object information;
a detection range inside-outside determination step of determining whether a position of a second object, among the objects, identified based on the object information is outside the object detection range of a first object among the objects, and determines whether a position of the first object identified based on the object information is outside the object detection range of the second object, the second object intersecting with the first object within the predetermined time; and
a signal output step of outputting a signal for avoiding intersection between the first object and the second object when the position of the second object is outside the object detection range of the first object or when the position of the first object is outside the object detection range of the second object, wherein the object detection range is estimated from which a blind spot region created by an obstacle identified based on three-dimensional map information on the traffic environment is excluded.