Object detection device, object detection method and vehicle control system

Patent metadata

Field	Value
Publication number	US-2019079181-A1
Application number	US-201816128927-A
Country	US
Kind code	A1
Filing date	Sep 12, 2018
Priority date	Sep 14, 2017
Publication date	Mar 14, 2019
Grant date	—

Abstract

An ECU as an object detection device and a radar device are mounted on a vehicle. The radar device acquires front-view images containing a detection-target object such as a preceding vehicle present within a predetermined area around the vehicle. The radar device recognizes the detection-target object in time series based on the acquired front-view images. The ECU realizes a preceding vehicle selection part, an irregular-detection detecting part and an association processing part. The selection part selects the object when a to relationship between the object and the vehicle satisfies a predetermined condition. The detecting part detects occurrence of an irregular detection when a first object selected as the preceding vehicle and a second object not selected as the preceding vehicle are detected based on the object. The association processing part performs an association process of associating history of the first object to the second object when the irregular detection has occurred.

First claim

What is claimed is:

1 . An object detection device to be mounted on an own vehicle equipped with a radar detection object acquiring part and an object recognition part, the radar detection object acquiring part acquiring, as a radar detection object, an object present within a predetermined area around the own vehicle, and the object recognition part recognizing the object in time series on the basis of the radar detection object acquired by the radar detection object acquiring part,
the object detection device comprising a computer system including a central processing unit, the computer system being configured to provide: a preceding vehicle selection part selecting the object as a preceding vehicle which is running in front of the own vehicle when the object recognition part recognizes, as the preceding vehicle, the object when a relationship between the object and the own vehicle satisfies a predetermined condition; an irregular-detection detecting part detecting occurrence of an irregular detection of the object selected as the preceding vehicle, from which a first object and a second object being acquired, where the first object being used for selecting the object as the preceding vehicle, and the second object being not being used for selecting the object as the preceding vehicle; and an association processing part performing an association process of associating history data of the first object with the second object when the irregular detection has occurred.

2 . The objection detection device according to claim 1 , wherein the preceding vehicle selection part selects the object as the preceding vehicle when the predetermined condition is satisfied, the predetermined condition being that a vehicle distance between the radar detection object recognized by the object recognition part is less than a predetermined vehicle distance, and
the preceding vehicle selection part selects the object as the preceding vehicle when the vehicle distance is less than a first vehicle distance in a first area in the predetermined area, and selects the object as the preceding vehicle when the vehicle distance is less than a second to vehicle distance in a second area in the predetermined area, wherein the second vehicle distance is less than the first vehicle distance, the first area and the second area in the predetermined area are measured relative to a reference axis determined in front of the location of the own vehicle, the first area has a first radar scanning angle which is less than a predetermined radar scanning angle, and the second area has a second radar scanning angle which is more than the predetermined radar scanning angle.

3 . The objection detection device according to claim 2 , wherein the preceding vehicle selection part selects the object as the preceding vehicle even if the vehicle distance is less than the first vehicle distance in the second area when the object has been selected as the preceding vehicle.

4 . The objection detection device according to claim 1 , wherein the preceding vehicle selection part excludes the object from the selection of the preceding vehicle when the object has been recognized within an area, a radar scanning angle of which is greater than the predetermined radar scanning angle measured relative to the reference axis determined in front of the location of the own vehicle.

5 . The objection detection device according to claim 1 , wherein the association processing part performs the association process within a predetermined period of time counted from a timing when the irregular-detection detecting part detects occurrence of the irregular detection.

6 . The objection detection device according to claim 1 , wherein the association processing part waits to perform the association process again until a predetermined period of time is elapsed after the association process was previously performed.

7 . The objection detection device according to claim 1 , wherein the preceding vehicle selection part selects the object having a minimum vehicle distance in a plurality of objects when the object recognition part has recognized the plurality of objects.

8 . The objection detection device according to claim 7 , wherein the preceding vehicle selection part selects the object as the preceding vehicle when the vehicle distance between the own vehicle and the radar detection object recognized by the object recognition part is less than a predetermined vehicle distance, and the object recognition part adds a correction value to the vehicle distance between the object as the second object and the own vehicle when the irregular detection has occurred.

9 . The objection detection device according to claim 1 , further comprising an image object acquiring part acquiring an image object, which corresponds to the object from an acquired image obtained in an image acquisition area which corresponds to the predetermined area, wherein the irregular-detection detecting part detects occurrence of the irregular detection when the first object and the second object correspond to a same object.

10 . The objection detection device according to claim 9 , further comprising a detection target object recognition part which recognizes, as the detection target object, an object which has been acquired from the radar detection object and the image object, wherein the preceding vehicle selection part selects the object as the preceding vehicle when the object has been recognized as the detection target object.

11 . The objection detection device according to claim 1 , further comprising
an own vehicle driving line probability calculation part calculating an own vehicle driving line probability of the object on the basis of the radar detection object, wherein the preceding vehicle selection part selects the object as the preceding vehicle when the own vehicle driving line probability of the object is higher than a predetermined threshold value of the own vehicle driving line probability, and the association processing part performs the association process of associating history data of the own vehicle driving line probability of the first object with the second object.

12 . The objection detection device according to claim 1 , wherein the association processing part does not perform the association process for the object which has not been selected as the preceding vehicle.

13 . An object detection device to be mounted on an own vehicle equipped with a radar detection object acquiring part and an object recognition part, the radar detection object acquiring part acquiring, as a radar detection object, an object being present within a predetermined area around the own vehicle, and the object recognition part recognizing the object in time series on the basis of the radar to detection object acquired by the radar detection object acquiring part,
the object detection device comprising a computer system including a central processing unit, the computer system being configured to provide a preceding vehicle selection part selecting the object as a preceding vehicle which is running in front of the own vehicle when the object recognition part recognizes, as the preceding vehicle, when a vehicle distance between the object and the own vehicle is less than a predetermined vehicle distance, and the preceding vehicle selection part selecting the object as the preceding vehicle when the vehicle distance is less than a first vehicle distance in a first area in the predetermined area, and selecting the object as the preceding vehicle when the vehicle distance is less than a second vehicle distance in a second area in the predetermined area, wherein the s

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Mizuno Ryo
• Masui Yohei
• Maeda Takashi

Classifications

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title

• G01S2013/932

  using own vehicle data, e.g. ground speed, steering wheel direction · CPC title

• B60W50/029

  Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts · CPC title