Driving assist device

Patent metadata

Field	Value
Publication number	US-9802608-B2
Application number	US-201615244511-A
Country	US
Kind code	B2
Filing date	Aug 23, 2016
Priority date	May 9, 2012
Publication date	Oct 31, 2017
Grant date	Oct 31, 2017

Abstract

Provided is a driving assist device 10 that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus including: an object detecting unit 12 that detects the object in the vicinity of the moving body; a three dimensional object detecting unit 13 that detects a three dimensional object in the vicinity of the moving body; and an object recognition unit 18 that recognizes the object at a predetermined detection position as a non-obstacle when the object information storing unit 16 stores the position of the object, and the three dimensional object information storing unit 17 does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit 12 and the three dimensional object detecting unit 13.

First claim

The invention claimed is:

1. A driving assist device that recognizes an object in the vicinity of a vehicle, and assists a driver in driving the vehicle, the device comprising:
a vehicle position detecting unit that detects a position of the vehicle as a global coordinate system,
an object detecting unit that detects a position of the object in the vicinity of the vehicle as a local coordinate system;
a three dimensional object detecting unit that detects a position of a three dimensional object in the vicinity of the vehicle as a local coordinate system;
an object coordinate converting unit that converts the position of the object from the local coordinate system to the global coordinate system, based on the position of the vehicle and a change in the position of the vehicle;
a three dimensional object coordinate converting unit that converts the position of the three dimensional object from the local coordinate system to the global coordinate system, based on the position of the vehicle and the change in the position of the vehicle;
a first storage unit that stores the position of the global coordinate system of the object converted by the object coordinate converting unit;
a second storage unit that stores the position of the global coordinate system of the three dimensional object converted by the three dimensional object coordinate converting unit; and
an object recognition unit that recognizes the object at a predetermined detection position as a non-obstacle when the first storage unit stores the position of the object, and the second storage unit does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit and the three dimensional object detecting unit,
wherein the driving assist device executes driving assistance that includes one or both from between an acceleration or deceleration control and steering control of the vehicle, based on a recognized result from the object recognition unit.

2. The driving assist device according to claim 1 wherein the object recognition unit determines, when the position of the three dimensional object converted by the three dimensional object coordinate converting unit exists in a pre-set vicinity range of the vehicle, whether the position of the three dimensional object converted by the three dimensional object coordinate converting unit exists in the vicinity range, and recognizes the object as a non-obstacle when the position of the three dimensional object does not exist in the vicinity range, or recognizes the object as an obstacle when the position of the three dimensional object exists in the vicinity range.

3. The driving assist device according to claim 2 wherein the vicinity range is set to be a narrower range from between a detection range of the object recognition unit and a detection range of the three dimensional object detecting unit.

Assignees

• Toyota Motor Co Ltd

Inventors

• Urano Hiromitsu
• Sakai Katsuhiro
• Kindo Toshiki
• Ichikawa Kentaro
• Harada Masahiro

Classifications

• G01S13/865

  Combination of radar systems with lidar systems · CPC title

• B60W2754/10

  Spatial relation or speed relative to objects · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S7/412

  based on a comparison between measured values and known or stored values · CPC title

• B60Q9/008

  for anti-collision purposes · CPC title