Driving assist device

Patent metadata

Field	Value
Publication number	US-9981659-B2
Application number	US-201715716973-A
Country	US
Kind code	B2
Filing date	Sep 27, 2017
Priority date	May 9, 2012
Publication date	May 29, 2018
Grant date	May 29, 2018

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 moving body, and assists a driver in driving the moving body, the driving assist device comprising:
an object detecting unit that detects the object in the vicinity of the moving body;
an information generating unit that generates information indicative of a moving history of the detected object;
a history information storing unit that stores the information generated by the information generating unit as history information;
an object recognition unit that determines that the detected object is a moving object if the detected object is in motion, and determines that the detected object is a moving object if the detected object is not in motion and has moved previously, based on the history information obtained from the history information storing unit;
a fixed object information storing unit that stores a position of a non-obstacle as a fixed object information; and
wherein when the object recognition unit determines a position of the detected object coincides with the position of the non-obstacle, and recognizes the detected object is not the moving object, the object recognition unit recognizes the object as the non-obstacle, and when the object recognition unit determines the position of the detected object coincides with the position of the non-obstacle, and recognizes the detected object is the moving object, the object recognition unit does not recognize the object as the non-obstacle.

2. The driving assist device according to claim 1 ,
wherein the history information storing unit deletes the history information that is not updated during a predetermined period.

Assignees

• Toyota Motor Co Ltd

Inventors

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

Classifications

• B60Q9/008

  for anti-collision purposes · CPC title

• B60W50/12

  Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation · CPC title

• B60W2754/10

  Spatial relation or speed relative to objects · CPC title

• B60W2754/30

  Longitudinal distance · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title