Moving object detection apparatus and drive support apparatus

• US 10,197,672 B2
• Filed: 06/21/2016
• Issued: 02/05/2019
• Est. Priority Date: 07/27/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Takahashi, Yoshihiko, Iwata, Yoichi, Ohbayashi, Motonari
• Primary Examiner(s): Brainard, Timothy A
• Assistant Examiner(s): Pervin, Nuzhat
• Application Number:
  US15/188,563
• Publication Number:
  US 20170031018A1
• Time in Patent Office: 959 Days
• Field of Search: 342 71
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9317 Driving backwards
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating

Abstract

A moving object detection apparatus is configured to calculate, based on detection information of an object from a radar sensor, a moving direction of the object with respect to a host vehicle to generate object information, the object information including information representing the calculated moving direction; set an invalidation time period or an invalidation section; and prevent a calculation of the moving direction during a period from the detection start timing to an invalidation end timing, the invalidation end timing being at a lapse of the invalidation time period or a timing when the object exists from the invalidation section, or prevent the moving direction calculated by the object information generating part from being used in a drive support control during the period from the detection start timing to the invalidation end timing.

Claims

1. A moving object detection apparatus that is provided on a host vehicle positioned adjacent a shield object, the shield object positioned behind the host vehicle and at a left side thereof or at a right side thereof, the vehicle including a radar sensor on a front or rear portion thereof and a drive support control apparatus configured to perform a drive support control for reducing a probability of a collision between the host vehicle and a monitoring object passing behind the host vehicle from the left side thereof to the right side thereof or from the right side thereof to the left side thereof,

the moving object detection apparatus generating, based on detection information of the radar sensor, object information used in the drive support control, the moving object detection apparatus comprising circuitry configured to:

calculate, based on detection information of an object from the radar sensor, a moving direction of the object with respect to the host vehicle to generate the object information, the object information including the information representing the calculated moving direction;

set an invalidation time period or an invalidation section according to a size of a shield range due to the shield object, the invalidation time period is set from a detection start timing when the object is started to be detected by the radar sensor, and the invalidation section is set from a position of the vehicle at the detection start timing such that the invalidation time period and the invalidation section becomes longer when a detection start distance is a first value than when the detection start distance is a second value that is smaller than a first value, the detection start distance corresponding to a distance between the host vehicle and the object at the detection start timing; and

prevent a calculation of the moving direction during a period from the detection start timing to an invalidation end timing, the invalidation end timing being at a lapse of the invalidation time period or a timing when the object exits from the invalidation section, or prevent the calculated moving direction from being used as the moving direction of the monitoring object in the drive support control during the period from the detection start timing to the invalidation end timing.

2. The moving object detection apparatus of claim 1, wherein the circuitry sets, based on stored information in which a relationship between a relative speed of the object with respect to the host vehicle at the detection start timing, the detection start distance, and the invalidation time period, the invalidation time period according to the relative speed and the detection start distance based on the detection information from the radar sensor, and

the relationship is such that the invalidation time period increases as the detection start distance increases and the invalidation time period increases as the relative speed decreases.

3. The moving object detection apparatus of claim 1, wherein the detection start distance is calculated in a direction perpendicular to a longitudinal axis of the host vehicle.

4. A drive support apparatus that is installed on a host vehicle and performs a drive support control for reducing a probability of a collision between the host vehicle and a monitoring object passing behind the host vehicle from a left side thereof to a right side thereof or from the right side thereof to the left side thereof, the vehicle positioned adjacent a shield object that is positioned behind the host vehicle and at the left side thereof or at the right side thereof, the drive support apparatus comprising:

a radar sensor on a front or rear portion of the host vehicle, and circuitry configured to;

set an invalidation time period or an invalidation section according to a size of a shield range due to the shield object, the invalidation time period is set from a detection start timing when an object is started to be detected by the radar sensor, and the invalidation section is set from a position of the vehicle at the detection start timing such that the invalidation time period and the invalidation section becomes longer when a detection start distance is a first value than when the detection start distance is a second value that is smaller than a first value, the detection start distance corresponding to a distance between the host vehicle and the object at the detection start timing;

calculate, based on detection information of the object from the radar sensor, a moving direction of the object;

perform the drive support control using the calculated moving direction as a moving direction of the monitoring object; and

prevent the drive support control using the moving direction of the monitoring object during a period from the detection start timing to an invalidation end timing, the invalidation end timing being at a lapse of the invalidation time period or a timing when the object exits from the invalidation section.

5. The drive support apparatus of claim 4, wherein the drive support control includes at least one of an alarm control that outputs an alarm informing a driver of an approach of the object, and an automatic brake control that automatically applies a brake force to the host vehicle.