Object detection apparatus

• US 10,210,435 B2
• Filed: 10/21/2015
• Issued: 02/19/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Fukuman, Masumi, Ohbayashi, Motonari, Kida, Akihiro
• Primary Examiner(s): Couso, Jose L
• Application Number:
  US14/918,920
• Publication Number:
  US 20160117841A1
• Time in Patent Office: 1,217 Days
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition
• CPC Class Codes: G06T 2207/10132 Ultrasound image
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06V 10/993 Evaluation of the quality of the acquired pattern
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 30/248 involving plural approaches, e.g. verification by template match; Resolving confusion among similar patterns, e.g. "O" versus "Q" G06V30/242 takes precedence

Abstract

An object detection apparatus for detecting an object around a moving object carrying the apparatus by transmitting a probe wave and receiving reflections of the probe wave from the object via a plurality of ranging sensors attached to the moving object. In the apparatus, a tentative same-object determiner is configured to, if it is determined by a same-object determiner that the objects detected in the current and previous cycles are not the same, determine whether or not the objects detected in the current and previous cycles are likely to be the same. A determination suspender is configured to, if it is determined that the objects detected in the current and previous cycles are likely to be the same, suspend determining that the objects detected in the current and previous cycles are not the same.

Claims

1. An object detection apparatus for detecting an object around a moving object with a plurality of ranging sensors attached to the moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors, the apparatus comprising:

a central processing unit (CPU);

a memory;

a first detector configured to, using the CPU, detect the object based on a direct wave that is a first reflection of the probe wave from the object, the probe wave and the first reflection being respectively transmitted and received by the same ranging sensor that is a first ranging sensor that is one of the plurality of ranging sensors;

a second detector configured to, using the CPU, detect the object based on an indirect wave that is a second reflection of the probe wave from the object, the second reflection being received by a second ranging sensor that is another one of the plurality of ranging sensors;

an object-position calculator configured to, using the CPU, calculate an object position as a position of the object based on the detections of the first and second detectors according to the principle of triangulation;

a same-object determiner configured to, using the CPU, based on past object positions calculated by the object-position calculator in previous cycles and the object position calculated by the object-position calculator in a current cycle, determine whether or not the object detected by the first and second detectors in an immediately previous cycle and the object detected by the first and second detectors in the current cycle are the same;

a tentative same-object determiner configured to, using the CPU, if it is determined by the same-object determiner that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are not the same and then if a degree of confidence of the object position calculated by the object-position calculator in the immediately previous cycle is equal to or greater than a predetermined value, determine whether or not the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same, the degree of confidence of the object position being a number of times the object detected by the first and second detectors in the immediately previous cycle was determined to be the same in the previous cycles; and

a determination suspender configured to, using the CPU, if it is determined by the tentative same-object determiner that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same, suspend determining that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are not the same,

wherein, in response to determining that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are the same, the degree of confidence is incremented, and as a result of the incremented degree of confidence being greater than a predetermining threshold, a vehicle-object interaction avoidance control intervenes.

2. The apparatus of claim 1, further comprising an object-position predictor configured to, using the CPU, based on a history of past object positions calculated by the object-position calculator in the previous cycles, predict the object position in the current cycle,

wherein the same-object determiner is configured to, based on a positional relationship between the object position predicted by the object-position predictor and the object position calculated by the object-position calculator in the current cycle, determine whether or not the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are the same.

3. The apparatus of claim 2, wherein the same-object determiner is configured to, if the object position calculated by the object-position calculator in the current cycle is within a first range of determination including therein the object position predicted by the object-position predictor, determine that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are the same, and the tentative same-object determiner is configured to, if the object position calculated by the object-position calculator in the current cycle is within a second range of determination surrounding the first range of determination, determine that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same.

4. The apparatus of claim 3, wherein at least one of the first and second ranges of determination is variably set based on a distance to the object detected by the first and second detectors.

5. The apparatus of claim 3, wherein at least one of the first and second ranges of determination is variably set based on the degree of confidence of the object position calculated by the object-position calculator in the immediately previous cycle.

6. The apparatus of claim 2, further comprising:

a triangulation-feasibility determiner configured to, using the CPU, determine whether or not the triangulation is feasible in the current cycle;

a distance calculator configured to, using the CPU, based on detections of the first and second detectors, calculate distances to the object respectively detected by the first and second detectors; and

a distance predictor configured to, using the CPU, based on the object position predicted by the object-position predictor, calculate distances to the object respectively detected by the first and second detectors,

wherein the same-object determiner is configured to, if it is determined by the triangulation-feasibility determiner that the triangulation is infeasible in the current cycle, determine whether or not the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are the same based on a comparison of the distances to the object calculated by the distance predictor and the distances to the object calculated by the distance calculator, and the tentative same-object determiner is configured to, if it is determined that the triangulation is infeasible in the current cycle, determine whether or not the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same based on the comparison of the distance to the object predicted by the distance predictor and the distance to the object calculated by the distance calculator.

7. The apparatus of claim 1, wherein the tentative same-object determiner is configured to, if a number of times of consecutively determining that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same becomes equal to or greater than a predetermined number of times, determine that the object detected by the first and second detectors in the immediately previous cycle and the object detected by the first and second detectors in the current cycle are not the same.

8. The apparatus of claim 1, wherein each of the plurality of ranging sensors is an ultrasonic sensor capable of transmitting an ultrasonic wave as the probe wave.

9. The apparatus of claim 1, wherein the first and second ranging sensors are a pair of adjacent ranging sensors.

10. The apparatus of claim 1, wherein the moving object is a vehicle, and the apparatus is mounted in the vehicle.