Moving object detection device, program, and recording medium
First Claim
1. A moving object detection device comprising:
- a first input circuitry that, in operation, receives, from a radar object detector included in a vehicle, positional information indicating a position of an object present around the vehicle in time sequence, which includes a plurality of reflection points reflected by at least part of the object, the plurality of reflection points respectively corresponding to a plurality of azimuth positions from the radar object detector; and
a controller that, in operation, processes the positional information received by the first input circuitry in the time sequence including at least a first continuum object along a traveling road of the vehicle, determines, based on the plurality of reflection points respectively corresponding to the plurality of azimuth positions from the radar object detector, that a shape of an end portion of the first continuum object of this time changes in comparison with a shape of an end portion of a previous detected first continuum object, and outputs, to a vehicle control circuitry of the vehicle, information indicating that another moving object different from the vehicle is present.
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Abstract
The present disclosure provides a moving object detection device including a first input circuitry that receives positional information indicating a position of an object present around a vehicle in time sequence from an object detector included in the vehicle, and a controller that processes the positional information received by the first input circuitry in time sequence, detects at least a first continuum along a traveling road of the vehicle, and when a shape of a detected first continuum of this time is changed in comparison with a shape of a previous first continuum, outputs information indicating that another moving object different from the vehicle is present to a vehicle control circuitry of the vehicle.
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Citations
8 Claims
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1. A moving object detection device comprising:
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a first input circuitry that, in operation, receives, from a radar object detector included in a vehicle, positional information indicating a position of an object present around the vehicle in time sequence, which includes a plurality of reflection points reflected by at least part of the object, the plurality of reflection points respectively corresponding to a plurality of azimuth positions from the radar object detector; and a controller that, in operation, processes the positional information received by the first input circuitry in the time sequence including at least a first continuum object along a traveling road of the vehicle, determines, based on the plurality of reflection points respectively corresponding to the plurality of azimuth positions from the radar object detector, that a shape of an end portion of the first continuum object of this time changes in comparison with a shape of an end portion of a previous detected first continuum object, and outputs, to a vehicle control circuitry of the vehicle, information indicating that another moving object different from the vehicle is present. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer-readable storage medium storing a program that causes a computer to execute:
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a process of receiving positional information indicating a position of an object present around a vehicle in time sequence from a radar object detector included in the vehicle, the positional information including a plurality of reflection points reflected by at least part of the object, the plurality of reflection points respectively corresponding to a plurality of azimuth positions from the radar object detector; and a process of processing the positional information in time sequence including the plurality of reflection points included in the positional information, determining, based on the plurality of reflection points respectively corresponding to the plurality of azimuth positions from the radar object detector, a shape of an end portion of a detected first continuum object of this time is changed in comparison with a shape of an end portion of a previous detected first continuum object, and outputting information indicating that another moving object different from the vehicle is present to a vehicle control circuitry included in the vehicle.
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Specification