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Object detection apparatus

  • US 10,380,893 B2
  • Filed: 09/14/2015
  • Issued: 08/13/2019
  • Est. Priority Date: 09/24/2014
  • Status: Active Grant
First Claim
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1. An object detection apparatus mounted in a vehicle, comprising:

  • a sameness determination unit configured to determine, using a processor, whether or not a first object and a second object are a same object, the first object being an object detected by an electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect a position of the object, the second object being an object detected by an image sensor configured to image process a captured image to detect a position of the object;

    a position determination unit configured to determine, using the processor, a position of the same object that is an object for which the first object and the second object are determined to be the same, a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction, the position determination unit being further configured to determine whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition, andthe position determination unit is configured to determine whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.

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