In-vehicle object determining apparatus

• US 10,451,722 B2
• Filed: 10/21/2015
• Issued: 10/22/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation
• Inventors: Tanaka, Hidenori, Kida, Akihiro
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/520,323
• Publication Number:
  US 20170322299A1
• Time in Patent Office: 1,462 Days
• Field of Search: None
• CPC Class Codes: B60R 21/00 Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01S 13/56 for presence detection presence detection using near field arrangements G01V3/00, e.g. G01V3/08, G01V3/12; burglar, theft or intruder alarms with electrical actuation G08B13/22 - G08B13/26
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 15/582 using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 15/876 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S15/872 takes precedence
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/933 for measuring the dimensions of the parking space when driving past
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50
• CPC Class Codes: G01S 7/539 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An in-vehicle object determining apparatus cooperates with an obstacle sensor unit, which detects an obstacle at a first time. An estimated detected state is calculated as a detected state of the obstacle estimated to be detected by the obstacle sensor unit at a second time after a lapse of a predetermined time period from the first time, on condition that the obstacle is assumed to be under stationary state, based on (i) a vehicle-relative position of the obstacle detected at the first time, (ii) a sensor position of the obstacle sensor unit, and (iii) a vehicle position change during a period from the first time to the second time. It is determined that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle and a real detected state of the obstacle actually detected by the obstacle sensor unit at the second time.

Claims

1. An in-vehicle object determining apparatus mounted in a vehicle to operate in association with an obstacle sensor unit that receives a reflected wave of a search wave transmitted from the obstacle sensor unit to sequentially detect presence of an obstacle around the vehicle and a distance to the obstacle, the in-vehicle object determining apparatus comprising:

a determination section that determines whether an obstacle detected by the obstacle sensor unit is a moving object;

an obstacle position specification section that specifies a vehicle-relative position of the obstacle detected by the obstacle sensor unit, the vehicle-relative position of the obstacle being a position of the obstacle relative to the vehicle;

a sensor position storing element that stores a sensor position as a position of the obstacle sensor unit relative to the vehicle;

a vehicle position change specification section that specifies a vehicle position change that is a change in a position of the vehicle;

a detected state estimation section that calculates,

based on (i) the vehicle-relative position of the obstacle specified by the obstacle position specification section, (ii) the sensor position stored in the sensor position storing element, and (iii) the vehicle position change specified by the vehicle position change specification section, the vehicle position change being during a period from a first time when the obstacle is detected by the obstacle sensor unit to a second time after a lapse of a predetermined time period from the first time,

an estimated detected state as a detected state of the obstacle estimated to be detected by the obstacle sensor unit at the second time on condition that the obstacle is assumed to be under stationary state,

an obstacle plane specification section that specifies a plane of the obstacle relative to the vehicle at the second time

based on (i) the distance to the obstacle which is sequentially detected by the obstacle sensor unit, (ii) the sensor position stored in the sensor position storing element, and (iii) the vehicle position change specified by the vehicle position change specification section during the period from the first time when the obstacle is detected by the obstacle sensor unit to the second time; and

an orientation determination section that determines whether the plane of the obstacle is facing the sensor position at the second time based on the plane of the obstacle specified by the obstacle plane specification section and the sensor position stored in the sensor position storing element,

wherein the determination section determines that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle estimated to be detected at the second time by the obstacle sensor unit and a real detected state of the obstacle, the real detected state of the obstacle being actually detected by the obstacle sensor unit at the second time, and

wherein, even though a discrepancy is present between the estimated detected state of the obstacle estimated to be detected at the second time by the obstacle sensor unit and the real detected state of the obstacle actually detected at the second time by the obstacle sensor unit, when the orientation determination section determines that the plane of the obstacle is not facing the sensor position of the obstacle sensor unit at the second time, the determination section does not determine that the obstacle is a moving object.

2. The in-vehicle object determining apparatus according to claim 1,

wherein each of the estimated detected state and the real detected state is at least either a detectability of the obstacle or a distance to the obstacle.

3. The in-vehicle object determining apparatus according to claim 1,

wherein:

the obstacle sensor unit includes a first obstacle sensor and a second obstacle sensor, which have mutually different detection ranges;

the detected state estimation section calculates an estimated detected state of an obstacle, the estimated detected state being estimated to be detected at the second time by the second obstacle sensor different from the first obstacle sensor, the obstacle being detected at the first time by the first obstacle sensor and used by the obstacle position specification section specifying the vehicle-relative position of the obstacle; and

the determination section determines that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle estimated to be detected at the second time by the second obstacle sensor and the real detected state of the obstacle actually detected at the second time by the second obstacle sensor.

4. The in-vehicle object determining apparatus according to claim 3,

wherein:

the detected state estimation section also calculates an estimated detected state of an obstacle estimated to be detected at the second time also by the first obstacle sensor, the obstacle being detected at the first time by the first obstacle sensor and used by the obstacle position specification section specifying the vehicle-relative position of the obstacle; and

the determination section determines that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle estimated to be detected at the second time by the first obstacle sensor and the real detected state of the obstacle actually detected at the second time by the first obstacle sensor.

5. The in-vehicle object determining apparatus according to claim 3,

wherein:

when the vehicle is at a stop, the detected state estimation section calculates an estimated detected state of an obstacle estimated to be detected at the second time again by the first obstacle sensor, the object being detected at the first time by the first obstacle sensor and used by the obstacle position specification section specifying the vehicle-relative position of the obstacle; and

the determination section determines that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle estimated to be detected at the second time by the first obstacle sensor and the real detected state of the obstacle actually detected at the second time by the first obstacle sensor.

6. The in-vehicle object determining apparatus according to claim 1,

wherein:

the obstacle sensor unit is an obstacle sensor;

the detected state estimation section calculates an estimated detected state of an obstacle estimated to be detected at the second time again by the obstacle sensor, the obstacle being detected at the first time by the obstacle sensor and used by the obstacle position specification section specifying the vehicle-relative position of the obstacle; and

the determination section determines that the obstacle is a moving object based on a discrepancy between the estimated detected state of the obstacle estimated to be detected at the second time by the obstacle sensor and the real detected state of the obstacle actually detected at the second time by the obstacle sensor.

7. The in-vehicle object determining apparatus according to claim 1,

wherein the obstacle sensor unit detects an obstacle in a lateral region relative to the vehicle.

8. The in-vehicle object determining apparatus according to claim 1,

wherein the obstacle sensor unit is an ultrasonic sensor.