Obstacle detection device for vehicle and method thereof
First Claim
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1. An obstacle detection device for a vehicle, comprising:
- a first measuring portion that determines a distance between the vehicle and an object in a vicinity of the vehicle;
a second measuring portion that determines a distance between the vehicle and the object in the vicinity of the vehicle and has a different characteristic than the first measuring portion; and
a controller that determines that the object is an obstacle when;
the distance between the vehicle and the object determined by the first measuring portion and the distance between the vehicle and the object determined by the second measuring portion with the same timing used by the first measuring portion are consistent, and at least one of a displacement amount of the distance, a displacement amount of a relative velocity and a displacement amount of a relative acceleration at a predetermined interval of time from the vehicle to the object determined by the first measuring portion and a corresponding at least one of a displacement amount of the distance, a displacement amount of the relative velocity and a displacement of the relative acceleration from the vehicle to the object determined by the second measuring portion with the same timing used by the first measuring portion are consistent.
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Abstract
An obstacle detection device for a vehicle that detects obstacles using a distance to an object calculated by image processing and a distance to the object calculated by radar ranging. This obstacle detection device includes a measuring portion that measures an amount of movement of the object at a predetermined interval of time by image processing and a measuring portion that measures an amount of movement of the object at a predetermined interval of time by radar ranging, and does not determine the object to be an obstacle when the two amounts of movement are not consistent.
36 Citations
13 Claims
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1. An obstacle detection device for a vehicle, comprising:
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a first measuring portion that determines a distance between the vehicle and an object in a vicinity of the vehicle;
a second measuring portion that determines a distance between the vehicle and the object in the vicinity of the vehicle and has a different characteristic than the first measuring portion; and
a controller that determines that the object is an obstacle when;
the distance between the vehicle and the object determined by the first measuring portion and the distance between the vehicle and the object determined by the second measuring portion with the same timing used by the first measuring portion are consistent, and at least one of a displacement amount of the distance, a displacement amount of a relative velocity and a displacement amount of a relative acceleration at a predetermined interval of time from the vehicle to the object determined by the first measuring portion and a corresponding at least one of a displacement amount of the distance, a displacement amount of the relative velocity and a displacement of the relative acceleration from the vehicle to the object determined by the second measuring portion with the same timing used by the first measuring portion are consistent. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An obstacle detection method of an obstacle detection device for a vehicle, comprising:
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determining, by a first measuring method, a distance between the vehicle and an object in a vicinity of the vehicle, and at least one of a displacement amount of that distance, a displacement amount of a relative velocity and a displacement amount of a relative acceleration;
determining, by a second measuring method that has a different characteristic than the first measuring method with the same timing used by the first measuring method, a distance between the vehicle and the object in the vicinity of the vehicle and at least one of a displacement amount of that distance, a displacement amount of a relative velocity and a displacement amount of a relative acceleration; and
determining the object to be an obstacle when;
the distance between the vehicle and the objection determined in the first measuring step and the distance between the vehicle and the objection determined in the second measuring step are consistent, and at least one of a displacement amount of the distance, a displacement amount of a relative velocity and a displacement mount of a relative acceleration determined in the first measuring step and a displacement amount of the distance, a displacement amount of a relative velocity and a displacement mount of a relative acceleration determined in the second measuring step are consistent. - View Dependent Claims (9, 10, 11)
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12. An obstacle detection device for a vehicle that detects an obstacle using a distance to an object calculated by image processing and a distance to the object calculated by radar ranging, comprising:
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a first measuring portion that calculates, by image processing, a displacement amount of the distance from the vehicle to the object at a predetermined interval of time;
a second measuring portion that calculates, by radar ranging, a displacement amount of the distance at the predetermined interval of time; and
a control portion that determines the object to be an obstacle when the two displacement amounts of the distance are consistent.
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13. An obstacle detection method by an obstacle detection device for a vehicle, comprising the steps of:
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calculating, by image processing, a displacement amount of a distance from the vehicle to an object at a predetermined interval of time;
calculating, by radar ranging, a displacement amount of the distance at the predetermined interval of time;
comparing the displacement amount at a predetermined interval time of the object calculated by the imaging processing with the displacement amount of the distance at a predetermined interval of time of the object measured by the radar ranging; and
determining the object to be an obstacle when the displacement amounts of the distance are consistent.
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Specification