Object recognition apparatus and method thereof
First Claim
1. An object recognition apparatus, comprising:
- a judgment unit for judging whether an object is detected on a lane other than a lane on which a predetermined vehicle is currently running;
an adjacent lane judgment unit for judging whether an adjacent lane exists adjacent to the currently running lane; and
a recognition unit for recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that the adjacent lane does not exist.
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Accused Products
Abstract
The invention provides an object recognition apparatus that removes virtual images without detecting a roadside object. When a predetermined vehicle is currently running on a lane, a detection area, outside of the currently running lane, is designated to include a first area and an assumed ghost area therein. The first area is enclosed by a boundary of the detection area, a boundary of the assumed ghost area adjacent thereto, and a boundary on the currently running lane whose distance is traveled by the vehicle during one control cycle. The invention detects an object for the first time in the assumed ghost area, not in the first area. When the object travels with a distance and a speed of a target vehicle, it is determined to be a ghost to be deleted.
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Citations
14 Claims
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1. An object recognition apparatus, comprising:
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a judgment unit for judging whether an object is detected on a lane other than a lane on which a predetermined vehicle is currently running;
an adjacent lane judgment unit for judging whether an adjacent lane exists adjacent to the currently running lane; and
a recognition unit for recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that the adjacent lane does not exist. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A radar apparatus for use on a vehicle, comprising:
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a transmitter for transmitting waves to an object ahead;
a receiver for receiving the waves reflected by the object;
a judgment unit, based on a signal from the receiver, for judging whether the object is detected on a lane other than a lane on which the vehicle is currently running;
an adjacent lane judgment unit for judging whether an adjacent lane exists adjacent to the currently running lane; and
a recognition unit for recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that an adjacent lane does not exist.
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9. A method of recognizing an object, comprising:
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judging whether an object is detected on a lane other than a lane on which a vehicle is currently running;
judging whether an adjacent lane exists adjacent to the currently running lane; and
recognizing that the object is a virtual image when the object is detected and the adjacent lane does not exist.
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10. A method of recognizing an object by the use of a radar apparatus on a vehicle, comprising:
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transmitting waves to an object ahead;
receiving the waves reflected by the object;
based on a signal from the receiver, judging whether the object is detected on a lane other than a lane on which the vehicle is currently running;
judging whether an adjacent lane exists adjacent to the currently running lane; and
recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that an adjacent lane does not exist.
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11. A method of recognizing an object by the use of a radar apparatus on a vehicle that can detect a range of velocities and have a detection period, comprising:
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establishing a detection area in a traveling direction of the vehicle that is currently running on a lane, for detecting an object by radar waves of the radar apparatus;
establishing a first area within the detection area on an adjacent lane adjacent to the currently running lane, the first area designated by a distance decided by a maximum velocity of the detection range and the detection period;
establishing a second area within the detection area, not overlapping the first area; and
detecting the object for the first time in the second area, not in the first area, whereby the object is judged to be a ghost. - View Dependent Claims (12)
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13. A method of recognizing an object by the use of a radar apparatus on a vehicle that can detect a range of velocities and have a detection period, comprising:
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establishing a detection area in a traveling direction of the vehicle that is currently running on a lane, for detecting an object by radar waves of the radar apparatus;
establishing a first area within the detection area on an adjacent lane adjacent to the currently running lane, the first area designated by a distance decided by a maximum velocity of the detection range and the detection period;
establishing a second area within the detection area, not overlapping the first area;
detecting the object for the first time in the second area, not in the first area; and
detecting a target vehicle that runs at the same distance and relative velocity of those of the object, whereby the object is judged to be a ghost. - View Dependent Claims (14)
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Specification