OBSTACLE DETECTION DEVICE AND OBSTACLE DETECTION SYSTEM
First Claim
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1. An obstacle detection device comprising:
- a detection portion that detects objects relatively approaching a vehicle;
a relative distance/relative speed calculation portion that calculates relative distances of the objects detected by the detection portion with respect to the vehicle and relative speeds of the objects detected by the detection portion with respect to the vehicle;
an estimated collision time length calculation portion that calculates estimated collision time lengths to collisions of the objects with the vehicle, using the calculated relative distances of the objects and the calculated relative speeds of the objects respectively;
an object selection portion that selects a predetermined number of the detected objects that are arranged in an ascending order of the estimated collision time lengths as selected objects;
an information output portion that outputs pieces of detected information on the selected objects; and
a selected object change portion that replaces, when the object having a shorter relative distance than that one of the objects selected by the object selection portion which has a predetermined rank in an ascending order of the estimated collision time lengths belongs to the detected objects except the selected objects, the object having the shorter relative distance and one of the objects selected by the object selection portion with each other to change the selected objects.
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Abstract
Objects relatively approaching a vehicle diagonally are detected, and at least relative distances of the detected objects with respect to the vehicle and relative speeds of the detected objects with respect to the vehicle are calculated. Using the relative distances of the objects and the relative speeds of the objects, estimated collision time lengths to collisions of the objects with the vehicle are calculated respectively. A predetermined number of the objects that are arranged in an ascending order of the estimated collision time lengths are selected, and pieces of detected information on the selected objects are output.
42 Citations
12 Claims
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1. An obstacle detection device comprising:
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a detection portion that detects objects relatively approaching a vehicle; a relative distance/relative speed calculation portion that calculates relative distances of the objects detected by the detection portion with respect to the vehicle and relative speeds of the objects detected by the detection portion with respect to the vehicle; an estimated collision time length calculation portion that calculates estimated collision time lengths to collisions of the objects with the vehicle, using the calculated relative distances of the objects and the calculated relative speeds of the objects respectively; an object selection portion that selects a predetermined number of the detected objects that are arranged in an ascending order of the estimated collision time lengths as selected objects; an information output portion that outputs pieces of detected information on the selected objects; and a selected object change portion that replaces, when the object having a shorter relative distance than that one of the objects selected by the object selection portion which has a predetermined rank in an ascending order of the estimated collision time lengths belongs to the detected objects except the selected objects, the object having the shorter relative distance and one of the objects selected by the object selection portion with each other to change the selected objects. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An obstacle detection system comprising:
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a plurality of the detection devices that detect objects relatively approaching a vehicle respectively; an object selection device that selects a predetermined number of the objects from the objects detected by the plurality of the detection devices respectively, wherein the plurality of the detection devices calculate at least relative distances of the detected objects with respect to the vehicle and relative speeds of the detected objects with respect to the vehicle and output the relative distances and the relative speeds to the object selection device, the object selection device includes an acquisition portion that acquires the relative distances of the objects output from the plurality of the detection devices respectively and the relative speeds of the objects output from the plurality of the detection devices respectively, an estimated collision time length calculation portion that calculates estimated collision time lengths to collisions of the objects with the vehicle respectively, using the relative distances of the objects acquired by the acquisition portion and the relative speeds of the objects acquired by the acquisition portion, an object selection portion that selects the predetermined number of the objects in an ascending order of the estimated collision time lengths, and a selected object change portion that replaces, when the object having a shorter relative distance than that one of the objects selected by the object selection portion which has a predetermined rank in an ascending order of the estimated collision time lengths belongs to the detected objects except the selected objects, the object having the shorter relative distance and one of the objects selected by the object selection portion with each other to change the selected objects. - View Dependent Claims (11)
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12. An obstacle detection method comprising:
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detecting objects relatively approaching a vehicle; calculating relative distances of the detected objects with respect to the vehicle and relative speeds of the detected objects with respect to the vehicle; calculating estimated collision time lengths to collisions of the objects with the vehicle, using the calculated relative distances of the objects and the calculated relative speeds of the objects respectively; selecting a predetermined number of the detected objects that are arranged in an ascending order of the estimated collision time lengths; outputting pieces of detected information on the selected objects; and outputting, when the object having a shorter relative distance than that one of the predetermined number of the objects which has a predetermined rank in an ascending order of the estimated collision time lengths belongs to the detected objects except the predetermined number of the objects, detected information on the object having the shorter relative distance instead of detected information on the object having the predetermined rank.
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Specification