OBJECT DETECTION APPARATUS FOR VEHICLE
1 Assignment
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Accused Products
Abstract
A roadside object present at the side of a subject vehicle travel path and a preceding vehicle at a speed equal to or greater than a predetermined speed are detected based on points derived by transmitting an electromagnetic beam forward of the subject vehicle and projecting reflection points obtained onto a two-dimensional plane, a determination is made when the preceding vehicle passes near the roadside object as to whether it moved toward the travel path within a predetermined time before and after the passage, and the roadside object is not determined to be the obstacle when it is determined to have moved toward the travel path, thereby preventing the roadside object from being misidentified as the obstacle owing to erroneous recognition of it having intruded into the travel path of the subject vehicle when detecting the object using an electromagnetic beam.
11 Citations
23 Claims
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1-5. -5. (canceled)
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6. An object detection apparatus for a vehicle equipped with an obstacle determiner that determines whether an object detected based on points derived by transmitting an electromagnetic beam forward of the subject vehicle and projecting reflection points obtained onto a two-dimensional plane is an obstacle constituting an obstruction to advance of the subject vehicle, comprising:
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a subject vehicle travel path estimator that estimates a travel path of the subject vehicle; a roadside object/preceding vehicle detector that detects a roadside object present at a side of the travel path and a preceding vehicle traveling ahead on the travel path at a speed equal to or greater than a predetermined speed based on the derived points; and a roadside object movement determiner that determines, when the preceding vehicle passes near the roadside object, whether the roadside object has moved toward the travel path within a predetermined time before and after the preceding vehicle passing near the roadside object; wherein the obstacle determiner determines the roadside object not to be the obstacle when the roadside object is determined to have moved toward the travel path. - View Dependent Claims (7, 8, 9, 10, 11)
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12. An object detection apparatus for a vehicle equipped with an obstacle determining means for determining whether an object detected based on points derived by transmitting an electromagnetic beam forward of the subject vehicle and projecting reflection points obtained onto a two-dimensional plane is an obstacle constituting an obstruction to advance of the subject vehicle, comprising:
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a subject vehicle travel path estimating means for estimating a travel path of the subject vehicle; a roadside object/preceding vehicle detecting means for detecting a roadside object present at a side of the travel path and a preceding vehicle traveling ahead on the travel path at a speed equal to or greater than a predetermined speed based on the derived points; and a roadside object movement determining means for determining, when the preceding vehicle passes near the roadside object, whether the roadside object has moved toward the travel path within a predetermined time before and after the preceding vehicle passing near the roadside object; wherein the obstacle determining means determines the roadside object not to be the obstacle when the roadside object is determined to have moved toward the travel path. - View Dependent Claims (13, 14, 15, 16, 17)
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18. An object detection method for a vehicle equipped with step of obstacle determining that determines whether an object detected based on points derived by transmitting an electromagnetic beam forward of the subject vehicle and projecting reflection points obtained onto a two-dimensional plane is an obstacle constituting an obstruction to advance of the subject vehicle, comprising the steps of:
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estimating a travel path of the subject vehicle; detecting a roadside object present at a side of the travel path and a preceding vehicle traveling ahead on the travel path at a speed equal to or greater than a predetermined speed based on the derived points; and determining, when the preceding vehicle passes near the roadside object, whether the roadside object has moved toward the travel path within a predetermined time before and after the preceding vehicle passing near the roadside object; wherein the step of obstacle determining determines the roadside object not to be the obstacle when the roadside object is determined to have moved toward the travel path. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification