TARGET DETECTION APPARATUS AND PROGRAM

• US 20150054673A1
• Filed: 08/21/2014
• Published: 02/26/2015
• Est. Priority Date: 08/22/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: BABA, Takahiro
• Granted Patent: US 9,645,236 B2
• Time in Patent Office: Days
• US Class Current: 342/27
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane

Abstract

A first specifying-means specifies a first-region including a first detection-point, which is of a first-target on an X-Y plane on which a width direction of a vehicle is defined as an X-axis, and a longitudinal direction of the vehicle is defined as a Y-axis. A second specifying-means specifies a second-region including a second detection-point, which is of a second-target on the X-Y plane, based on a direction of the second detection-point and a target-width, which is a width along the X-axis of the second-target. A determination means determines that the first- and second-targets are the same, provided that an overlapping portion exists therebetween. An estimation means estimates a true-value target-width, based on the direction of the second detection-point and the first detection-point, provided that the first- and second-targets are the same. A correction-means corrects a position of the second-region specified next time by using the true-value target-width as the target-width.

Claims

1. A target detection apparatus which is installed in a vehicle, comprising:

a first specifying means for specifying, of a first target detected based on detection information of a radar, a first region which includes a first detection point, which is a detection point of the first target on an X-Y plane on which a width direction of the vehicle is defined as an X-axis, and a longitudinal direction of the vehicle is defined as a Y-axis;

a second specifying means for specifying, of a second target detected based on an image taken by a camera, a second region which includes a second detection point, which is a detection point of the second target on the X-Y plane, based on a direction of the second detection point and a target width, which is a width along the X-axis of the second target;

a determination means for determining that the first target and the second target are the same, provided that an overlapping portion exists between the first region and the second region;

a true value target width estimation means for estimating a true value target width, which is a true value of the target width, based on the direction of the second detection point of the second region and the first detection point of the first region, provided that the determination means determines that the first target and the second target are the same; and

a position correction means for correcting a position of the second region specified by the second specifying means next time by using the true value target width as the target width.

2. The target detection apparatus according to claim 1, further comprising a permission means for permitting the true value target width estimation means to estimate the true value target width and permitting the position correction means to correct the position of the second region, only when determining that the second target is a vehicle based on the image.

3. The target detection apparatus according to claim 1, further comprising a prohibition means for prohibiting the true value target width estimation means from estimating the true value target width and prohibiting the position correction means from correcting the position of the second region, when determining that the first target is a stationary object based on the detection information.

4. A computer program stored in a computer readable recording medium, the program allowing a computer to perform,

specifying, of a first target detected based on detection information of a radar, a first region which includes a first detection point, which is a detection point of the first target on an X-Y plane on which a width direction of the vehicle is defined as an X-axis, and a longitudinal direction of the vehicle is defined as a Y-axis;

specifying, of a second target detected based on an image taken by a camera, a second region which includes a second detection point, which is a detection point of the second target on the X-Y plane, based on a direction of the second detection point and a target width, which is a width along the X-axis of the second target;

determining that the first target and the second target are the same, provided that an overlapping portion exists between the first region and the second region;

estimating a true value target width, which is a true value of the target width, based on the direction of the second detection point of the second region and the first detection point of the first region, provided that it is determined that the first target and the second target are the same; and

correcting a position of the second region specified next time by using the true value target width as the target width.