DRIVING ASSIST DEVICE

• US 20150109118A1
• Filed: 05/09/2012
• Published: 04/23/2015
• Est. Priority Date: 05/09/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakai, Katsuhiro, Kindo, Toshiki, Ichikawa, Kentaro, Harada, Masahiro, Urano, Hiromitsu
• Granted Patent: US 9,446,711 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Provided is a driving assist device 10 that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus including: an object detecting unit 12 that detects the object in the vicinity of the moving body; a three dimensional object detecting unit 13 that detects a three dimensional object in the vicinity of the moving body; and an object recognition unit 18 that recognizes the object at a predetermined detection position as a non-obstacle when the object information storing unit 16 stores the position of the object, and the three dimensional object information storing unit 17 does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit 12 and the three dimensional object detecting unit 13.

Claims

1. A driving assist device that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus comprising:

an object detecting unit that detects the object in the vicinity of the moving body;

a three dimensional object detecting unit that detects a three dimensional object in the vicinity of the moving body;

a first storage unit that stores the position of the object detected by the object detecting unit;

a second storage unit that stores the position of a three dimensional object detected by the three dimensional object detecting unit; and

an object recognition unit that recognizes the object at a predetermined detection position as a non-obstacle when the first storage unit stores the position of the object, and the second storage unit does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit and the three dimensional object detecting unit.

2. The driving assist device according to claim 1,

wherein when the three dimensional object detecting unit does not detect the three dimensional object at the position of the object stored in the first storage unit, the object recognition unit recognizes the object detected by the object detecting unit as a non-obstacle.

3. The driving assist device according to claim 1,

wherein when the position of the object detected by the object detecting unit is not stored as the position of the three dimensional object by the second storage unit, the object recognition unit recognizes the object detected by the object detecting unit as a non-obstacle.

4. The driving assist device according to claim 1,

wherein in the respective detectable ranges of the object detecting unit and the three dimensional object detecting unit, with regard to at least a detectable range in a forward direction of the moving body, a position farthest from the moving body which is detectable by the object detecting unit is set to be located with respect to the moving body farther than a position farthest from the moving body which is detectable by the three dimensional object detecting unit.

5. The driving assist device according to claim 1,

wherein the object recognition unit compares the position of the object with the position of the three dimensional object in a detection range having a narrow detection range or a short detection distance between the detection range of the object detecting unit and the detection range of the three dimensional object detecting unit.

6. The driving assist device according to claim 1,

wherein the object detecting unit is a radar sensor.

7. The driving assist device according to claim 6,

wherein when the three dimensional object detecting unit detects the three dimensional object at a position in which the object is detected by the object detecting unit, and the intensity of a reflective wave from the object detected by the object detecting unit is less than a set threshold value, the object recognition unit recognizes the object detected by the object detecting unit as an obstacle.

8. A driving assist device that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus comprising:

an object detecting unit that detects the object in the vicinity of the moving body;

a storage unit that stores the position of a fixed object in the vicinity of the moving body; and

an object recognition unit that recognizes the object detected by the object detecting unit as a non-obstacle when the position of the object detected by the object detecting unit is stored as the position of the non-obstacle by the storage unit.

9. The driving assist device according to claim 8,

wherein when the position of the object detected by the object detecting unit is stored as the position of the non-obstacle by the storage unit, but the object detected by the object detecting unit is a moving object, the object recognition unit does not recognize the object detected by the object detecting unit as a non-obstacle.

10. The driving assist device according to claim 8,

wherein the object detecting unit is a radar sensor, and

wherein when the position of the object detected by the object detecting unit is stored as the position of an obstacle by the storage unit, and the intensity of a reflective wave from the object detected by the object detecting unit is a set threshold value or greater, the object recognition unit recognizes the object detected by the object detecting unit as an obstacle.

11. The driving assist device according to claim 8,

wherein when the object detecting unit does not detect the object at the position of the fixed object stored in the storage unit, or when the object detecting unit detects the object at the position of the fixed object not stored in the storage unit, the object recognition unit updates the position of the fixed object.