COLLISION DETERMINATION DEVICE AND COLLISION DETERMINATION METHOD
1 Assignment
0 Petitions
Accused Products
Abstract
A collision determination device includes a radar detection unit that detects an object in front of a vehicle by a radar wave, an image detection unit that images in front of the vehicle and detects the object by the imaged image, and a collision determination unit that determines a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit. The collision determination unit performs collision determination with a speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.
-
Citations
30 Claims
-
1-12. -12. (canceled)
-
13. A collision determination device comprising:
-
a radar detection unit configured to detect an object in front of a vehicle by a radar wave; an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and a collision determination unit configured to determine a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit, wherein, in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the detection result of the image detection unit, the collision determination unit performs collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates, and wherein, in a case where it is determined that the speed of the object in a direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the detection result of the image detection unit, the collision determination unit performs the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates. - View Dependent Claims (16, 17, 18, 19)
-
-
14. A collision determination device comprising:
-
a radar detection unit configured to detect an object in front of a vehicle by a radar wave; an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and a collision determination unit configured to determine a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit, wherein, in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the detection result of the radar detection unit, the collision determination unit performs collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates, and wherein, in a case where it is determined that the speed of the object in a direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the detection result of the radar detection unit, the collision determination unit performs the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates. - View Dependent Claims (23, 24, 25, 26)
-
-
15. A collision determination device comprising:
-
a radar detection unit configured to detect an object in front of a vehicle by a radar wave; an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and a collision determination unit configured to determine a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit, wherein, in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the combined target, the collision determination unit performs collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates, and wherein, in a case where it is determined that the speed of the object in a direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the combined target, the collision determination unit performs the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates. - View Dependent Claims (27, 28, 29, 30)
-
-
20. A collision determination method,
wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and wherein a collision between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising: -
performing the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the detection result of the imaged image, and performing the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in a direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the detection result of the imaged image.
-
-
21. A collision determination method,
wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and wherein a collision between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising: -
performing collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the detection result of the radar wave, and performing the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in a direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the detection result of the radar wave.
-
-
22. A collision determination method,
wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and wherein a collision between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising: -
performing collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in the traveling direction of the vehicle before the vehicle decelerates is zero based on the combined target, and performing the collision determination with the speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates in a case where it is determined that the speed of the object in the direction crossing the traveling direction of the vehicle before the vehicle decelerates exceeds zero further based on the combined target.
-
Specification