OBJECT DETECTION APPARATUS
First Claim
1. An object detection apparatus for detecting an object around a moving object with a plurality of ranging sensors attached to the moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors, the apparatus comprising:
- a first detector configured to detect the object based on a direct wave that is a first reflection of the probe wave from the object, the probe wave and the first reflection being respectively transmitted and received by the same ranging sensor that is a first ranging sensor that is one of the plurality of ranging sensors;
a second detector configured to detect the object based on an indirect wave that is a second reflection of the probe wave from the object, the second reflection being received by a second ranging sensor that is another one of the plurality of ranging sensors;
an object-position calculator configured to calculate an object position as a position of the object based on the detections of the first and second detectors according to the principle of triangulation;
a same-object determiner configured to, based on the object position calculated by the object-position calculator in the previous cycle and the object position calculated by the object-position calculator in the current cycle, determine whether or not the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are the same;
a tentative same-object determiner configured to, if it is determined by the same-object determiner that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are not the same and then if a degree of confidence of the object detected by the first and second detectors in the previous cycle is equal to or greater than a predetermined value, determine whether or not the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same; and
a determination suspender configured to, if it is determined by the tentative same-object determiner that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same, suspend determining that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are not the same.
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Accused Products
Abstract
An object detection apparatus for detecting an object around a moving object carrying the apparatus by transmitting a probe wave and receiving reflections of the probe wave from the object via a plurality of ranging sensors attached to the moving object. In the apparatus, a tentative same-object determiner is configured to, if it is determined by a same-object determiner that the objects detected in the current and previous cycles are not the same, determine whether or not the objects detected in the current and previous cycles are likely to be the same. A determination suspender is configured to, if it is determined that the objects detected in the current and previous cycles are likely to be the same, suspend determining that the objects detected in the current and previous cycles are not the same.
20 Citations
10 Claims
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1. An object detection apparatus for detecting an object around a moving object with a plurality of ranging sensors attached to the moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors, the apparatus comprising:
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a first detector configured to detect the object based on a direct wave that is a first reflection of the probe wave from the object, the probe wave and the first reflection being respectively transmitted and received by the same ranging sensor that is a first ranging sensor that is one of the plurality of ranging sensors; a second detector configured to detect the object based on an indirect wave that is a second reflection of the probe wave from the object, the second reflection being received by a second ranging sensor that is another one of the plurality of ranging sensors; an object-position calculator configured to calculate an object position as a position of the object based on the detections of the first and second detectors according to the principle of triangulation; a same-object determiner configured to, based on the object position calculated by the object-position calculator in the previous cycle and the object position calculated by the object-position calculator in the current cycle, determine whether or not the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are the same; a tentative same-object determiner configured to, if it is determined by the same-object determiner that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are not the same and then if a degree of confidence of the object detected by the first and second detectors in the previous cycle is equal to or greater than a predetermined value, determine whether or not the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same; and a determination suspender configured to, if it is determined by the tentative same-object determiner that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are likely to be the same, suspend determining that the object detected by the first and second detectors in the previous cycle and the object detected by the first and second detectors in the current cycle are not the same. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification