Object detecting process in vehicle
First Claim
1. A process for detecting an object in a vehicle which includes a distance sensor capable of detecting longitudinal and lateral distances from the subject vehicle to an object by transmitting a signal to the object and receiving the reflected signal from the object, said process comprising the steps of:
- enclosing, into a block having a block label assigned thereto, some of the detection data detected by said distance sensor which exist within a first predetermined distance from one another;
comparing last and current values of a center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle;
determining object data by determining that some of the blocks which exist within a second predetermined distance and a difference between said relative speeds of which is within a preset value, are the same object; and
averaging lateral relative speeds of the blocks in the same object to provide a lateral relative speed of the object relative to the subject vehicle.
1 Assignment
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Accused Products
Abstract
In a vehicle including a distance sensor capable of detecting longitudinal and lateral distances from a subject vehicle to an object, the following steps are carried out: a step of enclosing some of the detection data, detected by the distance sensor, which exist within a first predetermined distance from one another, into a block having a block label assigned thereto, a step of comparing last and current values of the center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle, a step of determining object data by determining that some of the blocks, which exist within a second predetermined distance from one another and a difference between the relative speeds of which is within a preset value, are the same object, and a step of averaging lateral relative speeds of the blocks in the same object to determine a lateral relative speed of the object relative to the subject vehicle. In this manner, objects whose relative motions relative to the subject vehicle are different from one another are correctly detected, and lateral relative speed of the objects relative to the subject vehicle are accurately detected.
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Citations
14 Claims
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1. A process for detecting an object in a vehicle which includes a distance sensor capable of detecting longitudinal and lateral distances from the subject vehicle to an object by transmitting a signal to the object and receiving the reflected signal from the object, said process comprising the steps of:
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enclosing, into a block having a block label assigned thereto, some of the detection data detected by said distance sensor which exist within a first predetermined distance from one another; comparing last and current values of a center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle; determining object data by determining that some of the blocks which exist within a second predetermined distance and a difference between said relative speeds of which is within a preset value, are the same object; and averaging lateral relative speeds of the blocks in the same object to provide a lateral relative speed of the object relative to the subject vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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11. A process according to claim 1, wherein said second predetermined distance is based upon a detection error and a distance between left and right reflectors mounted on a vehicle.
- 12. A process according to claim 11, wherein a center of gravity position of each object data is determined by
- space="preserve" listing-type="tabular">______________________________________ C.sub.X = (a left end point of each detection data + a right end point thereof)/2 C.sub.Y = an average value of centers of gravity in the direction of Y-axis of block data, when CX iS the X coordinate and C.sub.Y is the Y coordinate. ______________________________________
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- 13. A process according to claim 1, wherein an object relative speed in the longitudinal and lateral directions (Vy '"'"' and Vx '"'"') are determined by
- space="preserve" listing-type="tabular">______________________________________ V.sub.Y '"'"' = an average value of relative speeds of the blocks in the object data in the direction of Y-axis V.sub.X '"'"' = an average value of relative speeds of the blocks in the object data in the direction of X-axis. ______________________________________
- space="preserve" listing-type="tabular">______________________________________ {(center of gravity last time - center of gravity second-to-last time)/measuring period}. ______________________________________
Specification