Object detecting system for vehicle
First Claim
1. An object detecting system of a vehicle, comprising:
- a radar for performing a search operation, the radar including an electromagnetic wave transmission means for transmitting an electromagnetic wave in a traveling direction of the vehicle and a reflected wave reception means for receiving a reflected wave produced when the electromagnetic wave transmitted from the electromagnetic wave transmission means is reflected by an object present in the traveling direction of the vehicle, whereby the object detection system detects the object based on the result of the radar search operation, the object detecting system comprising;
a motion state detection means for detecting a motion state of the vehicle including a vehicle speed;
an object recognition means for recognizing the object present in the traveling direction of the vehicle in terms of at least a position thereof relative to the vehicle in accordance with the result of the radar search operation;
a stationary object decision means for determining, based on the result of detection by the motion state detection means, whether or not the object recognized by the object recognition means is a stationary object;
a locus prediction means for estimating a moving locus of the object relative to the vehicle, in accordance with the result of detection by the motion state detection means, the object being determined as a stationary object by the stationary object decision means;
an actual locus calculation means for calculating an actual moving locus of the object relative to the vehicle in accordance with a change over time of the relative position of the object recognized by the object recognition means, the object being determined as a stationary object by the stationary object decision means;
a comparison means for comparing the estimated value determined by the locus prediction means and the calculated value determined by the actual locus calculation means; and
an improper state decision means for determining an improper state of the radar based on the result of the comparison determined by the comparison means.
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Accused Products
Abstract
In an object detecting system for a vehicle to detect an object in accordance with the result of a search operation of the radar, and to allow detection of a deviation of the radar search direction irrespective of the vehicle traveling condition. The stationary object decision unit detects whether or not an object recognized by the object recognition unit as a result of the search operation of the radar is a stationary object. The moving locus of the object, which was determined to be stationary, relative to the vehicle is predicted by the locus prediction unit based on the detected value produced by the motion state detection unit. The actual moving locus of the object, determined as a stationary object, as observed from the vehicle is calculated by the actual locus calculation unit. The predicted value produced by the locus prediction unit and the calculated value produced by the actual locus calculation unit are compared by the comparison device. Based on the result of this comparison, the improper state decision unit decides whether the radar is in an improper state or not.
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Citations
14 Claims
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1. An object detecting system of a vehicle, comprising:
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a radar for performing a search operation, the radar including an electromagnetic wave transmission means for transmitting an electromagnetic wave in a traveling direction of the vehicle and a reflected wave reception means for receiving a reflected wave produced when the electromagnetic wave transmitted from the electromagnetic wave transmission means is reflected by an object present in the traveling direction of the vehicle, whereby the object detection system detects the object based on the result of the radar search operation, the object detecting system comprising; a motion state detection means for detecting a motion state of the vehicle including a vehicle speed; an object recognition means for recognizing the object present in the traveling direction of the vehicle in terms of at least a position thereof relative to the vehicle in accordance with the result of the radar search operation; a stationary object decision means for determining, based on the result of detection by the motion state detection means, whether or not the object recognized by the object recognition means is a stationary object; a locus prediction means for estimating a moving locus of the object relative to the vehicle, in accordance with the result of detection by the motion state detection means, the object being determined as a stationary object by the stationary object decision means; an actual locus calculation means for calculating an actual moving locus of the object relative to the vehicle in accordance with a change over time of the relative position of the object recognized by the object recognition means, the object being determined as a stationary object by the stationary object decision means; a comparison means for comparing the estimated value determined by the locus prediction means and the calculated value determined by the actual locus calculation means; and an improper state decision means for determining an improper state of the radar based on the result of the comparison determined by the comparison means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification