Object recognition apparatus and method thereof

• US 6,693,583 B2
• Filed: 03/14/2003
• Issued: 02/17/2004
• Est. Priority Date: 03/19/2002
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kumon, Hiroaki, Tamatsu, Yukimasa
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): ANDREA, BRIAN K
• Application Number:
  US10/387,553
• Publication Number:
  US 20030179129A1
• Time in Patent Office: 340 Days
• Field of Search: 342/70, 342/71, 180/167-169, 340/435-6, 340/992, 701/96, 701/223, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• CPC Class Codes: G01S 13/582 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/352 Receivers
• CPC Class Codes: G01S 7/354 Extracting wanted echo-signals Doppler systems G01S13/50

Abstract

The invention provides an object recognition apparatus that removes virtual images without detecting a roadside object. When a predetermined vehicle is currently running on a lane, a detection area, outside of the currently running lane, is designated to include a first area and an assumed ghost area therein. The first area is enclosed by a boundary of the detection area, a boundary of the assumed ghost area adjacent thereto, and a boundary on the currently running lane whose distance is traveled by the vehicle during one control cycle. The invention detects an object for the first time in the assumed ghost area, not in the first area. When the object travels with a distance and a speed of a target vehicle, it is determined to be a ghost to be deleted.

Claims

1. An object recognition apparatus, comprising:

a judgment unit for judging whether an object is detected on a lane other than a lane on which a predetermined vehicle is currently running;

an adjacent lane judgment unit for judging whether an adjacent lane exists adjacent to the currently running lane; and

a recognition unit for recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that the adjacent lane does not exist.

2. The object recognition apparatus as recited in claim 1, wherein the adjacent lane judgment unit designates a first area where a vehicle running on the adjacent lane at a predetermined relative speed with respect to the predetermined vehicle is detected at least once, and a second area that is outside of the currently running lane and does not overlap the first area, and when the object is detected for the first time in the second area, not in the first area, judges that the adjacent lane is not existent.

3. The object recognition apparatus as recited in claim 2, wherein when a first object has been detected in the second area for the first time, not detected in the first area, but a second object having the same distance and relative speed as the first object has not been detected on the currently running lane, the recognition unit does not recognize the first object as a virtual image.

4. The object recognition apparatus as recited in claim 1, further comprising a stationary object line judgment unit for judging whether a stationary object line is detected having a plurality of stationary objects, wherein when the stationary object line judgment unit has judged that the stationary object line is detected, the recognition unit recognizes as a virtual image an object detected outside of the stationary object line.

5. The object recognition apparatus as recited in claim 4, wherein when a virtual image is detected outside of the stationary object line, but a vehicle ahead is not detected that runs on the currently running lane at the same distance and relative speed as the virtual image, the recognition unit estimates a distance and a relative velocity of the vehicle ahead based on the virtual image.

6. The object recognition apparatus as recited in claim 5, wherein the recognition unit estimates a distance and a relative velocity of the virtual image as the distance and the relative velocity of the vehicle ahead.

7. The object recognition apparatus as recited in claim 5, wherein the recognition unit designates an area, based on the distance and the relative velocity of the virtual image, where the vehicle ahead is estimated to exits in the past, and, when the vehicle ahead is detected in the designated area, estimates a distance and a relative velocity of the vehicle ahead during a present control cycle, based on the distance and the relative velocity of the vehicle ahead detected in the past.

8. A radar apparatus for use on a vehicle, comprising:

a transmitter for transmitting waves to an object ahead;

a receiver for receiving the waves reflected by the object;

a judgment unit, based on a signal from the receiver, for judging whether the object is detected on a lane other than a lane on which the vehicle is currently running;

an adjacent lane judgment unit for judging whether an adjacent lane exists adjacent to the currently running lane; and

a recognition unit for recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that an adjacent lane does not exist.

9. A method of recognizing an object, comprising:

judging whether an object is detected on a lane other than a lane on which a vehicle is currently running;

judging whether an adjacent lane exists adjacent to the currently running lane; and

recognizing that the object is a virtual image when the object is detected and the adjacent lane does not exist.

10. A method of recognizing an object by the use of a radar apparatus on a vehicle, comprising:

transmitting waves to an object ahead;

receiving the waves reflected by the object;

based on a signal from the receiver, judging whether the object is detected on a lane other than a lane on which the vehicle is currently running;

judging whether an adjacent lane exists adjacent to the currently running lane; and

recognizing that the object is a virtual image when the judgment unit has judged that the object is detected and the adjacent lane judgment unit has judged that an adjacent lane does not exist.

11. A method of recognizing an object by the use of a radar apparatus on a vehicle that can detect a range of velocities and have a detection period, comprising:

establishing a detection area in a traveling direction of the vehicle that is currently running on a lane, for detecting an object by radar waves of the radar apparatus;

establishing a first area within the detection area on an adjacent lane adjacent to the currently running lane, the first area designated by a distance decided by a maximum velocity of the detection range and the detection period;

establishing a second area within the detection area, not overlapping the first area; and

detecting the object for the first time in the second area, not in the first area,

whereby the object is judged to be a ghost.

12. The method as recited in claim 11, wherein the distance is decided by multiplying the maximum velocity of the detection range by the detection period.

13. A method of recognizing an object by the use of a radar apparatus on a vehicle that can detect a range of velocities and have a detection period, comprising:

establishing a detection area in a traveling direction of the vehicle that is currently running on a lane, for detecting an object by radar waves of the radar apparatus;

establishing a first area within the detection area on an adjacent lane adjacent to the currently running lane, the first area designated by a distance decided by a maximum velocity of the detection range and the detection period;

establishing a second area within the detection area, not overlapping the first area;

detecting the object for the first time in the second area, not in the first area; and

detecting a target vehicle that runs at the same distance and relative velocity of those of the object,

whereby the object is judged to be a ghost.

14. The method as recited in claim 13, wherein the distance is decided by multiplying the maximum velocity of the detection range by the detection period.