Method and apparatus for discriminating a target objective, and related program

• US 6,999,024 B2
• Filed: 12/09/2003
• Issued: 02/14/2006
• Est. Priority Date: 12/10/2002
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kumon, Hiroaki, Tamatsu, Yukimasa
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US10/730,270
• Publication Number:
  US 20040246167A1
• Time in Patent Office: 798 Days
• Field of Search: 342 70- 72, 342/27, 342/28, 342/90, 342/159, 342/162, 342/192, 342/195, 342/196
• US Class Current: 342/70
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

An average power value of a peak pair corresponding to a subjective target objective is converted into a radar cross section, to calculate a normalized average power value NP and a standard deviation DP representing a temporal dispersion of a power difference between peak pairs. When the value NP is larger than an automotive vehicle discriminating threshold THnp, the attribute of the subjective target objective is set to “automotive vehicle.” When the value NP is not larger than the threshold THnp and the deviation DP is larger than a human objective discriminating threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: human objective.” Furthermore, when the value NP is not larger than the threshold THnp and the deviation DP is not larger than the threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: non-human.”

Claims

1. A method for discriminating a target objective, comprising the steps of:

transmitting and receiving radio waves for detecting a target objective based on radio waves reflected from said target objective;

obtaining automotive vehicle judgment data based on a receiving intensity of reflected radio waves from said target objective, as a value expressed in terms of a radar cross section equivalent to said receiving intensity; and

making a judgment as to whether said target objective is an automotive vehicle or not based on said automotive vehicle judgment data.

13. The method in accordance with claim 1, wherein the making a judgment is performed automatically, by a computer.

2. A method for discriminating a target objective, comprising the steps of:

transmitting and receiving radio waves for detecting a target objective based on radio waves reflected from said target objective, said radio waves being modulated so as to have an ascending section in which the frequency gradually increases and a descending section in which the frequency gradually decreases;

obtaining human objective judgment data based on a receiving intensity of reflected radio waves from said target objective obtained in each of said ascending section and said descending section, as a value representing temporal dispersion in the receiving intensity difference between said ascending section and said descending section; and

making a judgment as to whether said target objective is a human objective or not based on said human objective judgment data.

14. The method in accordance with claim 2, wherein the making a judgment is performed automatically, by a computer.

3. A system for discriminating a target objective, comprising:

target objective detecting means for transmitting and receiving radio waves to detect a target objective based on radio waves reflected from said target objective;

automotive vehicle judgment data producing means for producing automotive vehicle judgment data based on a receiving intensity of reflected radio waves from said target objective detected by said target objective detecting means, as a value expressed in terms of a radar cross section equivalent to said receiving intensity; and

automotive vehicle discriminating means for making a judgment as to whether said target objective is an automotive vehicle or not based on said automotive vehicle judgment data.

4. The target objective discriminating system in accordance with claim 3, further comprising

image processing means for detecting said target objective and specifying the type of said target objective based on image data obtained by picking up an image of an area including at least a detection area of said target objective detecting means, and

said image processing means makes a judgment as to whether said target objective is a human objective or not when said automotive vehicle discriminating means identifies said target objective as being not an automotive vehicle.

15. The system in accordance with claim 3, wherein the making a judgment is performed automatically, by a computer.

5. A system for discriminating a target objective, comprising:

target objective detecting means for transmitting and receiving radio waves for detecting a target objective based on radio waves reflected from said target objective, said radio waves being modulated so as to have an ascending section in which the frequency gradually increases and a descending section in which the frequency gradually decreases;

human objective judgment data producing means for producing human objective judgment data based on a receiving intensity of reflected radio waves from said target objective detected by said target objective detecting means in each of said ascending section and said descending section, as a value representing temporal dispersion width in the receiving intensity difference between said ascending section and said descending section; and

human objective discriminating means for making a judgment as to whether said target objective is a human objective or not based on said human objective judgment data.

6. The target objective discriminating system in accordance with claim 5, wherein said human objective judgment data producing means uses a standard deviation as said human objective judgment data to be produced.

7. The target objective discriminating system in accordance with claim 5, further comprising:

automotive vehicle judgment data producing means for producing automotive vehicle judgment data based on a receiving intensity of reflected radio waves from said target objective detected by said target objective detecting means, as a value expressed in terms of a radar cross section equivalent to said receiving intensity; and

automotive vehicle discriminating means for making a judgment as to whether said target objective is an automotive vehicle or not based on said automotive vehicle judgment data.

8. The target objective discriminating system in accordance with claim 7, wherein said automotive vehicle judgment data producing means uses an average of received signal intensities detected in said ascending section and said descending section as said receiving intensity.

9. The target objective discriminating system in accordance with claim 5, wherein

said target objective detecting means serves as a primary target objective detecting means and,

said target objective discriminating system further comprises a secondary target objective detecting means for detecting a target objective existing in a detection area of said primary target objective detecting means based on a method different from that used by said primary target objective detecting means and for specifying an attribute of the detected target objective,

wherein said primary target objective detecting means comprises:

peak extracting means for extracting a peak frequency component in each of said ascending section and said descending section based on a beat signal which is obtained by mixing transmitted and received radio wave signals, said peak frequency component representing a frequency component where a signal intensity becomes a peak and larger than a predetermined extraction threshold;

predicting means for predicting, based on a position of said target objective detected by said secondary target objective detecting means, a frequency region where the peak frequency component corresponding to said target objective is extracted by said peak extracting means;

extraction threshold varying means for varying said extraction threshold used in said peak extracting means at the frequency region predicted by said predicting means, based on the attribute of said target objective specified by said secondary target objective detecting means; and

target objective is detected by combining peak frequency components extracted by said peak extracting means.

10. The target objective discriminating system in accordance with claim 9, wherein the attribute to be specified by said secondary target objective recognizing means includes at least one of categories consisting of type, material, size of said target objective.

16. The system in accordance with claim 5, wherein the making a judgment is performed automatically, by a computer.

11. A program installable in a computer system for causing said computer system to function or operate as a target objective discriminating system comprising:

target objective detecting means for transmitting and receiving radio waves to detect a target objective based on radio waves reflected from said target objective;

automotive vehicle judgment data producing means for producing automotive vehicle judgment data based on a receiving intensity of reflected radio waves from said target objective detected by said target objective detecting means, as a value expressed in terms of a radar cross section equivalent to said receiving intensity; and

automotive vehicle discriminating means for making a judgment as to whether said target objective is an automotive vehicle or not based on said automotive vehicle judgment data.

17. The program in accordance with claim 11, wherein the making a judgment is performed automatically, by said computer system.

12. A program installable in a computer system for causing said computer system to function or operate as a target objective discriminating system comprising:

target objective detecting means for transmitting and receiving radio waves for detecting a target objective based on radio waves reflected from said target objective, said radio waves being modulated so as to have an ascending section in which the frequency gradually increases and a descending section in which the frequency gradually decreases;

human objective judgment data producing means for producing human objective judgment data based on a receiving intensity of reflected radio waves from said target objective detected by said target objective detecting means in each of said ascending section and said descending section, as a value representing temporal dispersion width in the receiving intensity difference between said ascending section and said descending section; and

human objective discriminating means for making a judgment as to whether said target objective is a human objective or not based on said human objective judgment data.

18. The program in accordance with claim 12, wherein the making a judgment is performed automatically, by said computer system.