Object recognition device and object recognition method
First Claim
1. An object recognition device to be mounted on a vehicle, the device comprising:
- a radar device which radiates an electromagnetic wave to an object in a forward direction of the vehicle and which detects the object by receiving a reflected wave reflected by the object;
a target information calculation section which calculates information containing a moving direction of the detected object as target information, by using a signal received by the radar device;
a vehicle information calculation section which calculates information containing one of a current moving direction or a future prediction moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and
a processing section which calculates, as a collision angle, an angle between a straight line extended in the moving direction of the object and a straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, which estimates, based on the collision angle from which one of front edge portions in the moving direction of the object detected by the radar device the electromagnetic wave was reflected, and which calculates a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation,wherein in a case where the collision angle is a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is on a side facing the vehicle, and in a case where the collision angle is not a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, andwherein the target information calculation section, the vehicle information calculation section, and the processing section are executed by a computer.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is an object recognition device and an object recognition method that can estimate the size of an object detected by a radar, through a simple configuration. The object recognition device includes: a detection section for radiating an electromagnetic wave to an object in a forward direction of the vehicle and for detecting the object by receiving a reflected wave reflected by the object; a target information calculation section for calculating information containing a moving direction of the detected object as target information, by using a signal received by the detection section; a vehicle information calculation section for calculating information containing a moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and a processing section for estimating, based on the information indicating the moving direction of the object contained in the target information and the information indicating the moving direction of the vehicle contained in the vehicle information, from which portion of the object detected by the detection section the electromagnetic wave was reflected, and for calculating a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation.
-
Citations
9 Claims
-
1. An object recognition device to be mounted on a vehicle, the device comprising:
-
a radar device which radiates an electromagnetic wave to an object in a forward direction of the vehicle and which detects the object by receiving a reflected wave reflected by the object; a target information calculation section which calculates information containing a moving direction of the detected object as target information, by using a signal received by the radar device; a vehicle information calculation section which calculates information containing one of a current moving direction or a future prediction moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and a processing section which calculates, as a collision angle, an angle between a straight line extended in the moving direction of the object and a straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, which estimates, based on the collision angle from which one of front edge portions in the moving direction of the object detected by the radar device the electromagnetic wave was reflected, and which calculates a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation, wherein in a case where the collision angle is a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is on a side facing the vehicle, and in a case where the collision angle is not a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, and wherein the target information calculation section, the vehicle information calculation section, and the processing section are executed by a computer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. An object recognition method using devices to be mounted on a vehicle, the method comprising:
-
a detection step of radiating, using a radar device, an electromagnetic wave to an object in a forward direction of the vehicle and detecting the object by receiving a reflected wave reflected by the object; a target information calculation step of calculating information containing a moving direction of the detected object as target information, by using a signal received in the detection step; a vehicle information calculation step of calculating information containing one of a current moving direction or a future prediction moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and a processing step of calculating, as a collision angle, an angle between a straight line extended in the moving direction of the object and a straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, estimating, based on the collision angle from which one of front edge portions in the moving direction of the object detected in the detection step the electromagnetic wave was reflected, and calculating a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation, wherein in a case where the collision angle is a right angle or a substantially right angle, the processing step estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is on a side facing the vehicle, and in a case where the collision angle is not a right angle or a substantially right angle, the processing step estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, and wherein the target information calculation step, the vehicle information calculation step, and the processing step are executed by a computer.
-
Specification