Object determination apparatus and collision avoidance assistance apparatus

• US 9,202,377 B2
• Filed: 05/17/2013
• Issued: 12/01/2015
• Est. Priority Date: 05/18/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ichida, Hiroyasu
• Primary Examiner(s): Shafi, Muhammad
• Assistant Examiner(s): ALSOMIRI, MAJDI A
• Application Number:
  US13/896,554
• Publication Number:
  US 20130311077A1
• Time in Patent Office: 928 Days
• Field of Search: 701300-302
• US Class Current: 1/1
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object determination apparatus includes: a sensing device that is mounted in a host vehicle, and that sends detection wave and receives the detection wave reflected from an object, and that detects the object; a detection unit that detects the state of reflection intensity of the detection wave received by the sensing device which changes with the distance to the object; and a determination unit that determines that the object is a vehicle other than the host vehicle when a peak of the reflection intensity exceeds a predetermined threshold value. Peaks of the reflection intensity change in accordance the distance to the object, but the peaks regarding vehicles tend to be higher than the peaks regarding on-road structures. Hence, by comparing a peak of the reflection intensity with the predetermined threshold value, it can be determined whether the detected object is a vehicle other than the host vehicle.

Claims

1. An object determination apparatus comprising:

a sensing device that is mounted in a host vehicle, and that sends detection wave and receives the detection wave reflected from an object, and that detects the object in accordance with the received detection wave;

a detection unit that detects reflection intensity of the detection wave received by the sensing device, the reflection intensity changing in accordance with distance to the object; and

a determination unit that determines a state of the reflection intensity by comparing a peak of the reflection intensity with a predetermined threshold value and determines whether the object is a vehicle other than the host vehicle based on the state of the reflection intensity and lateral position information of the host vehicle obtained from the reflection intensity,

wherein the predetermined threshold value is set to discriminate a vehicle-type object from an on-road structure-type object.

2. The object determination apparatus according to claim 1, wherein

the determination unit determines whether the object is the vehicle other than the host vehicle based on tendency of change of the plurality of peaks of the reflection intensity detected by the detection unit.

3. The object determination apparatus according to claim 1, wherein

the determination unit determines whether the object is the vehicle other than the host vehicle based on magnitude of fluctuations of the reflection intensity detected by the detection unit.

4. The object determination apparatus according to claim 3, the determination unit determines the object as the vehicle other than the host vehicle when the magnitude of fluctuations exceeds a reference value, and determines the object as an on-road structure when the magnitude of fluctuations is equal to or lower than the reference value.

5. The object determination apparatus according to claim 1, wherein

the determination unit determines that the object is an on-road structure when it is determined that the peak of the reflection intensity detected by the detection unit does not exceed the predetermined threshold value.

6. A collision avoidance assistance apparatus wherein

when the object is determined as being a vehicle other than a host vehicle by the object determination apparatus according to claim 1, a detection region that is used for determining whether to perform a collision avoidance control, and that is set in a traveling direction of the host vehicle, and that is a region into which it is determined whether the object has come is made larger than when the object is determined as not being a vehicle other than the host vehicle.

7. The object determination apparatus according to claim 1, the determination unit determines the object as the vehicle other than the host vehicle when the peak of the reflection intensity continuously increases as the host vehicle approaches the detected object, and determines the object as an on-road structure when the peak of the reflection intensity start decreasing from a certain distance to the detected object as the host vehicle approaches the detected object.

8. An object determination method comprising step of:

sending detection wave and receiving the detection wave reflected from an object, and detecting the object in accordance the received detection wave;

detecting reflection intensity of the detection wave received, the reflection intensity changing in accordance with distance to the object;

determining a state of the reflection by comparing a peak of the reflection intensity with a predetermined threshold value, the predetermined threshold value being set to discriminate a vehicle-type object from an on-road structure-type object; and

determining whether the object is a vehicle other than the host vehicle based on the state of the reflection intensity and lateral position information of the host vehicle obtained from the reflection intensity.