Object detection apparatus and object detection method

• US 9,283,910 B2
• Filed: 12/09/2008
• Issued: 03/15/2016
• Est. Priority Date: 12/09/2008
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tsunekawa, Jun
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): CASS, JEAN PAUL
• Application Number:
  US13/129,651
• Publication Number:
  US 20110238309A1
• Time in Patent Office: 2,653 Days
• US Class Current: 1/1
• CPC Class Codes: B60R 2021/01259 Brakes
• CPC Class Codes: B60R 2021/01265 Seat belts
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• 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

Provided is an object detection apparatus and an object detecting method for, with respect to an object detected by a radar, determining whether the object is an automobile and performing an appropriate collision determination based on a determination result. The apparatus comprises a radar device 1 which detects a target in a surrounding area of an own vehicle VM; a target processing section 21 which calculates, with respect to the detected target, information containing at least two of information indicating a position of presence, information indicating a moving direction, and information indicating a moving speed, of the target as target information; and a target determination section 23 which determines, based on the calculated target information, whether a target object is a bicycle depending on whether the target satisfies a predetermined condition, and which determines a risk of collision between the vehicle VM and the target object.

Claims

1. An object detection apparatus which is mounted in a vehicle and detects an object in a surrounding area of the vehicle, the apparatus comprising:

a radar device which detects an object in the surrounding area of the vehicle as a dot;

a processing part which calculates, from a result of the detection as the dot by the radar device with respect to a target which is the object detected by the radar device, information indicating a relative position of the target relative to the vehicle, or information indicating the relative position of the target relative to the vehicle and at least one of a relative distance and a relative speed of the target relative to the vehicle, as target information;

a traveling direction prediction part which predicts a traveling direction of the vehicle, and predicts a traveling direction of the target based on the target information calculated by the processing part;

a determination part which determines, from the target information calculated by the processing part and the traveling direction of the target predicted by the traveling direction prediction part, whether a condition (i) that the relative position of the target indicated by the target information is within a set area which is set to a side strip at a lateral side of the vehicle and a condition (ii) that the traveling direction of the target predicted by the traveling direction prediction part is not a direction toward where the vehicle is heading are satisfied for each target, and which determines that the target is a movable body which does not collide with the vehicle when the conditions are satisfied; and

a collision determination part which determines whether the target, that has been determined by the determination part as not being the movable body which does not collide with the vehicle, is likely to collide with the vehicle, wherein

the determination part accumulates, each time the determination part has determined that the conditions are satisfied for the target, the number of times when the determination part has determined that the conditions are satisfied for the target and determines, when the accumulated number has reached a predetermined number, that the target is the movable body which does not collide with the vehicle,

the travelling direction prediction part predicts the traveling direction of the target only when a predetermined number of chronological pieces of target information of the target are stored in a target information memory, and

the processing part, the travelling direction prediction part, the determination part, and the collision determination part are executed by a computer.

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

the determination part predicts, based upon the target information, an absolute speed of the target of which the traveling direction is predicted by the traveling direction prediction part, and

the determination part determines, when the determination part has determined that the conditions are satisfied and the absolute speed is less than or equal to a predetermined value, that the target is the movable body which does not collide with the vehicle.

3. The object detection apparatus according to claim 1, wherein the set area is set a first distance apart from a side portion of the vehicle at the lateral side of the vehicle.

4. The object detection apparatus according to claim 3, wherein

the first distance is set in accordance with a width of the movable body.

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

the determination part transmits, when the determination part has determined that the target is the movable body which does not collide with the vehicle, the target information to the collision determination part, the target information being a criterion for determining to cause the collision determination part to perform, with respect to the target, at least one of the collision risk prevention operation and the collision damage reduction operation.

6. A non-transitory computer readable medium storing instructions which, when executed by a computer, cause the computer to perform an object detection method which is provided in a vehicle and detects an object in a surrounding area of the vehicle, the method comprising:

a detection step of detecting an object in the surrounding area of the vehicle by using a radar device as a dot;

a processing step of calculating, from a result of the detection as the dot by the radar device with respect to a target which is the object detected in the detection step, information indicating a relative position of the target relative to the vehicle, or information indicating the relative position of the target relative to the vehicle and at least one of a relative distance and a relative speed of the target relative to the vehicle as target information;

a traveling direction prediction step of predicting a traveling direction of the vehicle, and predicting a traveling direction of the target based on the target information calculated by the processing part;

a determination step of determining, from the target information calculated in the processing step and the traveling direction of the target predicted in the traveling direction prediction step, whether a condition (i) that the relative position of the object indicated by the target information is within a set area which is set to a side strip at a lateral side of the vehicle and a condition (ii) that the traveling direction of the target predicted in the traveling direction prediction step is not a direction toward where the vehicle is heading are satisfied for each target, and of determining that the target is a moveable body which does not collide with the vehicle when the conditions are satisfied; and

a collision determining step of determining whether the target, that has been determined in the determining step as not being the movable body which does not collide with the vehicle, is likely to collide with the vehicle, wherein

the determination step includes accumulating, each time it has been determined that the conditions are satisfied for the target, the number of times when it has been determined that the conditions are satisfied for the target and determining, when the accumulated number has reached a predetermined number, that the target is the movable body which does not collide with the vehicle, and

the traveling direction prediction step includes predicting the traveling direction of the target only when a predetermined number of chronological pieces of target information of the target are stored in a target information memory.