Target recognition apparatus

• US 9,540,002 B2
• Filed: 11/18/2014
• Issued: 01/10/2017
• Est. Priority Date: 11/19/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ito, Yosuke, Mizutani, Akiyoshi
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/546,573
• Publication Number:
  US 20150142208A1
• Time in Patent Office: 784 Days
• Field of Search: 701/1
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/02 related to ambient conditions

Abstract

A target recognition apparatus includes a detecting unit and an estimating unit. The detecting unit detects an object that is present in a traveling direction of a vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation. The estimating unit performs the object type estimation based on the information for estimation. When a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed. The predetermined first condition indicates that erroneous estimation may occur in the object type estimation.

Claims

1. A target recognition apparatus mounted to a vehicle, the target recognition apparatus comprising:

a detecting unit that detects an object that is present in a traveling direction of the vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation;

an estimating unit that performs the object type estimation based on the information for estimation, wherein when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation; and

an operation control unit that enables the vehicle to perform the predetermined operation when a predetermined second condition is met, the predetermined second condition indicating that the probability of collision between the vehicle and the object is high,

wherein, when the first condition is met, the operation control unit suppresses or prohibits the control for enabling the vehicle to perform a predetermined operation when the second condition is met.

3. The target recognition apparatus according to claim 1, further comprising:

a steering angle detecting unit that detects a steering angle of a steering in the vehicle, the first condition including a condition that the steering angle is a predetermined angle or more.

5. The target recognition apparatus according to claim 1, further comprising:

a yaw rate detecting unit that detects an angular velocity of the vehicle, the first condition including a condition that the angular velocity is a predetermined angular velocity or more.

8. The target recognition apparatus according to claim 1, wherein:

the predetermined operation includes at least one of;

an operation to avoid collision of the vehicle with the object;

an operation to reduce impact caused by the collision; and

an operation to notify a user that the probability of the collision is high.

2. A target recognition apparatus mounted to a vehicle, the target recognition apparatus comprising:

a detecting unit that detects an object that is present in a traveling direction of the vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation;

an estimating unit that performs the object type estimation based on the information for estimation, wherein, when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation; and

a steering angle detecting unit that detects a steering angle of a steering in the vehicle, the predetermined first condition including a condition that the steering angle is a predetermined angle or more.

4. A target recognition apparatus mounted to a vehicle, the target recognition apparatus comprising:

a detecting unit that detects an object that is present in a traveling direction of the vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation;

an estimating unit that performs the object type estimation based on the information for estimation, wherein, when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation; and

a yaw rate detecting unit that detects an angular velocity of the vehicle, the first condition including a condition that the angular velocity is a predetermined angular velocity or more.

6. A target recognition apparatus mounted to a vehicle, the target recognition apparatus comprising:

a detecting unit that detects an object that is present in a traveling direction of the vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation;

an estimating unit that performs the object type estimation based on the information for estimation, wherein, when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation;

an object identifying unit that identifies a lateral position of the detected object that is a position in a direction perpendicular to a traveling direction of the vehicle;

a storage unit that stores information indicating the lateral position of the detected object; and

a change amount calculating unit that calculates an amount of temporal change in the lateral position of the identified target,

wherein the first condition includes a condition that amount of temporal change is equal to or larger than a predetermined amount.

7. A target recognition apparatus mounted to a vehicle, the target recognition apparatus comprising:

a detecting unit that detects an object that is present in a traveling direction of the vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation; and

an estimating unit that performs the object type estimation based on the information for estimation, wherein;

when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation; and

the first condition includes a condition that the number of the detected object has increased within an area of a predetermined size that is located at a predetermined distance or less in a traveling direction of the vehicle.

9. A target recognition method comprising:

detecting, by a detecting unit for a target recognition apparatus mounted to a vehicle, an object that is present in a traveling direction of a vehicle, and acquires information for estimation that is used to perform an object type estimation to presume whether or not the detected object is an object to be used in control for enabling the vehicle to perform a predetermined operation;

performing, an estimating unit for the target recognition apparatus, the object type estimation based on the information for estimation,

wherein, when a predetermined first condition is met, the control for enabling the vehicle to perform a predetermined operation is prohibited or suppressed, the predetermined first condition indicating that erroneous estimation may occur in the object type estimation; and

enabling, by an operation control unit, the vehicle to perform the predetermined operation when a predetermined second condition is met, the predetermined second condition indicating that the probability of collision between the vehicle and the object is high,

wherein, when the first condition is met, the operation control unit suppresses or prohibits the control for enabling the vehicle to perform a predetermined operation when the second condition is met.