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Object detection apparatus

  • US 9,798,002 B2
  • Filed: 11/21/2013
  • Issued: 10/24/2017
  • Est. Priority Date: 11/22/2012
  • Status: Active Grant
First Claim
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1. An object detection apparatus mounted in a vehicle, comprising:

  • a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

    a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image; and

    a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object.

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