Driving assist device

• US 9,981,659 B2
• Filed: 09/27/2017
• Issued: 05/29/2018
• Est. Priority Date: 05/09/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Urano, Hiromitsu, Sakai, Katsuhiro, Kindo, Toshiki, Ichikawa, Kentaro, Harada, Masahiro
• Primary Examiner(s): Bugg, George
• Assistant Examiner(s): Akki, Munear
• Application Number:
  US15/716,973
• Publication Number:
  US 20180029594A1
• Time in Patent Office: 244 Days
• Field of Search: 340901, 340605, 340988, 340996, 340436, 340435, 701301, 701469
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• 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 a driving assist device 10 that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the apparatus including: an object detecting unit 12 that detects the object in the vicinity of the moving body; a three dimensional object detecting unit 13 that detects a three dimensional object in the vicinity of the moving body; and an object recognition unit 18 that recognizes the object at a predetermined detection position as a non-obstacle when the object information storing unit 16 stores the position of the object, and the three dimensional object information storing unit 17 does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit 12 and the three dimensional object detecting unit 13.

Claims

1. A driving assist device that recognizes an object in the vicinity of a moving body, and assists a driver in driving the moving body, the driving assist device comprising:

an object detecting unit that detects the object in the vicinity of the moving body;

an information generating unit that generates information indicative of a moving history of the detected object;

a history information storing unit that stores the information generated by the information generating unit as history information;

an object recognition unit that determines that the detected object is a moving object if the detected object is in motion, and determines that the detected object is a moving object if the detected object is not in motion and has moved previously, based on the history information obtained from the history information storing unit;

a fixed object information storing unit that stores a position of a non-obstacle as a fixed object information; and

wherein when the object recognition unit determines a position of the detected object coincides with the position of the non-obstacle, and recognizes the detected object is not the moving object, the object recognition unit recognizes the object as the non-obstacle, and when the object recognition unit determines the position of the detected object coincides with the position of the non-obstacle, and recognizes the detected object is the moving object, the object recognition unit does not recognize the object as the non-obstacle.

2. The driving assist device according to claim 1,

wherein the history information storing unit deletes the history information that is not updated during a predetermined period.