Object detection apparatus

• US 10,436,899 B2
• Filed: 10/12/2015
• Issued: 10/08/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation
• Inventors: Fukuman, Masumi, Ohbayashi, Motonari, Kida, Akihiro
• Primary Examiner(s): Baghdasaryan, Hovhannes
• Application Number:
  US14/880,526
• Publication Number:
  US 20160116585A1
• Time in Patent Office: 1,457 Days
• CPC Class Codes: G01S 15/46 Indirect determination of position data
• CPC Class Codes: G01S 15/878 wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/465 by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50

Abstract

An object detection apparatus includes a first acquisition unit that acquires, as a first direct wave group, reflected versions of first probing waves transmitted from and received at a first position, and acquires, as a first indirect wave group reflected versions of the first probing waves received at a second position, a second acquisition unit that acquires, as a second indirect wave group, reflected versions of second probing waves transmitted from the second position and received at the first position, and acquires, as a second direct wave group, reflected versions of the second probing wave received at the second position, and a determination unit that determines whether the object is a real object or a ghost in accordance with the receptions times of the first and second direct wave groups and the first and second indirect wave groups.

Claims

1. An object detection apparatus for detecting at least two objects present in a vicinity thereof by transmitting first probing waves from a first position and subsequently transmitting second probing waves from a second position different from the first position, a detection area of the first probing waves and a detection area of the second probing waves being partially overlapped with each other, and by receiving reflected versions of the first and second probing waves as detection data of the at least two objects, comprising:

a first acquisition unit configured to acquire, as a first direct wave group including one or more first direct waves, the reflected versions of the first probing waves received as the one or more first direct waves at the first position, and acquire, as a first indirect wave group including one or more first indirect waves, the reflected versions of the first probing waves received as the one or more first indirect waves at the second position;

a second acquisition unit configured to acquire, as a second indirect wave group including one or more second indirect waves, the reflected versions of the second probing waves received as the one or more second indirect waves at the first position, and acquire, as a second direct wave group including one or more second direct waves, the reflected versions of the second probing waves received as the one or more second direct waves at the second position;

a first calculation unit configured to calculate a potential position for each of the at least two objects for each combination of one of the first direct waves and one of the first indirect waves;

a second calculation unit configured to calculate a potential position for each of the at least two objects for each combination of one of the second direct waves and one of the second indirect waves; and

a determination unit configured to determine whether one of the at least two objects is a ghost or not depending on whether the position of the one of the at least two objects has been calculated by both the first and second calculation units or has been calculated by only one of the first and second calculation units;

wherein the determination unit is configured to, in the presence of the at least two objects in a vicinity of the apparatus, determine that a first object whose position is calculated by the first calculation unit is a real object if a difference between detected distances calculated based on reception times of the first direct waves reflected by the first object and a second object, or a difference between detected distances calculated based on reception times of the first indirect waves reflected by the first object and the second object is larger than a predetermined threshold, and

determine that a third object whose position is calculated by the second calculation unit is a real object if a difference between detected distances calculated based on reception times of the second direct waves reflected by the third object and a fourth object or a difference between detected distances based on reception times of the second indirect waves reflected by the third object and the fourth object is larger than a predetermined threshold.

2. The apparatus according to claim 1, wherein the determination unit is configured to, in determining whether the one of the at least two objects is a ghost or not, for each combination of one of the calculated positions of the one of the at least two objects calculated by the first calculation unit and one of the calculated positions of the one of the at least two objects calculated by the second calculation unit, determine whether or not a difference in lateral position between the calculated positions belonging to the combination is smaller than a predetermined threshold, and if the difference in lateral position between the calculated potential positions belonging to the combination is smaller than the predetermined threshold, then determine that the one of the at least two objects is a real object.