Object recognition device and object recognition method

• US 8,818,703 B2
• Filed: 01/29/2009
• Issued: 08/26/2014
• Est. Priority Date: 01/29/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Harada, Tomoaki
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Jos, Basil T
• Application Number:
  US13/143,615
• Publication Number:
  US 20110301845A1
• Time in Patent Office: 2,035 Days
• Field of Search: 701/301, 701/45, 701/117, 701/1, 701/207, 342/70, 342/72, 342/173, 342/59, 340/345, 340/903, 340/436, 340/901, 348/148
• US Class Current: 701/301
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target
• 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 recognition device and an object recognition method that can estimate the size of an object detected by a radar, through a simple configuration. The object recognition device includes: a detection section for radiating an electromagnetic wave to an object in a forward direction of the vehicle and for detecting the object by receiving a reflected wave reflected by the object; a target information calculation section for calculating information containing a moving direction of the detected object as target information, by using a signal received by the detection section; a vehicle information calculation section for calculating information containing a moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and a processing section for estimating, based on the information indicating the moving direction of the object contained in the target information and the information indicating the moving direction of the vehicle contained in the vehicle information, from which portion of the object detected by the detection section the electromagnetic wave was reflected, and for calculating a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation.

Claims

1. An object recognition device to be mounted on a vehicle, the device comprising:

a radar device which radiates an electromagnetic wave to an object in a forward direction of the vehicle and which detects the object by receiving a reflected wave reflected by the object;

a target information calculation section which calculates information containing a moving direction of the detected object as target information, by using a signal received by the radar device;

a vehicle information calculation section which calculates information containing one of a current moving direction or a future prediction moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and

a processing section which calculates, as a collision angle, an angle between a straight line extended in the moving direction of the object and a straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, which estimates, based on the collision angle from which one of front edge portions in the moving direction of the object detected by the radar device the electromagnetic wave was reflected, and which calculates a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation,

wherein in a case where the collision angle is a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is on a side facing the vehicle, and in a case where the collision angle is not a right angle or a substantially right angle, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, and

wherein the target information calculation section, the vehicle information calculation section, and the processing section are executed by a computer.

2. The object recognition device according to claim 1, further comprising:

a collision determination section which regards the object detected by the radar device as being present in the presence area calculated by the processing section, and which determines a risk of collision between the vehicle and the object,

wherein the collision determination section is executed by the computer.

3. The object recognition device according to claim 2, wherein said one of front edge portions is one of front corner edge portions, in the moving direction, of the object.

4. The object recognition device according to claim 1, wherein said one of front edge portions is one of front corner edge portions, in the moving direction, of the object.

5. The object recognition device according to claim 4, wherein the processing section regards the object detected by the radar device as another vehicle, and calculates, as the presence area, an area assuming a shape of the other vehicle, based on the position of the one of the front edge portions from which the electromagnetic wave was reflected.

6. The object recognition device according to claim 1, wherein

when the collision angle is an angle falling within a range from the right angle minus 15 degrees to the right angle plus 15 degrees, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portion of the object that is on the side facing the vehicle.

7. The object recognition device according to claim 6, wherein

when the collision angle is an angle falling outside the range from the right angle minus 15 degrees to the right angle plus 15 degrees, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portion of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle.

8. The object recognition device according to claim 1, wherein

when the collision angle is an angle falling outside a range from the right angle minus 15 degrees to the right angle plus 15 degrees, the processing section estimates that the electromagnetic wave was reflected from said one of the front edge portion of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle.

9. An object recognition method using devices to be mounted on a vehicle, the method comprising:

a detection step of radiating, using a radar device, an electromagnetic wave to an object in a forward direction of the vehicle and detecting the object by receiving a reflected wave reflected by the object;

a target information calculation step of calculating information containing a moving direction of the detected object as target information, by using a signal received in the detection step;

a vehicle information calculation step of calculating information containing one of a current moving direction or a future prediction moving direction of the vehicle as vehicle information, by using information obtained from the vehicle; and

a processing step of calculating, as a collision angle, an angle between a straight line extended in the moving direction of the object and a straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, estimating, based on the collision angle from which one of front edge portions in the moving direction of the object detected in the detection step the electromagnetic wave was reflected, and calculating a presence area in which the object is present relative to the vehicle, in accordance with a result of the estimation,

wherein in a case where the collision angle is a right angle or a substantially right angle, the processing step estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is on a side facing the vehicle, and in a case where the collision angle is not a right angle or a substantially right angle, the processing step estimates that the electromagnetic wave was reflected from said one of the front edge portions of the object that is nearest to the straight line extended in the current moving direction or in the future prediction moving direction of the vehicle, and

wherein the target information calculation step, the vehicle information calculation step, and the processing step are executed by a computer.