Object detection apparatus and method

• US 9,304,195 B2
• Filed: 10/28/2013
• Issued: 04/05/2016
• Est. Priority Date: 11/12/2012
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Kajiki, Junko, Ochi, Mitsuru, Shite, Kazuhiko, Ikeya, Tomonori
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US14/064,797
• Publication Number:
  US 20140132441A1
• Time in Patent Office: 890 Days
• Field of Search: 342/27, 342/141, 342145-147, 342195-196
• US Class Current: 1/1
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence

Abstract

An object detection method includes outputting a radio wave, receiving a reflected wave of the radio wave, generating a plurality of object information each indicating a location of each of a plurality of objects with respect to a predetermined reference point based on the radio wave and the reflected wave, calculating a first distance between an observation reference line which represents a shape and a location of a target area for detection preset depending on a target object for detection, and each of the plurality of objects, based on the observation reference line information stored in advance indicating a shape and a location of the observation reference line and the object information, selecting a predetermined number or less of the object information in ascending order of the first distance among the plurality of the object information as the object information to be output, and outputting the selected object information.

Claims

1. An object detection apparatus comprising:

a transmitter configured to output a radio wave;

a receiver configured to receive a reflected wave of the radio wave; and

a processor configured to;

generate a plurality of object information each indicating a location of each of a plurality of objects with respect to a predetermined reference point based on the radio wave and the reflected wave,

calculate a first distance between an observation reference line which represents a shape and a location of a target area for detection preset depending on a target object for detection, and each of the plurality of objects, based on the observation reference line information stored in advance indicating a shape and a location of the observation reference line and the object information,

select a predetermined number or less of the object information in ascending order of the first distance among the plurality of the object information as the object information to be output, and

output the predetermined number or less of the selected object information.

2. The object detection apparatus according to claim 1,

wherein the observation reference line is at least a straight line,

the observation reference line information includes a first angle formed by the observation reference line and a reference orientation defined based on a direction along which the radio wave is output and a second distance between the observation reference line and the reference point, and

the processor calculates the first distance according to each of the plurality of objects, based on the object information, the first angle and the second distance.

3. The object detection apparatus according to claim 1,

wherein the observation reference line is at least a segment,

the observation reference line information includes a first angle formed by the observation reference line and a reference orientation defined based on a direction along which the radio wave is output, a second distance between the observation reference line and the reference point, and locations of both end points of the line segment, and

the processor calculates the first distance according to each of the plurality of objects, based on the object information, the first angle, the second distance and locations of both end points.

4. The object detection apparatus according to claim 1,

wherein the observation reference line is at least an arc,

the observation reference line information includes a center position and a radius of the arc, and

the processor calculates the first distance according to each of the plurality of objects, based on the center position and radius of the arc.

5. The object detection apparatus according to claim 1,

wherein the observation reference line is set based on the shape of a road.

6. A non-transitory computer-readable storage medium storing a computer executable program that, when executed, causes a computer to perform an object detection method comprising:

generating a plurality of object information each indicating a location of each of a plurality of objects with respect to a predetermined reference point based on an output radio wave and a reflected radio wave;

calculating a first distance between an observation reference line which represents a shape and a location of a target area for detection preset depending on a target object for detection, and each of the plurality of objects, based on the observation reference line information stored in advance indicating a shape and a location of the observation reference line and the object information;

selecting a predetermined number or less of the object information in ascending order of the first distance among the plurality of the object information as the object information to be output; and

outputting the predetermined number or less of the selected object information.

7. The non-transitory computer-readable storage medium according to claim 6,

wherein the observation reference line is at least a straight line,

the observation reference line information includes a first angle formed by the observation reference line and a reference orientation defined based on a direction along which the radio wave is output and a second distance between the observation reference line and the reference point, and

the first distance according to each of the plurality of objects is calculated based on the object information, the first angle and the second distance.

8. The non-transitory computer-readable storage medium according to claim 6,

wherein the observation reference line is at least a segment,

the observation reference line information includes a first angle formed by the observation reference line and a reference orientation defined based on a direction along which the radio wave is output, a second distance between the observation reference line and the reference point, and locations of both end points of the line segment, and

the first distance according to each of the plurality of objects is calculated based on the object information, the first angle, the second distance and locations of both end points.

9. The non-transitory computer-readable storage medium according to claim 6,

wherein the observation reference line is at least an arc,

the observation reference line information includes a center position and a radius of the arc, and

the first distance according to each of the plurality of objects is calculated based on the center position and radius of the arc.

10. The non-transitory computer-readable storage medium according to claim 6,

wherein the observation reference line is set based on the shape of a road.

11. The non-transitory computer-readable storage medium according to claim 6,

wherein the computer executable program that, when executed, causes the computer to perform the object detection method further comprising:

outputting the radio wave;

receiving the reflected wave of the radio wave; and

generating the object information based on the radio wave and the reflected wave.

12. An object detection method comprising:

outputting a radio wave;

receiving a reflected wave of the radio wave;

generating a plurality of object information each indicating a location of each of a plurality of objects with respect to a predetermined reference point based on the radio wave and the reflected wave;

calculating, by a processor, a first distance between an observation reference line which represents a shape and a location of a target area for detection preset depending on a target object for detection, and each of the plurality of objects, based on the observation reference line information stored in advance indicating a shape and a location of the observation reference line and the object information;

selecting a predetermined number or less of the object information in ascending order of the first distance among the plurality of the object information as the object information to be output; and

outputting the predetermined number or less of the selected object information.