Object recognition apparatus
First Claim
1. An object recognition apparatus mounted on a vehicle, comprising:
- a radar unit adapted to conduct object recognition in a millimeter-wave detection area ahead of the vehicle at intervals;
an imaging unit adapted to conduct object recognition in a camera detection area ahead of the vehicle at intervals; and
an object continuity determiner adapted to conduct object continuity determination in an overlapped area between the millimeter-wave detection area and the camera detection area based on a result of the object recognition conducted by the radar unit and the imaging unit;
wherein;
an updating cycle of the radar unit and an updating cycle of the imaging unit differ from each other, and the object continuity determiner determines that, when a first object recognized by any one of the radar unit and the imaging unit at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the radar unit and the imaging unit at time (N−
1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−
1) to the time (N);
wherein the object continuity determiner conducts a data sampling to obtain the result of the object recognition conducted by the radar unit and the imaging unit, and a sampling cycle of the data sampling is shorter than either of the updating cycles of the radar unit and the imaging unit.
1 Assignment
0 Petitions
Accused Products
Abstract
In an object recognition apparatus mounted on a vehicle, comprising: a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals; and an object continuity determiner adapted to conduct object continuity determination based on a result of the object recognition conducted by the recognizers; the object continuity determiner determines that, when a first object recognized by any of the object recognizers at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the object recognizers at time (N−1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−1) to the time (N).
17 Citations
9 Claims
-
1. An object recognition apparatus mounted on a vehicle, comprising:
- a radar unit adapted to conduct object recognition in a millimeter-wave detection area ahead of the vehicle at intervals;
an imaging unit adapted to conduct object recognition in a camera detection area ahead of the vehicle at intervals; and
an object continuity determiner adapted to conduct object continuity determination in an overlapped area between the millimeter-wave detection area and the camera detection area based on a result of the object recognition conducted by the radar unit and the imaging unit;
wherein;
an updating cycle of the radar unit and an updating cycle of the imaging unit differ from each other, and the object continuity determiner determines that, when a first object recognized by any one of the radar unit and the imaging unit at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the radar unit and the imaging unit at time (N−
1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−
1) to the time (N);
wherein the object continuity determiner conducts a data sampling to obtain the result of the object recognition conducted by the radar unit and the imaging unit, and a sampling cycle of the data sampling is shorter than either of the updating cycles of the radar unit and the imaging unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
- a radar unit adapted to conduct object recognition in a millimeter-wave detection area ahead of the vehicle at intervals;
-
9. An object recognition apparatus mounted on a vehicle, comprising:
- a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals; and
an object continuity determiner adapted to conduct object continuity determination based on a result of the object recognition conducted by the recognizers;
wherein;
the object continuity determiner determines that, when a first object recognized by any one of the object recognizers at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the object recognizers at time (N−
1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−
1) to the time (N) wherein the object continuity determiner conducts a data sampling to obtain the result of the object recognition conducted by the radar unit and the imaging unit, and a sampling cycle of the data sampling is shorter than either of the updating cycles of the radar unit and the imaging unit and the recognizers includes a first recognizer comprising a radar and a second recognizer comprising an imaging device, and the object continuity determiner enlarges the predetermined area in an advance direction in which the vehicle advances when the other that recognizes the second object is the first recognizer and any of the recognizers that recognizes the first object is the second recognizer, while enlarging the predetermined area in a direction lateral to the advance direction when the other that recognizes the second object is the second recognizer and any of the recognizers that recognizes the first object is the first recognizer.
- a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals; and
Specification