# US 10,246,030 B2 · Object detection apparatus and driving assistance apparatus

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- Number: US 10,246,030 B2
- Document ID: US10246030B2
- Status: Granted
- Kind: B2
- Application number: 14/418,590
- Filed: 2012-12-14
- Published: 2015-10-22
- Granted: 2019-04-02
- Earliest claimed: 2012-08-09
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Masayuki Katoh
- Web page: https://patentgrep.com/patent/US10246030B2

## CPC

- B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
- 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
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60R 2300/10: characterised by the type of camera system used
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

An object of the present invention is to provide an object detection apparatus and a driving assistance apparatus in which movement information of a target object can be obtained with high accuracy. In the present invention, the object detection apparatus is an apparatus that detects a target object from a predetermined mounting position (a vehicle and the like); performs an object detection from a predetermined mounting position; in a case where a target object is detected, acquires the position of the target object; obtains a feature amount of a fixed object existing around the target object and detects a position of a fixed object; sets the position of the fixed object as a reference point; and calculates movement information of the target object from the position of the target object with the reference point as a reference.

## Claims

### Claim 1

An object detection apparatus that detects a target object from a predetermined mounting position, comprising:
a stereo camera configured to perform an object detection from the predetermined mounting position, and in a case where a target object is detected, acquires a first position of the target object at a first time and a second position of the target object at a second time;
an electronic control unit configured to:
estimate a third position of the target object at a third time based on a movement vector from the first position to the second position;
acquire a feature amount on a road surface between the second and third positions of the target object;
set a reference point on the road surface based on the feature amount on the road surface acquired by the electronic control unit; and
calculate movement information of the target object from the second position of the target object acquired by the stereo camera with the reference point set by the electronic control unit as a reference, in a case where the target object is detected by the stereo camera,
wherein the electronic control unit sets the reference point from the position surrounding a lateral direction from adding 0 to 1 times a movement amount in the lateral direction of the target object detected by the stereo camera to the lateral movement direction side, from the position in the lateral direction of the target object acquired by the stereo camera.

### Claim 2

An object detection apparatus that detects a target object from a predetermined mounting position, comprising:
a stereo camera configured to perform an object detection from the predetermined mounting position, and in a case where a target object is detected, acquires a first position of the target object at a first time and a second position of the target object at a second time;
an electronic control unit configured to:
estimate a third position of the target object at a third time based on a movement vector from the first position to the second position;
acquire a feature amount on a mad surface between the second and third positions of the target object;
set a reference point on the road surface based on the feature amount on the road surface acquired by the electronic control unit; and
calculate movement information of the target object from the second position of the target object acquired by the stereo camera with the reference point set by the electronic control unit as a reference, in a case where the target object is detected by the stereo camera,
wherein the electronic control unit sets the reference point from the position surrounding a distance direction from adding 1 to 2 times a movement amount a movement amount in the distance direction of the target object detected by the stereo camera to the predetermined mounting position in the distance direction side, from the position in the distance direction of the target object acquired by the stereo camera.

### Claim 3 (depends on 1)

The object detection apparatus according to claim 1, further comprising:
a yaw rate sensor and a wheel speed sensor configured to acquire movement information of the predetermined mounting position,
wherein the electronic control unit sets a new reference point around the position to which the set reference point is moved based on the movement information acquired by the yaw rate sensor and the wheel speed sensor.