Object detection apparatus
AssigneeDenso Corporation
InventorTakahiro Baba
Life of this patent
Estimating the term…
Abstract
In an object detection apparatus, a sameness determination unit determines whether or not a first object and a second object are a same object, where the first object is an object detected by an electromagnetic wave sensor and the second object is an object detected by an image sensor. A position determination unit determines a position of the same object that is an object for which the first object and the second object are determined to be the same, where a Y-coordinate of or a distance to the same object in an XY-plane is determined employing a result of the detection of the first object and an X-coordinate or an azimuth of the same object with respect to a reference direction in the XY-plane is determined employing a result of the detection of the second object.
Claims6
An object detection apparatus mounted in a vehicle, comprising:
- a sameness determination unit configured to determine, using a processor, whether or not a first object and a second object are a same object, the first object being an object detected by an electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect a position of the object, the second object being an object detected by an image sensor configured to image process a captured image to detect a position of the object;
- a position determination unit configured to determine, using the processor, a position of the same object that is an object for which the first object and the second object are determined to be the same, a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction, the position determination unit being further configured to determine whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition, and
- the position determination unit is configured to determine whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
A method for performing object detection utilizing an electromagnetic wave sensor and an image sensor, which are both mounted on a vehicle, the electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect object position, the image sensor configured to image process a captured image to also detect object position, the method comprising:
- determining whether or not a first object and a second object are a same object, the first object being an object detected by the electromagnetic wave sensor, the second object being an object detected by the image sensor;
- determining a position of the same object that is an object for which the first object and the second object are determined to be the same, wherein a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, and an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, wherein the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction;
- determining whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition;
- and
- determining whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
A system for performing object detection utilizing an electromagnetic wave sensor and an image sensor, which are both mounted on a vehicle, the electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect object position, the image sensor configured to image process a captured image to also detect object position, the system comprising:
- a central processor;
- a non-transitory computer-readable storage medium;
- and
- a set of computer-executable instructions stored on the computer-readable storage medium that cause the central processor to implement:
- determining whether or not a first object and a second object are a same object, the first object being an object detected by the electromagnetic wave sensor, the second object being an object detected by the image sensor;
- determining a position of the same object that is an object for which the first object and the second object are determined to be the same, wherein a Y-coordinate of the same object or a distance to the same object in an XY-plane being determined by employing a result of the detection of the first object, and an X-coordinate of the same object or an azimuth of the same object with respect to a reference direction in the XY-plane being determined by employing a result of the detection of the second object, wherein the XY-plane being defined such that an X-axis direction of the XY-plane is a vehicle widthwise direction and a Y-axis direction of the XY-plane is a vehicle lengthwise direction;
- determining whether to employ the X-coordinate or the azimuth of the same object, according to a predefined condition;
- and
- determining whether to employ the X-coordinate or the azimuth of the same object, depending on a distance to the first object.
Dependencies are inferred from the claim text.