# US 10,768,293 B2 · Object detecting apparatus using reflection point information of object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,293 B2 - Document ID: US10768293B2 - Status: Granted - Kind: B2 - Application number: 15/532,038 - Filed: 2015-12-01 - Published: 2017-11-02 - Granted: 2020-09-08 - Earliest claimed: 2014-12-01 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Akiyoshi Mizutani; Ryusuke Uyama - Web page: https://patentgrep.com/patent/US10768293B2 ## CPC - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 7/352: {Receivers} - G01S 13/931: of land vehicles - G01S 13/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal - G01S 2013/9321: {Velocity regulation, e.g. cruise control} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - 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 detecting apparatus includes reflecting point detecting means, reflecting point setting means, rear-end positional information generating means and object detecting means. The reflecting point detecting means detects position and speed of reflecting point reflecting radar waves. The reflecting point setting means sets high and low level reflecting points, the high level reflecting point having reflection intensity higher first detecting threshold, and the low level reflecting point having reflection intensity higher than second detecting threshold and lower than the first detecting threshold. The rear-end positional information generating means checks whether or not a low level reflecting point is present satisfying a same object condition in a rear-end searching range, and correlates positional information of the low level reflecting point as rear-end positional information with the high level reflecting point used as reference of the searching range. The object detecting means detects the object surrounding the vehicle. ## Claims ### Claim 1 An object detecting apparatus mounted on a vehicle, generating information about objects positioned in a surrounding area of the vehicle, the apparatus comprising: a reflecting point detecting means for detecting a position and a speed of a reflecting point at every predetermined measurement cycle in which radar waves are transmitted and received, the reflecting point reflecting the radar waves; a reflecting point setting means for setting a high level reflecting point and a low level reflecting point for the reflecting point, the high level reflecting point having a reflection intensity higher than or equal to a predetermined first detecting threshold, the low level reflecting point having a reflection intensity higher than or equal to a second detecting threshold and lower than the first detecting threshold, the second detecting threshold being lower than the first detecting threshold; a rear-end positional information generating means for checking, for each high level reflecting point, whether or not a respective low level reflecting point of a corresponding high level reflecting point of a corresponding reflecting point satisfies a predetermined same object condition and is present in a rear-end searching range, the rear-end searching range being defined in a vehicle width direction with respect to the high level reflecting point, and correlating positional information of the respective low level reflecting point as rear-end positional information of the corresponding reflecting point based on the respective low level reflecting point being present in the rear-end searching range; and an object detecting means for detecting an object positioned in the surrounding area of the vehicle based on the high level reflecting point and the rear-end positional information. ### Claim 2 (depends on 1) The object detecting apparatus according to claim 1, wherein the object detecting means is configured to generate the rear-end positional information of the object for each detected object, by using the rear-end positional information of the high level reflecting point of the object. ### Claim 3 (depends on 1) The object detecting apparatus according to claim 1, wherein the object detecting apparatus is provided with enabling means for enabling the rear-end positional information generating means to operate, when the vehicle is running forward. ### Claim 4 (depends on 1) The object detecting apparatus according to claim 1, wherein the rear-end positional information generating means is configured to use the predetermined same object condition in which a relative speed with respect to the vehicle is set within a predetermined allowable range. ### Claim 5 A computer-implemented method for detecting objects positioned in a surrounding area of a vehicle, the vehicle equipped with a radar sensor, the method comprising: detecting, using a processor, a position and a speed of a reflecting point at every predetermined measurement cycle in which radar waves are transmitted and received by the radar sensor, the reflecting point reflecting the radar waves; setting, using the processor, a high level reflecting point and a low level reflecting point for the reflecting point, the high level reflecting point having a reflection intensity higher than or equal to a predetermined first detecting threshold, the low level reflecting point having a reflection intensity higher than or equal to a second detecting threshold and lower than the first detecting threshold, the second detecting threshold being lower than the first detecting threshold; checking, using the processor, for each high level reflecting point, whether or not a respective low level reflecting point of a corresponding high level reflecting point of a corresponding reflecting point satisfies a predetermined same object condition and is present in a rear-end searching range, the rear-end searching range being defined in a vehicle width direction with respect to the high level reflecting point; correlating, using the processor, positional information of the respective low level reflecting point as rear-end positional information of the corresponding reflecting point based on the respective low level reflecting point being present in the rear-end searching range; and detecting, using the processor, an object positioned in the surrounding area of the vehicle based on the high level reflecting point and the rear-end positional information.