US 10,871,565 B2Granted

Object detection apparatus and object detection method

AssigneeDenso Corporation

InventorTakahiro Baba

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Abstract

An object detection apparatus includes a radar-region-setting-unit setting a detection region of an object as a radar search region based on a detected position of the object detected by a radar, an image-region-setting-unit setting the detection region of the object as an image search region based on the detected position of the object detected by a monocular camera, an object-determination-unit determining the object detected by a radar and the monocular camera as the same object under a condition that an overlapping portion of the radar search region and the image search region exists, and a two-wheeler-determination-unit determining whether an object type detected by the monocular camera is a two-wheeler. The image-region-setting-unit enlarges the image search region compared with a case where the object type is not the two-wheeler, under a condition that the object type is determined as the two-wheeler.

Claims20

Dependent claims

An object detection apparatus detecting an object existing around an own vehicle, using a radar and a monocular camera, comprising:

a radar region setting unit setting, based on a first position which is a detected position of an object detected by the radar, a radar search region including the first position;
an image region setting unit setting, based on a second position which is a detected position of an object detected by the monocular camera, an image search region including the second position;
an object determination unit determining the object detected by the radar and the object detected by the monocular camera to be the same as each other, based on a determination that there is a region in which the radar search region and the image search region overlap with each other;
and
a two-wheeler determination unit determining whether a type of the object detected by the monocular camera is a two-wheeler by matching an image of the object with a pre-registered target model, wherein
the image region setting unit is configured to enlarge the image search region based on determining that the type of the object detected by the monocular camera is the two-wheeler, in comparison with a case where the type of the object detected by the monocular camera is not the two-wheeler.

3 more elements

A method of detecting an object existing around an own vehicle, using a radar and a monocular camera, comprising steps of:

a radar region setting step for setting, based on a first position which is a detected position of the object detected by the radar, a radar search region including the first position;
an image region setting step for setting, based on a second position which is the detected position of an object detected by the monocular camera, an image search region including the second position;
an object determination step for determining the object detected by the radar and the object detected by the monocular camera to be the same as each other, based on determination that there is a region in which the radar search region and the image search region overlap with each other;
and
a two-wheeler determination step for determining whether a type of the object detected by the monocular camera is a two-wheeler by matching an image of the object with a pre-registered target model;
wherein
the image region setting step enlarges the image search region based on determining that the type of the object detected by the monocular camera is the two-wheeler, in comparison with a case where the type of the object detected by the monocular camera is not the two-wheeler.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/062,432Filed 9 Dec 2016
Priority: JP 2015-24668617 Dec 2015
Published: US 2018/0372866 A127 Dec 2018
Granted: 22 Dec 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification15 codes

G01S 13/931
For anti-collision purposes: of land vehicles
G01S 13/867
Combinations of radar systems with non-radar systems, e.g. sonar, direction finder: combination of radar systems with cameras
G01V 3/12
Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation: operating with…
G01V 8/10
Prospecting or detecting by optical means: detecting, e.g. by using light barriers

Family

US 2018/0372866 A1Pre-grant publication · published 27 Dec 2018
US 10,871,565 B2This patent

From the US filing history. Foreign family members aren’t listed.

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