# US 10,871,565 B2 · Object detection apparatus and object detection method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,565 B2 - Document ID: US10871565B2 - Status: Granted - Kind: B2 - Application number: 16/062,432 - Filed: 2016-12-09 - Published: 2018-12-27 - Granted: 2020-12-22 - Earliest claimed: 2015-12-17 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Takahiro Baba - Web page: https://patentgrep.com/patent/US10871565B2 ## CPC - G01S 13/931: of land vehicles - G01S 13/867: {Combination of radar systems with cameras} - G01V 3/12: operating with electromagnetic waves {(operating with millimetre waves G01V8/005)} - G01V 8/10: Detecting, e.g. by using light barriers (by reflection from the object G01S17/00) - G01V 11/00: Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00 - G06V 10/255: {Detecting or recognising potential candidate objects based on visual cues, e.g. shapes} - 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 - G06V 20/584: {of vehicle lights or traffic lights} - G08G 1/015: with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles - G08G 1/04: using optical or ultrasonic detectors - 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 - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) - 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 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The object detection apparatus according to claim 1, wherein the image region setting unit sets, based on the second position, a first search range in a distance direction from the own vehicle to the object detected by the monocular camera and a second search range in a direction orthogonal to the distance direction, and sets the image search region to be a region surrounded by the first search range and the second search range; and the image region setting unit enlarges the first search range based on determining that the type of the object detected by the monocular camera is the two-wheeler in comparison with the case where the type of the object detected by the monocular camera is not the two-wheeler. ### Claim 3 (depends on 2) The object detection apparatus according to claim 2, wherein the first search range includes a range defined from the own vehicle to the second position, and the image region setting unit enlarges the range in a direction from the own vehicle to the object detected by the monocular camera is the two-wheeler in comparison with the case where the type of the object is not the two-wheeler. ### Claim 4 (depends on 3) The object detection apparatus according to claim 3, wherein the image region setting unit enlarges the first search range, based on a determination whether the two-wheeler is positioned ahead of the own vehicle and wheels of the two-wheeler are positioned in a longitudinal direction state such that the wheels are arranged in a front-back direction with respect to the own vehicle. ### Claim 5 (depends on 3) The object detection apparatus according to claim 3, wherein the image region setting unit enlarges the second search range, based on a determination whether the two-wheeler is positioned ahead of the own vehicle and wheels of the two-wheeler are positioned in a lateral direction state such that the wheels are arranged in a right and left direction with respect to the own vehicle. ### Claim 6 (depends on 3) The object detection apparatus according to claim 3, comprising a reliability determination unit determining a reliability of an object detection by the monocular camera, wherein the image region setting unit sets an enlargement rate for the image search region, depending on the reliability. ### Claim 7 (depends on 2) The object detection apparatus according to claim 2, wherein the image region setting unit enlarges the first search range, based on a determination whether the two-wheeler is positioned ahead of the own vehicle and wheels of the two-wheeler are positioned in a longitudinal direction state such that the wheels are arranged in a front-back direction with respect to the own vehicle. ### Claim 8 (depends on 2) The object detection apparatus according to claim 2, wherein the image region setting unit enlarges the second search range, based on a determination whether the two-wheeler is positioned ahead of the own vehicle and wheels of the two-wheeler are positioned in a lateral direction state such that the wheels are arranged in a right and left direction with respect to the own vehicle. ### Claim 9 (depends on 2) The object detection apparatus according to claim 2, comprising a moving direction determination unit determining a moving direction of the two-wheeler based on the determination that the type of the object detected by the monocular camera is the two-wheeler, wherein the image region setting unit enlarges the image search region, depending on the moving direction of the two-wheeler. ### Claim 10 (depends on 9) The object detection apparatus according to claim 9, comprising a moving speed determination unit determining a moving speed of the two-wheeler, wherein the image region setting unit enlarges the image search region, depending on the moving speed of the two-wheeler. ### Claim 11 (depends on 10) The object detection apparatus according to claim 10, wherein the image region setting unit enlarges the image search region, depending on a distance between the own vehicle and the two-wheeler. ### Claim 12 (depends on 11) The object detection apparatus according to claim 11, comprising a reliability determination unit determining a reliability of an object detection by the monocular camera, wherein the image region setting unit sets an enlargement rate for the image search region, depending on the reliability. ### Claim 13 (depends on 2) The object detection apparatus according to claim 2, comprising a moving speed determination unit determining a moving speed of the two-wheeler, wherein the image region setting unit enlarges the image search region, depending on the moving speed of the two-wheeler. ### Claim 14 (depends on 13) The object detection apparatus according to claim 13, wherein the image region setting unit enlarges the image search region, depending on a distance between the own vehicle and the two-wheeler. ### Claim 15 (depends on 1) The object detection apparatus according to claim 1, comprising a moving direction determination unit determining a moving direction of the two-wheeler based on the determination that the type of the object detected by the monocular camera is the two-wheeler, wherein the image region setting unit enlarges the image search region, depending on the moving direction of the two-wheeler. ### Claim 16 (depends on 1) The object detection apparatus according to claim 1, comprising a moving speed determination unit determining a moving speed of the two-wheeler, wherein the image region setting unit enlarges the image search region, depending on the moving speed of the two-wheeler. ### Claim 17 (depends on 1) The object detection apparatus according to claim 1, wherein the image region setting unit enlarges the image search region, depending on a distance between the own vehicle and the two-wheeler. ### Claim 18 (depends on 1) The object detection apparatus according to claim 1, comprising a reliability determination unit determining a reliability of an object detection by the monocular camera, wherein the image region setting unit sets an enlargement rate for the image search region, depending on the reliability. ### Claim 19 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. ### Claim 20 (depends on 19) The method of detecting the object according to claim 19, wherein the image region setting step sets, based on the second position, a first search range in a distance direction from the own vehicle to the object detected by the monocular camera and a second search range in a direction orthogonal to the distance direction, and sets the image search region as a region surrounded by the first search range and the second search range; and the image region setting step enlarges the first search range based on determining that the type of the object detected by the monocular camera is the two-wheeler in comparison with the case where the type of the object detected by the monocular camera is not the two-wheeler.