Object detection apparatus

A method for detecting objects existing around a vehicle, the method comprising:

• acquiring output signals from a plurality of radar sensors mounted respectively at different positions in the vehicle;
• estimating, based on the output signals from the plurality of radar sensors, detection accuracies of the plurality of radar sensors;
• setting, according to the detection accuracies of the plurality of radar sensors, weighting for the output signals from the plurality of radar sensors;
• and
• calculating a position of an object by using in combination the output signals from the plurality of radar sensors taking into the set weighting,
• wherein
• the output signals from the plurality of radar sensors, which use a plurality of modulation methods, are acquired for each of the plurality of modulation methods,
• the detection accuracies of the plurality of radar sensors are estimated for each of the plurality of modulation methods of the plurality of radar sensors, and
• the weighting is set for each of the plurality of modulation methods of the plurality of radar sensors.

A system for detecting objects existing around a vehicle, the system comprising:

• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• acquire output signals from a plurality of radar sensors mounted respectively at different positions in the vehicle;
• estimate, based on the output signals from the plurality of radar sensors, detection accuracies of the plurality of radar sensors;
• set, according to the detection accuracies of the plurality of radar sensors, weighting for the output signals from the plurality of radar sensors;
• and
• calculate a position of an object by using in combination the output signals from the plurality of radar sensors taking into the set weighting,
• wherein
• the output signals from the plurality of radar sensors, which use a plurality of modulation methods, are acquired for each of the plurality of modulation methods,
• the detection accuracies of the plurality of radar sensors are estimated for each of the plurality of modulation methods of the plurality of radar sensors, and
• the weighting is set for each of the plurality of modulation methods of the plurality of radar sensors.