Object detection device and object detection method

An object detection method, which is applied to a moving body, the object detection method comprising:

• transmitting a radio wave to measure, based on a reflected wave acquired from an object to be detected existing in a periphery of the moving body, a position and a doppler speed of the object at a reflection point;
• executing grouping processing of determining that a plurality of reflection points are acquired from a first object, and a single reflection point is acquired from a second object, among the plurality of objects;
• calculating a moving direction and a moving speed of the first object by using the doppler speeds and the positions of the plurality of reflection points of the first object;
• calculating a moving direction and a moving speed of the second object by using a difference in positions acquired in two consecutive cycles;
• applying different filter gains to the moving speed of the first object and the moving speed of the second object, based on a result of the grouping processing, by increasing the filter gains in proportion to a number of the plurality of reflection points;
• and
• after applying the different filter gains, output the moving direction and the moving speed of each of the first object and the second object.

An object detection device, which is mounted to a moving body, the object detection device comprising one or more processors configured to obtain, from a plurality of object detection sensors, pieces of information on positions and doppler speeds of objects to be detected existing in a periphery of the moving body,

• wherein the one or more processors are further configured to
• determine whether determine that the obtained pieces of information comprise pieces of information regarding a plurality of reflection points obtained from a first object, and a piece of information regarding a single reflection point obtained from a second object,
• calculate a moving direction and a moving speed of the first object by using the doppler speeds and the positions of the plurality of reflection points of the first object;
• calculate a moving direction and a moving speed of the second object by using a difference in positions acquired in two consecutive cycles;
• apply correlation processing to the pieces of information obtained from the first object to associate the pieces of information with one another;
• and
• apply smoothing processing to the positions and the doppler speeds of the first object through application of different filter gains to the moving speed of the first object and the moving speed of the second object, based on a result of the correlation processing, by increasing the filter gains in proportion to a number of the plurality of reflection point,
• after applying the different filter gains, output the moving direction and the moving speed of each of the first object and the second object.

An object detection method, which is applied to a moving body, the object detection method comprising:

• obtaining, from a plurality of object detection sensors, pieces of information on positions and doppler speeds of objects to be detected existing in a periphery of the moving body;
• determining that the pieces of information comprise pieces of information regarding a plurality of reflection points obtained from a first object, and a piece of information regarding a single reflection point obtained from a second object;
• calculating a moving direction and a moving speed of the first object by using the doppler speeds and the positions of the plurality of reflection points of the first object;
• calculating a moving direction and a moving speed of the second object by using a difference in positions acquired in two consecutive cycles;
• applying correlation processing to the pieces of information obtained from the first object to associate the pieces of information with one another;
• and
• applying smoothing processing to the positions and the doppler speeds of the first object through application of different filter gains to the moving speed of the first object and the moving speed of the second object, based on a result of the correlation processing, by increasing the filter gains in proportion to a number of the plurality of reflection point;
• after applying the different filter gains, output the moving direction and the moving speed of each of the first object and the second object.