# US 11,906,612 B2 · Object detection device and object detection method

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- Number: US 11,906,612 B2
- Document ID: US11906612B2
- Status: Granted
- Kind: B2
- Application number: 16/982,680
- Filed: 2018-05-14
- Published: 2021-01-07
- Granted: 2024-02-20
- Earliest claimed: 2018-05-14
- Assignees: Mitsubishi Electric Corporation
- Applicants: Mitsubishi Electric Corporation
- Inventors: Takaaki Nishida
- Web page: https://patentgrep.com/patent/US11906612B2

## CPC

- G01S 13/06: Systems determining position data of a target
- G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46)
- G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 13/726: {Multiple target tracking}
- G01S 13/931: of land vehicles
- G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)}
- 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

## Abstract

An object detection device includes: a measurement unit configured to transmit 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 as a reflection point; a grouping processing unit configured to execute grouping processing when a plurality of reflection points are acquired, and are determined to be acquired from the same object; a moving speed calculation unit configured to use the doppler speeds and the positions of the plurality of reflection points acquired from the same object, to thereby calculate a moving direction and a moving speed of the same object; and an output unit configured to output the calculated moving direction and moving speed as information on a position and a speed corresponding to detection results of the same object.

## Claims

### Claim 1

An object detection device which is mounted to a moving body, the object detection device comprising one or more processors configured to:
control transmission of a radio wave to measure, based on a reflected wave acquired from a plurality of objects to be detected existing in a periphery of the moving body, a position and a doppler speed of each of the plurality of objects;
execute 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;
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 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.

### Claim 2 (depends on 1)

The object detection device according to claim 1, wherein the one or more processors are further configured to simultaneously calculate the moving direction and the moving speed in accordance with the following relational expression:
Vd_i=V×cos(θ_i−ψ),
where a suffix i represents an index of the reflection point determined to be acquired from the same detection object, Vd_i represents a doppler speed at an i-th reflection point among the reflection points obtained through the grouping processing, θ_i represents an azimuth angle at the i-th reflection point among the reflection points obtained through the grouping processing, V represents a moving speed relative to the same object determined through the grouping processing, and w represents the moving direction of the same object determined through the grouping processing.

### Claim 3

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.

### Claim 4 (depends on 3)

The object detection method according to claim 3, wherein the calculating of the moving direction and the moving speed of the first object are simultaneously performed in accordance with the following relational expression:
Vd_i=V× cos(θ_i−ψ),
where a suffix i represents an index of the reflection point determined to be acquired from the same detection object, Vd_i represents the doppler speed at an i-th reflection point among the reflection points obtained through the grouping processing, θ_i represents an azimuth angle at the i-th reflection point among the reflection points obtained through the grouping processing, V represents a moving speed relative to the same object determined through the grouping processing, and w represents the moving direction of the same object determined through the grouping processing.

### Claim 5

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.

### Claim 6

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.