Moving object determination device

A method for a vehicle to determine whether an obstacle is a stationary object or a moving object comprising:

• determining whether the obstacle is initially detected by only a first sensor of at least two ultrasonic sensors that are aligned in a traveling direction of the vehicle on one side of the vehicle with a predetermined distance between them and configured to detect the obstacle on the one side, the at least two ultrasonic sensors comprising the first sensor and a second sensor;
• determining whether the obstacle has been detected by the second sensor which is the other of the at least the two ultrasonic sensors and did not detect the object;
• calculating a traveling speed of the obstacle based on (i) an elapsed time from when the first sensor initially detected the obstacle to when the second sensor detects the obstacle, and (ii) the predetermined distance;
• calculating a length of the obstacle based on the traveling speed and a detecting time, the detecting time being from when the first sensor started to detect the obstacle until the obstacle has no longer been detected by the first sensor;
• calculating a predicted time from when the obstacle is initially detected by the first sensor to when the obstacle will no longer be detected by the second sensor based on the traveling speed and the length of the obstacle;
• calculating a real time from when the obstacle is initially detected by the first sensor to when the obstacle has no longer been detected by the second sensor, and calculates a time difference between the real time and the predicted time;
• and
• determining that the obstacle is a stationary object in response to the time difference being equal to or greater than a predetermined value, and determines that the obstacle is a moving object in response to the time difference being smaller than the predetermined value,
• wherein:
• the vehicle comprises a braking control device and a driving force control device, the braking control device controlling a braking force of each wheel of the vehicle, driving force control device controlling a driving force of each drive wheel of the vehicle;
• and
• the method further comprises transmitting a control signal to at least one of the braking control device and the driving force control device to move the vehicle according to a route for moving the vehicle avoiding the obstacle based on determining whether the obstacle is a stationary object or a moving object.

A non-transitory computer-readable medium having computer-executable instructions for a vehicle to determine whether an obstacle is a stationary object or a moving object, the computer-executable instructions comprising instructions for:

• determining whether the obstacle is initially detected by only a first sensor of at least two ultrasonic sensors that are aligned in a traveling direction of the vehicle on one side of the vehicle with a predetermined distance between them and configured to detect the obstacle on the one side, the at least two ultrasonic sensors comprising the first sensor and a second sensor;
• determining whether the obstacle has been detected by the second sensor which is the other of the at least the two ultrasonic sensors and did not detect the object;
• calculating a traveling speed of the obstacle based on (i) an elapsed time from when the first sensor initially detected the obstacle to when the second sensor detects the obstacle, and (ii) the predetermined distance;
• calculating a length of the obstacle based on the traveling speed and a detecting time, the detecting time being from when the first sensor started to detect the obstacle until the obstacle has no longer been detected by the first sensor;
• calculating a predicted time from when the obstacle is initially detected by the first sensor to when the obstacle will no longer be detected by the second sensor based on the traveling speed and the length of the obstacle;
• calculating a real time from when the obstacle is initially detected by the first sensor to when the obstacle has no longer been detected by the second sensor, and calculates a time difference between the real time and the predicted time;
• and
• determining that the obstacle is a stationary object in response to the time difference being equal to or greater than a predetermined value, and determines that the obstacle is a moving object in response to the time difference being smaller than the predetermined value,
• wherein:
• the vehicle comprises a braking control device and a driving force control device, the braking control device controlling a braking force of each wheel of the vehicle, driving force control device controlling a driving force of each drive wheel of the vehicle;
• and
• the computer-executable instructions further comprises instructions for:
• transmitting a control signal to at least one of the braking control device and the driving force control device to move the vehicle according to a route for moving the vehicle avoiding the obstacle based on determining whether the obstacle is a stationary object or a moving object.