Object detection device, object detection method, and object detection program

An object detection device configured to detect an object present around an own vehicle using a plurality of object detection sensors mounted to the own vehicle, the plurality of object detection sensors transmitting an exploration wave externally from the own vehicle and receiving a reflected wave of the exploration wave reflected by the object, wherein

• the object detection device comprises:
• a condition judgment unit configured to judge whether an execution condition for starting an object detection operation is satisfied;
• a noise processing unit configured to perform a noise-related notification corresponding to occurrence of limitation of an object detection function due to a high noise state when the condition judgment unit judges that the execution condition is satisfied and when the high noise state is established, the high noise state being a state in which a reception state of extraneous noise, different from the reflected wave received by the plurality of object detection sensors, exceeds a predetermined judgment criterion, and wherein the plurality of object detection sensors includes a front sensor mounted to a front of the own vehicle and a rear sensor mounted to a rear of the own vehicle;
• a noise state acquisition unit configured to acquire a characteristics value corresponding to the reception state of the extraneous noise;
• and
• a noise state judgment unit configured to judge that the high noise state is established when the characteristics value exceeds a judgment threshold value corresponding to the predetermined judgment criterion, wherein
• the noise state judgment unit is configured to change the judgment threshold value depending on whether the high noise state is established for the front sensor or the rear sensor, the judgment threshold value when judging that the high noise state is established for the front sensor is higher than the judgment threshold value when judging that the high noise state is established for the rear sensor.

An object detection method of detecting an object present around an own vehicle using a plurality of object detection sensors mounted to the own vehicle, each of the plurality of object detection sensors transmitting an exploration wave externally from the own vehicle and receiving a reflected wave of the exploration wave reflected by the object, wherein

• the method comprises steps of:
• judging whether an execution condition for starting an object detection operation is satisfied;
• performing a noise-related notification corresponding to occurrence of limitation of an object detection function due to a high noise state when judging that the execution condition is satisfied and when the high noise state is established, the high noise state being a state in which a reception state of extraneous noise, different from the reflected wave received by the plurality of object detection sensors, exceeds a predetermined judgment criterion;
• acquiring a characteristics value corresponding to the reception state of the extraneous noise;
• and
• judging that the high noise state is established when the characteristics value exceeds a judgment threshold value corresponding to the predetermined judgment criterion, wherein
• the judgment threshold value is set depending on a driving mode of the vehicle, wherein the judgment threshold value for a forward driving mode is higher than the judgment threshold value for a backward driving mode.

An object detection method of detecting an object present around an own vehicle using a plurality of object detection sensors mounted to the own vehicle, the plurality of object detection sensors transmitting an exploration wave externally from the own vehicle and receiving a reflected wave of the exploration wave reflected by the object, wherein

• the method comprises steps of:
• judging whether an execution condition for starting an object detection operation is satisfied;
• performing a noise-related notification corresponding to occurrence of limitation of an object detection function due to a high noise state when judging that the execution condition is satisfied and when the high noise state is established, the high noise state being a state in which a reception state of extraneous noise, different from the reflected wave received by the plurality of object detection sensors, exceeds a predetermined judgment criterion, wherein the plurality of object detection sensors including a front sensor mounted to a front of the own vehicle and a rear sensor mounted to a rear of the own vehicle;
• acquiring a characteristics value corresponding to the reception state of the extraneous noise;
• and
• judging that the high noise state is established when the characteristics value exceeds a judgment threshold value corresponding to the predetermined judgment criterion, wherein
• the judgment threshold value is set depending on whether the high noise state is established for the front sensor or the rear sensor, wherein the judgment threshold value when judging that the high noise state is established for the front sensor is higher than the judgment threshold value when judging that the high noise state is established for the rear sensor.

A non-transitory computer-readable storage medium storing an object detection program executed by an object detection device, the object detection device detecting an object present around an own vehicle using a plurality of object detection sensors mounted to the own vehicle, each of the plurality of object detection sensors transmitting an exploration wave externally from the own vehicle and receiving a reflected wave of the exploration wave reflected by the object, wherein

• the process executes steps of:
• judging whether an execution condition for starting an object detection operation is satisfied;
• and
• performing a noise-related notification corresponding to occurrence of limitation of an object detection function due to a high noise state when judging that the execution condition is satisfied, and when the high noise state is established, the high noise state being a state in which a reception state of extraneous noise, different from the reflected wave received by the plurality of object detection sensors, exceeds a predetermined judgment criterion;
• acquiring a characteristics value corresponding to the reception state of the extraneous noise;
• and
• judging that the high noise state is established when the characteristics value exceeds a judgment threshold value corresponding to the predetermined judgment criterion, wherein
• the judgment threshold value is set depending on a driving mode of the vehicle, wherein the judgment threshold value for a forward driving mode is higher than the judgment threshold value for a backward driving mode.

A non-transitory computer-readable storage medium storing an object detection program executed by an object detection device, the object detection device detecting an object present around an own vehicle using a plurality of object detection sensors mounted to the own vehicle, the plurality of object detection sensors transmitting an exploration wave externally from the own vehicle and receiving a reflected wave of the exploration wave reflected by the object, wherein

• the program executes steps of:
• judging whether an execution condition for starting an object detection operation is satisfied;
• and
• performing a noise-related notification corresponding to occurrence of limitation of an object detection function due to a high noise state when judging that the execution condition is satisfied and when the high noise state is established, the high noise state being a state in which a reception state of extraneous noise, different from the reflected wave received by the plurality of object detection sensors, exceeds a predetermined judgment criterion, wherein the plurality of object detection sensors including a front sensor mounted to a front of the own vehicle and a rear sensor mounted to a rear of the own vehicle;
• acquiring a characteristics value corresponding to the reception state of the extraneous noise;
• and
• judging that the high noise state is established when the characteristics value exceeds a judgment threshold value corresponding to the predetermined judgment criterion, wherein
• the judgment threshold value is set depending on whether the high noise state is established for the front sensor or the rear sensor, wherein the judgment threshold value when judging that the high noise state is established for the front sensor is higher than the judgment threshold value when judging that the high noise state is established for the rear sensor.