# US 2014/0152488 A1 · Target detecting device for avoiding collision between vehicle and target captured by sensor mounted to the vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0152488 A1 - Document ID: US20140152488A1 - Status: Published application - Kind: A1 - Application number: 14/093,968 - Filed: 2013-12-02 - Published: 2014-06-05 - Earliest claimed: 2012-12-03 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: TAKAHIRO BABA - Web page: https://patentgrep.com/patent/US20140152488A1 ## CPC - G01S 13/931: of land vehicles - G01S 13/867: {Combination of radar systems with cameras} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9323: {Alternative operation using light waves} - 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 The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle. ## Claims ### Claim 1 A target detecting device, wherein the target detecting device is used mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising: a radar sensor being suitable for transmitting radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receiving a reflected waves from the target; an imaging sensor being suitable for capturing an image of an area around the reference vehicle; and an ECU, wherein the ECU comprises: a CPU; a target detecting first unit configured to enable the CPU to detect a target using information acquired by the radar sensor; a selecting unit configured to enable the CPU to select a target that satisfies a predetermined condition, among targets detected by the radar sensor; an output unit configured to enable the CPU to output information on the target selected by the selecting unit; a stopped vehicle detecting unit configured to enable the CPU to detect a stopped vehicle present around the reference vehicle; and a target detecting second unit configured to enable the CPU to detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, wherein, when the stopped vehicle detecting unit detects a stopped vehicle and the target detecting second unit detects a target present behind the stopped vehicle, the selecting unit makes the predetermined selection condition for the target present behind the stopped vehicle, among the targets detected by the target detecting first unit, less restrictive than the predetermined selection condition for other targets, or unconditionally selects the target present behind the stopped vehicle. ### Claim 2 (depends on 1) The target detecting device for avoiding a collision between a vehicle and a target according to claim 1, wherein the predetermined selection condition corresponds to at least either one of i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving. ### Claim 3 (depends on 1) The target detecting device for avoiding a collision between a vehicle and a target according to claim 1, wherein the target detecting second unit detects a pedestrian who is present behind the stopped vehicle as a target using some kind of patterns in relation to an upper body of general pedestrians. ### Claim 4 (depends on 1) The target detecting device for avoiding a collision between a vehicle and a target according to claim 1, wherein the stopped vehicle detecting unit detects a stopped vehicle using the target detecting first unit and the target detecting second unit. ### Claim 5 (depends on 1) The target detecting device for avoiding a collision between a vehicle and a target according to claim 1, wherein the stopped vehicle detecting unit specifies a stopped vehicle by detecting a rear end of a vehicle using at least either one of the imaging sensor or the radar sensor and thereafter detecting a side surface of the vehicle using the radar sensor. ### Claim 6 (depends on 1) The target detecting device for avoiding a collision between a vehicle and a target according to claim 1, wherein the target detecting device further comprises a pedestrian position estimating unit which estimates a position where a pedestrian may be present on a basis of both a position and a length of a stopped vehicle. ### Claim 7 A target detecting device, wherein the target detecting device is used mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising: a radar sensor being suitable for transmitting radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receiving a reflected waves from the target; an imaging sensor being suitable for capturing an image of an area around the reference vehicle; and an ECU, wherein the ECU comprises: a CPU; a target detecting first unit configured to enable the CPU to detect a target using information acquired by the radar sensor; a selecting unit configured to select a target that satisfies a predetermined condition, among targets detected by the radar sensor; an output unit configured to enable the CPU to output information on the target selected by the selecting unit; a stopped vehicle detecting unit configured to enable the CPU to detect a stopped vehicle present around the reference vehicle; and a target detecting second unit configured to enable the CPU to detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, wherein, when the stopped vehicle is detected by the stopped vehicle detecting unit, the target detecting second unit more preferentially detects a pedestrian at least in an area of the image that overlaps the stopped vehicle from the perspective of the reference vehicle, compared to an instance in which a stopped vehicle Is not detected. ### Claim 8 (depends on 7) The target detecting device for avoiding a collision between a vehicle and a target according to claim 7, wherein, when the stopped vehicle is detected by the stopped vehicle detecting unit, the target detecting second unit increases the number of upper body patterns for image recognition of a pedestrian at least in the overlapped area, compared to an instance in which a stopped vehicle is not detected. ### Claim 9 A target detecting device, wherein the target detecting device is used mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising: a radar sensor being suitable for transmitting radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receiving a reflected waves from the target; an imaging sensor being suitable for capturing an image of an area around the reference vehicle; and an ECU, wherein the ECU comprises: a CPU; a target detecting first unit configured to enable the CPU to detect a target using information acquired by the radar sensor; a selecting unit configured to select a target that satisfies a predetermined condition, among targets detected by the radar sensor; an output unit configured to enable the CPU to output information on the target selected by the selecting unit; a stopped vehicle detecting unit configured to enable the CPU to detect a stopped vehicle present around the reference vehicle; and a target detecting second unit configured to enable the CPU to detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, wherein, when the stopped vehicle is detected by the stopped vehicle detecting units, the target detecting second unit makes criteria for detecting a pedestrian in at least an area of the image that overlaps the stopped vehicle from the perspective of the reference vehicle less restrictive compared to an instance in which a stopped vehicle is not detected. ### Claim 10 (depends on 9) The target detecting device for avoiding a collision between a vehicle and a target according to claim 9, wherein the target detecting second unit performs the image recognition more than once, then if an identical target is recognized more than predetermined number of times, specifies the recognized image as containing an object to be detected. ### Claim 11 (depends on 10) The target detecting device for avoiding a collision between a vehicle and a target according to claim 10, wherein the target detecting second unit makes criteria less restrictive by reducing the predetermined number of times. ### Claim 12 (depends on 9) The target detecting device for avoiding a collision between a vehicle and a target according to claim 9, wherein, the stopped vehicle detecting unit detects a stopped vehicle by using the target detecting first unit and the target detecting second unit. ### Claim 13 (depends on 9) The target detecting device for avoiding a collision between a vehicle and a target according to claim 9, wherein the stopped vehicle detecting unit specifies a stopped vehicle by detecting a rear end of a vehicle using at least either one of the imaging sensor or the radar sensor and thereafter detecting a side surface of the vehicle using the radar sensor. ### Claim 14 (depends on 9) The target detecting device for avoiding a collision between a vehicle and a target according to claim 9, wherein the target detecting device further comprises a pedestrian position estimating unit that estimates a position where a pedestrian may be present on a basis of both a position and a length of the stopped vehicle when a pedestrian detected by the target detecting second unit is present in a same direction with the stopped vehicle detected by the stopped vehicle detecting unit from the perspective of the reference vehicle.