Object detection device, object detection method, and storage medium
AssigneeDenso Corporation
InventorsMakoto OHKADO, Naohiro FUJIWARA
Life of this patent
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Abstract
An object detection device includes: a camera ECU that measures the bearing of an object by detecting the object from an image captured by a camera and identifying the direction toward the object; a sonar that measures the distance to the object existing around the vehicle; and a position identification unit that identifies the position of the object by combining the measured bearing data and distance data on a grid map that is based on a polar coordinate system and identifying the grid cell where the object exists on the grid map.
Claims10
An object detection device comprising:
- a bearing sensor that measures a bearing of an object existing around a vehicle;
- a distance sensor that measures a distance from the vehicle to the object;
- and
- a position identification unit that identifies a position of the object by combining bearing data measured using the bearing sensor and distance data measured using the distance sensor.
An object detection device comprising:
- a camera that captures an image of an object existing around a vehicle;
- an image processing unit that detects the object from the image captured using the camera, and identifies a direction toward the object;
- a distance sensor that measures a distance from the vehicle to the object;
- and
- a position identification unit that identifies a grid cell where the object exists on a grid map that is based on a polar coordinate system whose center is the vehicle on the basis of bearing data obtained by the image processing unit and distance data measured using the distance sensor, wherein
- in response to the object being detected in a plurality of grid cells, the position identification unit identifies a same object existing over the plurality of grid cells on the basis of a result of detection of the object from image data obtained from the image processing unit.
An object detection method comprising the steps of:
- acquiring bearing data on a bearing of an object existing around a vehicle from a bearing sensor provided on the vehicle;
- acquiring distance data on a distance from the vehicle to the object from a distance sensor provided on the vehicle;
- and
- identifying a position of the object by combining the bearing data and the distance data.
A storage medium containing thereon a program for detecting an object existing around a vehicle, the program being configured to cause an ECU to execute the program comprising instructions, the instructions comprising:
- acquiring bearing data on a bearing of the object existing around the vehicle from a bearing sensor provided on the vehicle;
- acquiring distance data on a distance from the vehicle to the object from a distance sensor provided on the vehicle;
- and
- identifying a position of the object by combining the bearing data and the distance data.
Dependencies are inferred from the claim text.