# US 2020/0401825 A1 · Object detection device, object detection method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401825 A1 - Document ID: US20200401825A1 - Status: Published application - Kind: A1 - Application number: 17/012,046 - Filed: 2020-09-04 - Published: 2020-12-24 - Earliest claimed: 2018-03-07 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Makoto OHKADO; Naohiro FUJIWARA - Web page: https://patentgrep.com/patent/US20200401825A1 ## CPC - G06V 20/584: {of vehicle lights or traffic lights} - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 15/87: Combinations of sonar systems - G01S 15/931: of land vehicles - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - G01S 2013/9323: {Alternative operation using light waves} - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G01S 2013/93271: {in the front of the vehicles} - G06T 2207/30261: Obstacle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The object detection device according to claim 1, wherein the position identification unit has a grid map that is based on a polar coordinate system whose center is the vehicle, and the position of the object is identified by identifying a grid cell where the object exists on the grid map on the basis of the distance data and the bearing data. ### Claim 3 (depends on 1) The object detection device according to claim 1, comprising a plurality of the distance sensors with different detection ranges, wherein the position identification unit identifies the position of the object on the basis of the bearing data, the distance data, and data on the detection ranges of the distance sensors. ### Claim 4 (depends on 1) The object detection device according to claim 1, wherein the distance sensor is a sonar, a millimeter-wave radar, or a Lidar sensor. ### Claim 5 (depends on 1) The object detection device according to claim 1 wherein the bearing sensor comprises: a camera that captures an image of the object existing around the vehicle; and an image processing unit that detects the object from the image captured using the camera, and identifies a direction toward the object. ### Claim 6 (depends on 1) The object detection device according to claim 1, wherein the bearing sensor is a Lidar sensor. ### Claim 7 (depends on 1) The object detection device according to claim 1, comprising: a bearing sensor ECU that controls the bearing sensor; and a distance sensor ECU that controls the distance sensor, wherein the bearing sensor ECU stores, in a memory, the bearing data measured using the bearing sensor, the distance sensor ECU stores, in a memory, the distance data measured using the distance sensor, and the position identification unit identifies the position of the object by combining the bearing data stored in the bearing sensor ECU and the distance data stored in the distance sensor ECU. ### Claim 8 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. ### Claim 9 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. ### Claim 10 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.