Object detection device, object detection method and program
AssigneeDenso Corporation
InventorsNaohiro FUJIWARA, Makoto OHKADO
Life of this patent
Estimating the term…
Abstract
An object detection device includes an azimuth sensor that measures an azimuth region of an object that is present around a vehicle, a plurality of distance sensors each of which measures a distance to the object, and an object determination section that calculates arcs of circles whose radii are the distances measured by the respective distance sensors and calculates intersection points of a tangent to adjacent ones of the arcs and the azimuth region measured by the azimuth sensor.
Claims8
An object detection device comprising:
- an azimuth sensor that measures an azimuth region of an object that is present around a vehicle;
- a plurality of distance sensors each of which measures a distance to the object;
- and
- an object determination section that calculates arcs of circles whose radii are the distances measured by the respective distance sensors and calculates intersection points of a tangent to adjacent ones of the arcs and the azimuth region measured by the azimuth sensor.
An object detection method comprising the steps of:
- acquiring, from an azimuth sensor provided to a vehicle, azimuth data on an object that is present around the vehicle;
- acquiring, from distance sensors that are provided to the vehicle and are adjacent to each other, data on a distance to the object;
- and
- calculating, for distances detected by the respective distance sensors, arcs of circles whose radii are the distances measured by the respective distance sensors, calculating a tangent to the arcs, and calculating intersection points of the tangent and an azimuth region measured by the azimuth sensor.
A program for detecting an object that is present around a vehicle, the program causing an ECU to perform the steps of:
- acquiring, from an azimuth sensor provided to the vehicle, azimuth data on an object that is present around the vehicle;
- acquiring, from distance sensors that are provided to the vehicle and are adjacent to each other, data on a distance to the object;
- and
- calculating, for distances detected by the respective distance sensors, arcs of circles whose radii are the distances measured by the respective distance sensors, calculating a tangent to the arcs, and calculating intersection points of the tangent and an azimuth region measured by the azimuth sensor.
An object detection device comprising:
- an azimuth sensor that measures an azimuth region of an object that is present around a vehicle;
- a plurality of distance sensors each of which measures a distance to the object;
- and
- an object determination section that, when at least one of the plurality of distance sensors detects a distance, calculates intersection points of an arc of a circle whose radius is the distance measured by the at least one of the plurality of distance sensors and the azimuth region detected by the azimuth sensor.
Dependencies are inferred from the claim text.