Method and apparatus for recognizing object

An object recognition apparatus comprising:

• laser radar means for applying a transmission wave to a predetermined range in a width-wise direction of a subject vehicle, converting reflected waves, which result from reflections of the transmission wave, into a received signal, and detecting objects on the basis of the received signal;
• and
• recognizing means for recognizing objects located ahead of the subject vehicle on the basis of results of detection by the laser radar means;
• wherein the recognizing means comprises:
• 1) means for detecting a variation in an intensity of the received signal along a direction corresponding to the width-wise direction of the subject vehicle;
• 2) means for separating the received signal into a first signal portion and a second signal portion on the basis of the detected signal intensity variation, the first signal portion corresponding to a scattered portion of the transmission wave, the second signal portion corresponding to an unscattered portion of the transmission wave;
• and
• 3) means for recognizing objects on the basis of the second signal portion.

A method of applying a transmission wave to a predetermined range in a width-wise direction of a subject vehicle, and recognizing objects located ahead of the subject vehicle on the basis of reflected waves which result from reflections of the transmission wave, the method comprising the steps of:

• converting the reflected waves into a received signal;
• wherein an intensity of a part of the transmission wave is maximized at a transmission center point, and is decreased as the part of the transmission wave becomes more distant from the transmission center point as viewed along the width-wise direction of the subject vehicle, and wherein a portion of the transmission wave which has an intensity equal to or higher than a prescribed intensity is effective for object recognition;
• detecting a rate of a variation in an intensity of the received signal along a direction corresponding to the width-wise direction of the subject vehicle;
• separating the received signal into a first signal portion and a second signal portion on the basis of the detected intensity variation rate, the first signal portion corresponding to the portion of the transmission wave which has the intensity equal to or higher than the prescribed intensity, the second signal portion corresponding to another portion of the transmission wave;
• and
• recognizing objects on the basis of the first signal portion.

A method of applying a transmission wave to a predetermined range in a width-wise direction of a subject vehicle, and recognizing objects located ahead of the subject vehicle on the basis of reflected waves which result from reflections of the transmission wave, the method comprising the steps of:

• converting the reflected waves into a received signal;
• wherein an intensity of a part of the transmission wave is maximized at a transmission center point, and is decreased as the part of the transmission wave becomes more distant from the transmission center point as viewed along the width-wise direction of the subject vehicle, and wherein a portion of the transmission wave which has an intensity equal to or higher than a prescribed intensity is effective for object recognition;
• setting a threshold value with respect to an intensity of the received signal;
• separating the received signal into a first signal portion and a second signal portion on the basis of the threshold value, the first signal portion corresponding to the portion of the transmission wave which has the intensity equal to or higher than the prescribed intensity, the second signal portion corresponding to another portion of the transmission wave;
• recognizing objects on the basis of the first signal portion;
• and
• changing the threshold value until a length of a recognized object in the width-wise direction of the subject vehicle falls into a predetermined range.

An object recognition apparatus comprising:

• laser radar means for applying a transmission wave to a predetermined range in a width-wise direction of a subject vehicle, converting reflected waves, which result from reflections of the transmission wave, into a received signal, and detecting objects on the basis of the received signal;
• and
• recognizing means for recognizing objects located ahead of the subject vehicle on the basis of results of detection by the laser radar means;
• wherein an intensity of a part of the transmission wave is maximized at a transmission center point, and is decreased as the part of the transmission wave becomes more distant from the transmission center point as viewed along the width-wise direction of the subject vehicle, and wherein a portion of the transmission wave which has an intensity equal to or higher than a prescribed intensity is effective for object recognition;
• wherein the recognizing means comprises:
• 1) means for detecting a rate of a variation in an intensity of the received signal along a direction corresponding to the width-wise direction of the subject vehicle;
• 2) means for separating the received signal into a first signal portion and a second signal portion on the basis of the detected intensity variation rate, the first signal portion corresponding to the portion of the transmission wave which has the intensity equal to or higher than the prescribed intensity, the second signal portion corresponding to another portion of the transmission wave;
• and
• 3) means for recognizing objects on the basis of the first signal portion.

An object recognition apparatus comprising:

• laser radar means for applying a transmission wave to a predetermined range in a width-wise direction of a subject vehicle, converting reflected waves, which result from reflections of the transmission wave, into a received signal, and detecting objects on the basis of the received signal;
• and
• recognizing means for recognizing objects located ahead of the subject vehicle on the basis of results of detection by the laser radar means;
• wherein an intensity of a part of the transmission wave is maximized at a transmission center point, and is decreased as the part of the transmission wave becomes more distant from the transmission center point as viewed along the width-wise direction of the subject vehicle, and wherein a portion of the transmission wave which has an intensity equal to or higher than a prescribed intensity is effective for object recognition;
• wherein the recognizing means comprises:
• 1) means for setting a threshold value with respect to an intensity of the received signal;
• 2) means for separating the received signal into a first signal portion and a second signal portion on the basis of the threshold value, the first signal portion corresponding to the portion of the transmission wave which has the intensity equal to or higher than the prescribed intensity, the second signal portion corresponding to another portion of the transmission wave;
• 3) means for recognizing objects on the basis of the first signal portion;
• and
• 4) means for changing the threshold value until a length of a recognized object in the width-wise direction of the subject vehicle falls into a predetermined range.