US 7,733,266 B2Granted

Control target recognition system and vehicle object detection system

AssigneeHonda Motor Co., Ltd.

InventorHayato Kikuchi

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Abstract

There is provided a system in which when a gate having a reflection level of a threshold or higher and having been recognized as a control target by last time is not recognized as the control target this time, the gate is assumed to be actually detected, and extrapolation device extrapolates the gate (see ◯) up to a predetermined number of times (five times), wherein when the gate is a stationary object, and a reflection level of the gate at the next detection (Time 6) predicted from a reflection level at the previous detection (Time 4) and a reflection level at the current detection (Time 5) is lower than a detection threshold (see □), the limit of the number of extrapolations by the extrapolation device is reduced from five to two. Thus, the number of extrapolations is reduced of the gate whose reflection level is suddenly reduced as a subject vehicle approaches and that is estimated not to be a control target, and unnecessary vehicle control for the gate can be prevented to eliminate discomfort of a driver.

Claims9

Dependent claims

A control target recognition system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver;
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a reflection level prediction device for predicting a reflection level of the object recognized as the control target at a next detection from a reflection level at a previous detection and a reflection level at a current detection;
wherein the extrapolation device reduces the limit of the number of extrapolations when the object is the stationary object, and when the predicted reflection level is lower than the detection threshold.

9 more elements

A control target recognition system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver;
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
a vehicle controller for controlling the vehicle on the basis of the relative relationship, and changing details of the control according to whether the object recognized as the target object is the actually detected object or the extrapolated object;
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a reflection level prediction device for predicting a reflection level of the object recognized as the control target at a next detection from a reflection level at a previous detection and a reflection level at a current detection;
wherein the extrapolation device determines the object, which is recognized as the control target this time, as an extrapolated object when the object is the stationary object, and the predicted reflection level is lower than the detection threshold, and the vehicle controller reduces an extent of the vehicle control for the extrapolated object as compared with that of the vehicle control for the actually detected object.

10 more elements

A control target recognition system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver;
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
a vehicle controller for controlling the vehicle on the basis of the relative relationship, and changing timing of carrying out the control according to whether the object recognized as the target object is the actually detected object or the extrapolated object;
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a reflection level prediction device for predicting a reflection level of the object recognized as the control target at a next detection from a reflection level at a previous detection and a reflection level at a current detection;
wherein the extrapolation device determines the object, which is recognized as the control target this time, as an extrapolated object when the object is the stationary object, and the predicted reflection level is lower than the detection threshold, and the vehicle controller reduces a chance of the vehicle control for the extrapolated object as compared with that of the vehicle control for the actually detected object.

10 more elements

A vehicle object detection system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver;
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
and
a vehicle controller for controlling the vehicle on the basis of the relative relationship, and changing details of the control according to whether the object recognized as the target object is the actually detected object or the extrapolated object;
wherein the system further comprises:
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a successiveness determination device for determining, when a plurality of stationary objects exist, whether the plurality of stationary objects are successive at substantially regular intervals, and
the extrapolation device determines the actually detected stationary objects as extrapolated objects when it is determined that the stationary objects are successive, and the vehicle controller reduces an extent of the vehicle control for the extrapolated objects as compared with that of the vehicle control for the actually detected objects.

12 more elements

A vehicle object detection system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver,
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
and
a vehicle controller for controlling the vehicle on the basis of the relative relationship, and changing timing of carrying out the control according to whether the object recognized as the target object is the actually detected object or the extrapolated object;
wherein the system further comprises:
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a successiveness determination device for determining, when a plurality of stationary objects exist, whether the plurality of stationary objects are successive at substantially regular intervals, and
the extrapolation device determines the actually detected stationary objects as extrapolated objects when it is determined that the stationary objects are successive, and the vehicle controller reduces a chance of the vehicle control for the extrapolated object as compared with that of the vehicle control for the actually detected object.

12 more elements

A vehicle object detection system comprising:

a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval;
a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object;
an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver;
a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device;
a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator;
an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time;
a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times;
and
an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time;
wherein the system further comprises:
a stationary object determination device for determining whether the object recognized as the control target is a stationary object;
and
a successiveness determination device for determining, when a plurality of stationary objects exist, whether the plurality of stationary objects are successive at substantially regular intervals;
wherein if it is determined that the stationary objects are successive, the extrapolation device reduces the number of extrapolations when the object that has been detected is out of detection and becomes an extrapolated object.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/204,289Filed 4 Sep 2008
Priority: JP 2007-2318476 Sep 2007
Published: US 2009/0069952 A112 Mar 2009
Granted: 8 Jun 2010
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

G01S 13/931
For anti-collision purposes: of land vehicles
G01S 13/723
For two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar: by using numerical data
G01S 2013/93185
Of land vehicles: controlling the brakes
G01S 2013/932
Of land vehicles: using own vehicle data, e.g. ground speed, steering wheel direction