# US 9,753,130 B2 · Target detection apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,753,130 B2 - Document ID: US9753130B2 - Status: Granted - Kind: B2 - Application number: 14/516,711 - Filed: 2014-10-17 - Published: 2015-04-23 - Granted: 2017-09-05 - Earliest claimed: 2013-10-17 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Ryo Takaki - Web page: https://patentgrep.com/patent/US9753130B2 ## CPC - G01S 13/04: Systems determining presence of a target (based on relative movement of target G01S13/56) - G01S 7/41: using analysis of echo signal for target characterisation; Target signature; Target cross-section - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G01S 7/2955: {Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system (G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16)} - G01S 13/66: Radar-tracking systems; Analogous systems - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - 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 ## Abstract A target detection apparatus includes a first target detection section which detects a target which exists ahead of a vehicle and has a height sufficient to strike against the vehicle; a second target detection section which detects the target in an area different from an area in which the target is detected by the first target detection section, and a reliability degree setting section which sets a target reliability degree indicating probability that the target exists. When the target is detected only by the first target detection section or the second target detection section, and after the target is detected by both the first and the second target detection sections, the reliability setting section sets the target reliability degree based on an overlap detection time which is a period of time during which both the first and the second target detection sections continuously detect the target. ## Claims ### Claim 1 A target detection apparatus, comprising: a first target detection section which detects an object which exists ahead of a vehicle in a first detection area; a second target detection section which detects a target in a second detection area, the second detection area being different from and overlapping with the first detection area, the second detection area having an overlapping detection area that overlaps with the first detection area; and a reliability degree setting section which sets a target reliability degree indicating a probability that the target exists and has a height sufficient to strike against the vehicle, wherein the reliability degree setting section updates the target reliability degree from an initial target reliability degree every time the first target detection section detects the object, when the object is detected by the first target detection section and the target is not detected by the second target detection section, if the object is in the overlapping detection area, the reliability degree setting section lowers the target reliability degree, when the object is detected by the first target detection section and the target is not detected by the second target detection section, and when the object is not in the overlapping detection area, if a stable recognition count value, which is incremented when the object is detected by the first target detection section and when the target is detected by the second target detection section and which is not changed or is decremented when the object is detected by the first target detection section and the target is not detected by the second target detection section, is less than at least one threshold value, the reliability degree setting section lowers the target reliability degree by a predetermined value, and when the object is detected by the first target detection section and the target is not detected by the second target detection section, and when the object is not in the overlapping detection area, if the stable recognition count value is equal to or more than the threshold value, the reliability degree setting section keeps the target reliability degree, or lowers the target reliability degree by a range smaller than a range set when the stable recognition count value is less than the threshold value. ### Claim 2 (depends on 1) The target detection apparatus according to claim 1, wherein the reliability degree setting section includes the plurality of threshold values different from each other, and decreases the amount of reduction in the target reliability degree, as the number of the threshold values equal to or less than the stable recognition count value increases. ### Claim 3 (depends on 1) The target detection apparatus according to claim 1, wherein when the object is detected by the first target detection section and the target is not detected by the second target detection section, the reliability degree setting section calculates the amount of lateral movement of the object based on a lateral position of the object detected by the first target detection section, and when the object is detected by the first target detection section and the target is not detected by the second target detection section, if the amount of lateral movement is equal to or more than a predetermined distance, the reliability degree setting section lowers the target reliability degree by the same range as a range set when the stable recognition count value is less than the threshold value, even if the stable recognition count value is equal to or more than the threshold value. ### Claim 4 (depends on 3) The target detection apparatus according to claim 3, further comprising a gyro sensor which detects the amount of turning of the vehicle, wherein the reliability degree setting section calculates the amount of lateral movement from which influence of the amount of turning of the vehicle is eliminated, based on the lateral position and the amount of turning detected by the gyro sensor, and determines whether or not the amount of lateral movement is equal to or more than a predetermined distance. ### Claim 5 (depends on 1) The target detection apparatus according to claim 1, further comprising a control instruction section which determines whether or not to make a predetermined vehicle controller perform vehicle control to mitigate a collision with the target based on the fact that the first target detection section has detected the object in a single target detection area, which is proximate to and ahead of the vehicle and is the area of the first target detection section but is not the area of the second target detection section, and the fact that the target reliability is equal to or more than a predetermined control performance reference value.