PROBLEM TO BE SOLVED: To accurately recognize the closest distance to an object when the object present around the vehicle is a bicycle.SOLUTION: An object detection apparatus 10 detects an object present around an own vehicle using a radar device 21 and an imaging apparatus 22. The object detection apparatus 10 comprises: a type recognition unit 16 for recognizing the type of an object on the basis of the image picked up by the imaging apparatus 22; and a distance calculation unit 17 which, when the same object is detected by the imaging apparatus 22 and the radar device 21 and the object is recognized as a bicycle by the type recognition unit 16, calculates the distance to the object taking into account a positional deviation between an end part of the bicycle on a side that is close to the own vehicle in a back and forth direction and a detection point where the object is detected by a survey wave from the radar device 21.SELECTED DRAWING: Figure 1
【課題】自車の周辺に存在する物体が自転車である場合に、物体との最も近い距離を精度良く認識すること。【解決手段】物体検知装置10は、レーダ装置21及び撮像装置22を用いて、自車の周辺に存在する物体を検知する。物体検知装置10は、撮像装置22で撮影された画像に基づいて、物体の種別を認識する種別認識部16と、撮像装置22及びレーダ装置21で同一物体が検知され、かつ種別認識部16によってその物体が自転車であると認識された場合に、自転車の前後方向における自車に近い側の端部と、レーダ装置21からの探査波による物体の検知点との位置ずれを加味して物体との距離を算出する距離算出部17と、を備える。【選択図】図1
OBJECT DETECTION APPARATUS AND OBJECT DETECTION METHOD
物体検知装置及び物体検知方法
2018-03-29
Patent
Electronic Resource
Japanese
OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
European Patent Office | 2016
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