发明名称 |
Vehicle control system, specific object determination device, specific object determination method, and non-transitory storage medium storing specific object determination program |
摘要 |
A vehicle control system includes: an anti-collision safety control unit executing anti-collision safety control for avoiding or alleviating a collision with an object including a reflection point on the basis of positional information about the reflection point, output from a positional information output unit; and a cancellation unit calculating an index value that increases with a duration of a state where a variation in a position of the reflection point in a direction perpendicular to a vehicle travelling direction is smaller than a predetermined amount and that, when the index value exceeds a threshold, issues a command such that the anti-collision safety control unit does not execute anti-collision safety control over the reflection point. When it is determined that the vehicle is travelling near a curve entrance, the cancellation unit increases the threshold as compared with when it is determined that the vehicle is not travelling near a curve entrance. |
申请公布号 |
US9424750(B2) |
申请公布日期 |
2016.08.23 |
申请号 |
US201514682650 |
申请日期 |
2015.04.09 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
Hayashi Hideaki |
分类号 |
G06F17/10;G08G1/16;G01S13/93;G01S7/02;G01S13/06 |
主分类号 |
G06F17/10 |
代理机构 |
Sughrue Mion, PLLC |
代理人 |
Sughrue Mion, PLLC |
主权项 |
1. A specific object determination device comprising:
a radar unit configured to irradiate an electromagnetic wave to an area around a vehicle and output information about a received reflected wave; a positional information output unit configured to output positional information about a reflection point from an obstacle on the basis of the information about the reflected wave, output from the radar unit; an index value calculation unit configured to generate an intensity distribution of the reflected wave from the reflection point on the basis of the information about the reflected wave, a statistic singular point determination unit configured to determine whether there is a statistic singular point in an intensity distribution of the reflected wave from the reflection point; wherein the index value calculation unit is configured to calculate an index value, which indicates a probability that the reflection point is from a metal plate; and a determination unit configured to determine that the reflection point is from a metal plate when the index value exceeds a threshold, and wherein, the index value calculation unit is configured to increase the index value when the statistic singular point determination unit determines there is no statistic singular point and a lateral positional deviation of the obstacle in a last predetermined period is smaller than a predetermined value, and the index calculation unit is configured to reduce the index value when the statistic singular point determination unit determines existence of the statistic singular point. |
地址 |
Aichi-ken JP |