OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD

摘要

An object detection device includes a sub-cluster generating circuitry which, in operation, divides a cluster generated by a cluster generator into one or more first sub-clusters each corresponding to a part of an object having a different traveling direction or traveling speed from a main part of the object and a second sub-cluster corresponding to the main part of the object; and a speed calculating circuitry which, in operation, uses one or more capture points belonging to the second sub-cluster and calculates a traveling speed of the object.

主权项

1. An object detection device comprising:
capture point acquiring circuitry which, in operation, acquires, as two or more capture points, two or more unit areas that have captured an object from a plurality of unit areas into which measurement range of one or more radar devices is divided for a distance and azimuth based on measurement information including at least one of an electric power profile and a Doppler speed profile generated by the one or more radar devices using reflected wave from the object; cluster generating circuitry which, in operation, generates a cluster including the two or more capture points; sub-cluster generating circuitry which, in operation, divides the cluster into one or more first sub-clusters each corresponding to a part of the object having a different traveling direction or traveling speed from a traveling direction or a traveling speed of a main part of the object and a second sub-cluster corresponding to the main part of the object; and speed calculating circuitry which, in operation, calculates a traveling speed of the object based on one or more capture points belonging to the second sub-cluster.