TARGET DETECTION APPARATUS FOR DETECTING LOW-LEVEL TARGET AND TARGET DETECTION METHOD FOR DETECTING THE SAME

摘要

A target detection apparatus includes a target detection means, a depth determination value calculation means, a crossing over determination means, an attention information setting means, a tracking means, a transfer determination value calculation means, and an attention information cancelling means. The depth determination value calculation means determines a depth determination value indicating the depth of a target. The crossing over determination means determines whether the target can be crossed over by the vehicle. The attention information setting means sets attention information indicating that the target needs to be paid attention. The tracking means determines a connection relationship between a current-cycle target and a previous-cycle target and cause the current-cycle target having a connection relationship, to take over information relating to the previous-cycle target. The transfer determination value calculation means determines a transfer determination value, for each target. The attention information cancelling means cancels the setting of the attention information.

主权项

1. A target detection apparatus mounted on a vehicle, generating information relating to a target that is present in the vicinity of the vehicle, the apparatus comprising:
a radar sensor that transmits and receives a radar wave to detect a position and a speed of a reflection point that has reflected the radar wave, for each preset measurement cycle; a target detection means that detects a target that is present in the vicinity of the vehicle, on the basis of the position and the speed of the reflection point detected by the radar sensor; a depth determination value calculation means that determines a depth determination value indicating a depth of a target detected by the target detection means; a crossing over determination means that determines whether a target can be crossed over by the vehicle, according to a depth determination value calculated by the depth determination value calculation means; an attention information setting means that sets attention information indicating that the target needs to be paid attention, as one piece of information relating to the target, when the crossing over determination means determines that crossing over is not possible; a tracking means that executes a tracking process, with a target detected by the target detection means in a latest measurement cycle being taken as a current-cycle target, and a target detected by the target detection means in a previous measurement cycle being taken as a previous-cycle target to determine presence/absence of a connection relationship between the current-cycle target and the previous-cycle target and cause the current-cycle target, which has been determined to have a connection relationship with the previous-cycle target, to take over information relating to the previous-cycle target; a transfer determination value calculation means that determines a transfer determination value indicating a size of a determination object amount measured after the crossing over determination means finally determines that crossing over is not possible, for each target after the tracking process; and an attention information cancelling means that cancels the setting of the attention information when the transfer determination value calculated by the transfer determination value calculation means exceeds a preset transfer threshold, for a target that has taken over the information of the previous-cycle target in which the attention information has been set.