Target Detection Device For Avoiding Collision Between Vehicle And Target Captured By Sensor Mounted To The Vehicle

摘要

The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle.

主权项

1. A target detecting device, wherein the target detecting device is used mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising:
a radar sensor being suitable for transmitting radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receiving a reflected waves from the target; an imaging sensor being suitable for capturing an image of an area around the reference vehicle; and an ECU, wherein the ECU comprises: a CPU; a target detecting first unit configured to enable the CPU to detect a target using information acquired by the radar sensor; a selecting unit configured to select a target that satisfies a predetermined condition, among targets detected by the radar sensor; an output unit configured to enable the CPU to output information on the target selected by the selecting unit; a stopped vehicle detecting unit configured to enable the CPU to detect a stopped vehicle present around the reference vehicle; and a target detecting second unit configured to enable the CPU to detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, wherein, when the stopped vehicle is detected by the stopped vehicle detecting unit, the target detecting second unit more preferentially detects a pedestrian at least in an area of the image that overlaps the stopped vehicle from the perspective of the reference vehicle, compared to an instance in which a stopped vehicle is not detected.