OBJECT DETECTION APPARATUS

摘要

An object detection apparatus for detecting an object around a moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors. In the apparatus, an interaction determiner is configured to, if an object position calculated by a position calculator is within a range of a moving-object's course, determine whether or not the detected object is likely to interact with the moving object based on a lateral position of the detected object and a degree of confidence of the object position calculated by the position calculator. The lateral position of the detected object is the object position calculated by the position calculator in a direction perpendicular to a moving direction of the moving object.

主权项

1. An object detection apparatus for detecting an object around a moving object with a plurality of ranging sensors attached to the moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors, the apparatus comprising:
a first detector configured to detect the object based on a direct wave that is a first reflection of the probe wave from the object, the probe wave and the first reflection being respectively transmitted and received by the same ranging sensor that is a first ranging sensor that is one of the plurality of ranging sensors; a second detector configured to detect the object based on an indirect wave that is a second reflection of the probe wave from the object, the second reflection being received by a second ranging sensor that is another one of the plurality of ranging sensors; a position calculator configured to calculate an object position as a position of the object based on the detections of the first and second detectors according to the principle of triangulation; an interaction determiner configured to, if the object position calculated by the position calculator is within a range of a moving-object's course, determine whether or not the detected object is likely to interact with the moving object based on a lateral position of the detected object and a degree of confidence of the object position calculated by the position calculator, the lateral position of the detected object being the object position calculated by the position calculator in a direction perpendicular to a moving direction of the moving object.