OBJECT DETECTION APPARATUS

摘要

An object detection apparatus includes a first detection unit that detects an object based on a reflected version of probing waves transmitted by a first distance sensor and received as direct waves by the first distance sensor, a second detection unit that detects the object based on a reflected version of the probing waves received as indirect waves by a second distance sensor, a position calculation unit that calculates position data of the object using a triangulation method, a counter update unit that updates a counter value of a reliability level determination counter by an update amount, and an update amount setting unit that variably sets the value of the update amount depending on which position within detection areas of the first and second distance sensors the position data calculated in the current detection cycle shows the object to be in.

主权项

1. An object detection apparatus for detecting a presence of an object in a vicinity of a moving body which includes at least first and second object detection sensors, comprising:
a first detection unit that detects the object based on a reflected version of probing waves transmitted by the first object detection sensor and received as direct waves by the first object detection sensor; a second detection unit that detects the object based on a reflected version of the probing waves received as indirect waves by the second object detection sensor; a position calculation unit that calculates position data of the object based on detection results of the first and second detection units using a triangulation method; a counter update unit that updates a counter value of a reliability level determination counter by an update amount depending on the number of times that the first and second detection units have detected the object, the counter value being an index representing reliability of the position data; and an update amount setting unit that variably sets a value of the update amount depending on which position within detection areas of the first and second object detection sensors the position data calculated in a current detection cycle shows the object to be in.