US 11,914,028 B2
Object detection device for vehicle
Masanori Ichinose, Tokyo (JP); Shigenori Hayase, Hitachinaka (JP); and Akira Kuriyama, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Hitachinaka (JP)
Appl. No. 17/054,240
Filed by Hitachi Automotive Systems, Ltd., Hitachinaka (JP)
PCT Filed May 15, 2019, PCT No. PCT/JP2019/019220
§ 371(c)(1), (2) Date Nov. 10, 2020,
PCT Pub. No. WO2019/239775, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 2018-114468 (JP), filed on Jun. 15, 2018.
Prior Publication US 2021/0141079 A1, May 13, 2021
Int. Cl. G01S 13/931 (2020.01); G06T 7/77 (2017.01); G01S 13/86 (2006.01); G01S 13/93 (2020.01); G06V 20/58 (2022.01)
CPC G01S 13/931 (2013.01) [G01S 13/867 (2013.01); G01S 13/93 (2013.01); G06T 7/77 (2017.01); G06V 20/58 (2022.01); G06T 2207/30261 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A object detection device for detecting a distance of an object around a vehicle, the device configured to:
detect a first distance of an object in a first detection range;
detect a second distance of the object in a second detection range including at least a portion of the first detection range, wherein accuracy of the first distance is higher than accuracy of the second distance;
calculate an error quantity based on a comparison between the first and second distances of the object;
calculate a correction quantity for correcting the second distance of the object based on the error quantity;
correct the second distance of the object based on the correction quantity;
store the correction quantity;
update the correction quantity for each predetermined cycle by:
calculating a difference between the correction quantity stored at a previous time and the correction quantity stored at a latest time,
calculating the latest correction quantity by adding a value obtained by dividing the difference by an update gain that is 1 or more to the previous correction quantity, and
storing the latest correction quantity, and
correct the second distance of the object based on the stored latest correction quantity.