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 |
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.
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