US 11,809,194 B2
Target abnormality determination device
Nobuhide Kamata, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 29, 2021, as Appl. No. 17/565,085.
Application 17/565,085 is a continuation of application No. 16/930,451, filed on Jul. 16, 2020, granted, now 11,467,596.
Application 16/930,451 is a continuation of application No. 16/042,525, filed on Jul. 23, 2018, granted, now 10,754,347, issued on Aug. 25, 2020.
Claims priority of application No. 2017-173023 (JP), filed on Sep. 8, 2017.
Prior Publication US 2022/0121215 A1, Apr. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); B60W 30/08 (2012.01); G06T 7/246 (2017.01); G06T 7/73 (2017.01); B60Q 9/00 (2006.01); G06T 7/277 (2017.01); H04N 13/204 (2018.01); G06T 7/00 (2017.01)
CPC G05D 1/0231 (2013.01) [B60Q 9/00 (2013.01); B60W 30/08 (2013.01); G05D 1/0223 (2013.01); G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); G06T 7/246 (2017.01); G06T 7/251 (2017.01); G06T 7/277 (2017.01); G06T 7/75 (2017.01); G05D 2201/0213 (2013.01); G06T 7/0016 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01); H04N 13/204 (2018.05)] 15 Claims
OG exemplary drawing
 
1. A device for notifying an abnormality in an estimation of a moving object around a host vehicle, comprising:
a detector configured to detect the moving object around the host vehicle;
an electronic control unit (ECU) including a processor programmed to:
track the moving object based on a detection result of the detector and estimate a motion of the moving object;
determine a type of the moving object;
store a plurality of motion models determined in advance indicating the motion of each moving object type;
select the motion model corresponding to the determined type of the moving object among the plurality of motion models; and
determine a presence or absence of an abnormality of the estimation of the motion of the moving object by comparing the estimated motion of the moving object and the motion indicated by the selected motion model to each other for a predetermined time, wherein the predetermined time is determined based on a speed of the moving object, and the predetermined time is set longer as the speed of the moving object becomes faster; and
a display and a speaker configured to notify a driver of the host vehicle when the ECU determines that the abnormality is present.