US 12,240,447 B2
Object detection device and driving assistance system
Sumiaki Hazama, Kanagawa (JP); Yoshimasa Okabe, Kanagawa (JP); Hiroki Yamashita, Kanagawa (JP); Shingo Kawahara, Kanagawa (JP); Chiaki Izumoto, Kanagawa (JP); Yusuke Nakamura, Kanagawa (JP); Teppei Shibata, Kanagawa (JP); and Toru Chikamitsu, Kanagawa (JP)
Assigned to Panasonic Automotive Systems Co., Ltd., Kanagawa (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Sep. 14, 2022, as Appl. No. 17/944,923.
Application 17/944,923 is a continuation of application No. PCT/JP2021/003741, filed on Feb. 2, 2021.
Claims priority of application No. 2020-062930 (JP), filed on Mar. 31, 2020; application No. 2020-063983 (JP), filed on Mar. 31, 2020; application No. 2020-063984 (JP), filed on Mar. 31, 2020; application No. 2020-063985 (JP), filed on Mar. 31, 2020; and application No. 2020-184779 (JP), filed on Nov. 5, 2020.
Prior Publication US 2023/0001919 A1, Jan. 5, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); G01S 15/08 (2006.01); G01S 15/46 (2006.01); G01S 15/62 (2006.01); G01S 15/931 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); G01S 15/08 (2013.01); G01S 15/46 (2013.01); G01S 15/62 (2013.01); G01S 15/931 (2013.01); B60W 2420/54 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/80 (2020.02)] 14 Claims
OG exemplary drawing
 
1. An object detection device mounted on a moving object to detect an object present around the moving object, the object detection device comprising:
a first detector configured to detect an object by transmitting, at different points, ultrasonic waves in a moving direction of the moving object, and receiving a-reflected waves of each of the ultrasonic; waves;
a second detector configured to detect an object by transmitting, at different points, ultrasonic waves in the moving direction of the moving object from a position different from the first detector, and receiving reflected waves of each of the ultrasonic waves;
a memory; and
a hardware processor coupled to the memory,
the hardware processor being configured to:
determine that an obstacle is present in the moving direction of the moving object, based on an object detection result by the first detector and an object detection result by the second detector;
determine crossing of the obstacle based on an object detection result by the first detector and an object detection result by the second detector in a state in which the hardware processor is determining that the obstacle is present; and
cause a driving controller mounted on the moving object, to release driving restriction control of restricting movement of the moving object in case the hardware processor determines the crossing, or prohibit the driving controller from releasing the driving restriction control under a predetermined condition,
wherein in case the predetermined condition is a condition related to variance of distance information detected by the second detector,
the distance information including a plurality of distances from the moving object to different points on the obstacle,
the hardware processor is configured to prohibit the driving controller from releasing the driving restriction control in case the variance of the distance information is equal to or less than a threshold value.