US 12,259,470 B2
Object detection device, vehicle, method of setting wave receiving period in object detection device, and method of setting detection sensitivity in object detection device
Hiroki Yamashita, Kanagawa Ken (JP); and Atsushi Seki, Kanagawa Ken (JP)
Assigned to PANASONIC AUTOMOTIVE SYSTEMS CO., LTD., Kanagawa (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/703,363.
Claims priority of application No. 2021-058242 (JP), filed on Mar. 30, 2021; and application No. 2021-058640 (JP), filed on Mar. 30, 2021.
Prior Publication US 2022/0317295 A1, Oct. 6, 2022
Int. Cl. G01S 15/931 (2020.01); G01S 13/42 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G06V 20/58 (2022.01)
CPC G01S 15/931 (2013.01) [G01S 13/42 (2013.01); G01S 13/862 (2013.01); G01S 13/931 (2013.01); G06V 20/58 (2022.01); G01S 2013/93275 (2020.01); G01S 2015/938 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An object detection device configured to be mounted on a vehicle, comprising:
a plurality of ranging sensors and each including a transmitter which, in operation, transmits ultrasonic waves, and a receiver which, in operation, receives reflected waves of the ultrasonic waves transmitted by the transmitter and reflected by an object around the vehicle, and
processing circuitry which, in operation, detects the object around the vehicle based on the reflected waves received by the receiver during a wave receiving period until a predetermined period of time elapses from transmission of the ultrasonic waves by the transmitter, wherein
the processing circuitry
acquires an imaged image imaged by an in-vehicle camera that images surroundings of the vehicle,
determines whether a specific object is contained based on the imaged image,
estimates a relative position of the specific object to the vehicle when the specific object is determined to be contained in the imaged image, and
sets the wave receiving period from a first wave receiving period to a second wave receiving period longer than the first wave receiving period for a first ranging sensor among the plurality of ranging sensors based on the estimated relative position of the specific object, and
the relative position includes direction information of the specific object relative to the vehicle, and
the processing circuitry which, in operation, selects the first ranging sensor among the plurality of ranging sensors based on the direction information and sets, to the second wave receiving period, the wave receiving period for the first ranging sensor.