US 12,263,835 B2
Systems and methods for detecting an object in an environment of a vehicle
Seyhan Ucar, Mountain View, CA (US); Emrah Akin Sisbot, Mountain View, CA (US); and Kentaro Oguchi, Mountain View, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and Toyota Jidosha Kabushiki Kaisha, Aichi-Ken (JP)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Aug. 18, 2022, as Appl. No. 17/890,596.
Prior Publication US 2024/0059279 A1, Feb. 22, 2024
Int. Cl. B60W 30/09 (2012.01); G08G 1/0967 (2006.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [G08G 1/096708 (2013.01); G08G 1/166 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system comprising:
a controller programmed to:
instruct a sensor to detect an object in an environment of a vehicle in response to an activation of a fall-on-car prevention function;
determine a first value of a parameter pertaining to the object at a first time with the sensor, the first value corresponding to a first angle between a vertical line and a center axis of the object at the first time at which the object is not swinging;
determine a second value of the parameter pertaining to the object at a second time with the sensor, the second value corresponding to a second angle between the vertical line and the center axis of the object at the second time; and
automatically cause an action to occur based on a comparison of the first value of the parameter at the first time and the second value of the parameter at the second time, wherein the parameter includes a pose of the object.