US 12,270,902 B2
Object detection apparatus, object detection method, and non-transitory computer readable-medium
Kentaro Ishikawa, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on Aug. 28, 2023, as Appl. No. 18/238,745.
Application 18/238,745 is a continuation of application No. PCT/JP2021/016061, filed on Apr. 20, 2021.
Prior Publication US 2023/0400572 A1, Dec. 14, 2023
Int. Cl. B60Q 1/00 (2006.01); G01S 15/931 (2020.01)
CPC G01S 15/931 (2013.01) 12 Claims
OG exemplary drawing
 
1. An object detection apparatus comprising:
processing circuitry to:
regard as a target reception signal, each of a plurality of reception signals which is a signal received by each of a plurality of receivers and is a signal corresponding to a transmission signal which is a signal transmitted by a transmitter and reflected by an object, to detect as a target peak, each of at least one of peaks corresponding to the target reception signals, and to calculate as a calculated distance, a distance corresponding to the target peak;
calculate a detection point indicating position coordinates indicating a position at which the object is estimated to be present, based on each combination of the calculated distance corresponding to each of the plurality of reception signals, a position of the transmitter, and each position of the plurality of receivers, and to regard as a detection result point group, a set that consists of the calculated detection points; and
remove from the detection result point group, a detection point corresponding to noise, based on the position coordinates of each detection point included in the detection result point group.