US 12,033,395 B2
Object detection device, travel control system, and travel control method
Manabu Sasamoto, Chiyoda-ku (JP); Shigeru Matsuo, Chiyoda-ku (JP); and Kentarou Ueno, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/596,873
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed May 25, 2020, PCT No. PCT/JP2020/020489
§ 371(c)(1), (2) Date Dec. 20, 2021,
PCT Pub. No. WO2021/059589, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 2019-177661 (JP), filed on Sep. 27, 2019.
Prior Publication US 2022/0319186 A1, Oct. 6, 2022
Int. Cl. G06V 20/58 (2022.01); G05D 1/00 (2006.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01); B60W 60/00 (2020.01); G08G 1/16 (2006.01)
CPC G06V 20/58 (2022.01) [G05D 1/0295 (2013.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01); G08G 1/16 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An object detection device comprising:
a distance detection portion that detects a distance to an object;
a position detection portion that detects a position of the object based on the distance detected by the distance detection portion;
a pose detection portion that detects a pose of the object based on the distance detected by the distance detection portion;
a first vehicle information input portion that inputs state information about a host vehicle;
a second vehicle information input portion that inputs state information about a different vehicle;
a position prediction portion that predicts a position of the different vehicle based on the state information about the host vehicle and the state information about the different vehicle respectively inputted by the first vehicle information input portion and the second vehicle information input portion;
a pose prediction portion that predicts a pose of the different vehicle based on the state information about the host vehicle and the state information about the different vehicle respectively inputted by the first vehicle information input portion and the second vehicle information input portion;
a determination portion that determines a distance to, a position of, and a pose of the different vehicle based on information detected or predicted respectively by the distance detection portion, the position detection portion, the pose detection portion, the position prediction portion, and the pose prediction portion; and
an image capture portion that captures an image of the object;
wherein the determination portion determines a rate of using detection results detected by the distance detection portion, the position detection portion, and the pose detection portion and prediction results predicted by the position prediction portion and the pose prediction portion based on a range of the object appearing in the captured image captured by the image capture portion.