US 12,405,354 B2
On-vehicle object detection system
Yuichi Goda, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Appl. No. 17/604,682
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed May 14, 2019, PCT No. PCT/JP2019/019035
§ 371(c)(1), (2) Date Oct. 18, 2021,
PCT Pub. No. WO2020/230253, PCT Pub. Date Nov. 19, 2020.
Prior Publication US 2022/0206110 A1, Jun. 30, 2022
Int. Cl. G01S 7/40 (2006.01); G01N 22/00 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/40 (2013.01) [G01N 22/00 (2013.01); G01S 13/931 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An on-vehicle object detection system comprising:
a plurality of object detection apparatuses mounted to a vehicle and configured to detect reflections signals from a target road surface area;
a road surface reflection level reception circuitry to receive a plurality of road surface reflection levels of the target road surface area which are detected by the plurality of object detection apparatuses;
an object detection apparatus abnormality determination circuitry to calculate a difference between two or more road surface reflection levels having been received from the plurality of object detection apparatuses, and determine, when the difference exceeds a range of values determined in advance, that any of the plurality of object detection apparatuses has an abnormality; and
a yaw rate sensor configured to detect a turning movement of the vehicle,
wherein, when, among the detected road surface reflection levels, there is a road surface reflection level greater than a threshold determined in advance, an abnormality determination for determining any of the plurality of object detection apparatuses has an abnormality, is disabled, when change in a detected road surface reflection level is greater than another threshold determined in advance, the abnormality determination is disabled, and when the turning movement of the vehicle is greater than a predetermined threshold, the abnormality determination is disabled.