US 12,085,633 B2
Wall profile measurement apparatus
Naotsugu Shimizu, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 18, 2022, as Appl. No. 17/655,428.
Application 17/655,428 is a continuation of application No. PCT/JP2020/035083, filed on Sep. 16, 2020.
Claims priority of application No. J2019-170243 (JP), filed on Sep. 19, 2019.
Prior Publication US 2022/0206134 A1, Jun. 30, 2022
Int. Cl. G01S 13/46 (2006.01); B60Q 9/00 (2006.01); G01S 7/41 (2006.01); G01S 13/89 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/46 (2013.01) [G01S 7/41 (2013.01); G01S 13/89 (2013.01); G01S 13/931 (2013.01); B60Q 9/00 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A wall profile measurement apparatus to be installed in an own vehicle comprising:
a wall measurement determiner configured to repeatedly perform a determination task of:
transmitting a radar-wave signal to a corresponding measurement range;
receiving, as a received signal, an echo signal resulting from reflection of the radar-wave signal by an object; and
executing, based on the received signal, determination of whether measurement of a wall object located along a road on which the own vehicle travels has succeeded;
a wall distance calculator configured to calculate an instantaneous wall-distance value indicative of a distance of the wall object from the own object in response to each determination that measurement of the wall object has succeeded;
a wall profile calculator configured to calculate a plurality of wall-profile values in accordance with a trajectory of the own vehicle and the calculated instantaneous wall-distance values, each of the wall-profile values representing a location of a corresponding part of the wall object;
an extrapolation unit configured to execute a first extrapolation of an additional instantaneous wall-distance value in response to each determination that measurement of the wall object has not succeeded;
an extrapolation prevention unit configured to:
determine whether a frequency of continuously repeated executions of the first extrapolation is not less than a prevention threshold frequency; and
prevent an additional execution of the first extrapolation in response to determination that the frequency of continuously repeated executions of the first extrapolation is not less than the prevention threshold frequency;
a correctness determiner configured to determine whether a result of the determination of whether the measurement of the wall object has succeeded is correct;
an extrapolation frequency setter configured to:
set, in response to determination that the result of the determination of whether the measurement of the wall object has succeeded is correct, a correct-state threshold as the prevention threshold frequency; and
set, in response to determination that the result of the determination of whether the measurement of the wall object has succeeded is incorrect, an incorrect-state threshold as the prevention threshold frequency, the incorrect-state threshold being smaller than the correct-state threshold.