US 12,424,085 B2
Target identification and classification vehicle system and storage medium storing program
Juick Kim, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jan. 24, 2023, as Appl. No. 18/158,924.
Application 18/158,924 is a continuation of application No. PCT/JP2021/029133, filed on Aug. 5, 2021.
Claims priority of application No. 2020-138673 (JP), filed on Aug. 19, 2020.
Prior Publication US 2023/0169849 A1, Jun. 1, 2023
Int. Cl. G08G 1/01 (2006.01); G08G 1/052 (2006.01); G08G 1/056 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G08G 1/16 (2006.01)
CPC G08G 1/0112 (2013.01) [G08G 1/052 (2013.01); G08G 1/056 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); G08G 1/166 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A vehicle system comprising:
a target information detection unit configured to detect a first target information item related to a target within sight from a subject vehicle based on sensor information of a sensor of the subject vehicle, wherein the within sight from the subject vehicle is within a range directly detected by the sensor of the subject vehicle;
a target information acquisition unit configured to acquire a plurality of second target information items related to a target detected based on sensor information of a sensor of a mounted object, excluding the subject vehicle;
a target identification unit configured to identify a plurality of targets individually identified by the plurality of second target information items as an identical target or individual targets; and
a target classification unit configured to specify the target within sight based on the first target information item from the identical targets identified by the target identification unit, specify a remaining target of the identical targets identified as a target out of sight, and classify the target identified as the identical target into the target within sight or the target out of sight, wherein:
the target identification unit includes:
a position correction execution unit configured to perform a position correction over time based on a moving speed and a moving direction with respect to the mounted object;
a positioning information conversion unit configured to convert positioning information of the subject vehicle into a reference point of a coordinate system;
a first coordinate system conversion unit configured to convert positioning information of the mounted object into the coordinate system having the reference point of the subject vehicle;
a second coordinate system conversion unit configured to convert a target identified by the second target information detected based on the sensor information of the sensor of the mounted object into the coordinate system by synthesizing relative distance and moving direction of the target identified by the second target information into the coordinate system;
a target extraction unit configured to extract targets whose positions overlap in the coordinate system;
a type determination unit configured to determine whether the targets extracted by the target extraction unit are identical;
a speed/direction determination unit configured to determine whether the targets determined by the type determination unit to be identical have identical moving speeds and moving directions;
an individual identification unit configured to identify, as the identical targets, targets of which the speed/direction determination unit determines that both the moving speeds and moving directions are identical; and
the subject vehicle is controlled to avoid collision with the determined targets.