| CPC G06V 20/58 (2022.01) [G06T 7/269 (2017.01); G06T 7/73 (2017.01); G06T 2207/30252 (2013.01)] | 9 Claims |
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1. An object detection device configured to be mounted to an own vehicle to detect an object present around the own vehicle and to perform parking support, the object detection device comprising:
a storage medium storing instructions; and
a processor connected to the storage medium, wherein, the processor executes the instructions to:
acquire position coordinates of a first detection point corresponding to the object on the basis of a plurality of images captured at different positions along with movement of the own vehicle by one imaging section mounted to the own vehicle;
acquire a movement state amount as a movement velocity or a movement distance of the object, and
specify the first detection point as a movement point corresponding to a moving object in response to the movement state having a value greater than a threshold and in response to the first detection point being present in a prescribed range set according to a relative positional relationship between the moving object and the own vehicle, wherein the prescribed range is set in a direction in which the moving object is present with respect to the own vehicle and wherein a shape of the prescribed range is set according to the movement state amount;
recognize a parking space and an obstacle without using position coordinates of the movement point corresponding to the moving object but using position coordinates of a stop point that is a second detection point corresponding to the moving object different from the movement point and that is detected based on the plurality of images;
calculate a control amount necessary for traveling a prescribed calculated route to the parking space while avoiding the obstacle; and
issue an alert or perform a collision avoidance action control using ranging information of the moving object acquired using one or more ranging sensors that are different from the one imaging section, the using of the ranging information including adjusting the position coordinates of the stop point based on the ranging information.
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