US 12,174,291 B2
Object determination apparatus
Yohei Masui, Kariya (JP); Naoki Kusumoto, Okazaki (JP); and Hiroshi Yamada, Nisshin (JP)
Assigned to DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 29, 2021, as Appl. No. 17/388,960.
Application 17/388,960 is a continuation of application No. PCT/JP2020/001929, filed on Jan. 21, 2020.
Claims priority of application No. 2019-016492 (JP), filed on Jan. 31, 2019.
Prior Publication US 2021/0357709 A1, Nov. 18, 2021
Int. Cl. G01S 13/86 (2006.01); G01S 13/04 (2006.01); G01S 13/931 (2020.01); G01V 3/12 (2006.01); G06F 18/2415 (2023.01); G06F 18/25 (2023.01); G06V 10/80 (2022.01); G06V 20/58 (2022.01); G01V 8/00 (2006.01); G01V 11/00 (2006.01); G08G 1/16 (2006.01)
CPC G01S 13/867 (2013.01) [G01S 13/04 (2013.01); G01S 13/931 (2013.01); G01V 3/12 (2013.01); G06F 18/2415 (2023.01); G06F 18/256 (2023.01); G06V 10/811 (2022.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); G01V 8/005 (2013.01); G01V 11/00 (2013.01); G08G 1/16 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An object determination apparatus for identifying a candidate object amongst a plurality of candidate objects identified as the candidate object, the object determination apparatus performing a same-object determination on the candidate object by determining whether a subject image target detected by an image sensor and at least one subject radar target detected by an electromagnetic wave sensor and are the same object, the object determination apparatus installed on a subject vehicle, the electromagnetic wave sensor installed on the subject vehicle and configured to transmit and receive electromagnetic waves, the image sensor configured to capture images around the subject vehicle, the object determination apparatus comprising:
a non-transitory memory storing one or more computer programs; and
a processor executing the one or more computer programs to:
identify an image-target type of the subject image target based on the image-target type output from the image sensor;
identify, among a plurality of radar targets, the at least one subject radar target as the candidate object for the same-object determination with the subject image target;
determine whether there is a plurality of candidate objects each identified as the candidate object for the same-object determination;
calculate, for each of the plurality of candidate objects, a likelihood that the respective candidate object is the image-target type of the subject image target based on detection information relating to each of the plurality of candidate objects;
determine whether at least one candidate object, among the plurality of candidate objects, has a likelihood for being the image-target type of the subject image target that is higher than a likelihood threshold; and
select the at least one candidate object as the candidate object subjected to same-object determination, wherein
the processor executes the one or more computer programs to acquire, based on detection information from the electromagnetic wave sensor, likelihood additional values that are additional values to be added to the respective likelihoods for the respective object types, and calculate the likelihoods for the respective object types, having the likelihood additional values added, the likelihood additional values for the respective object types differing depending on contents of the detection information from the electromagnetic wave sensor.