In-vehicle object determining apparatus

Abstract

An in-vehicle object determining apparatus is provided with a detection state estimating unit (16) that, on the basis of the position relative to the vehicle of an obstacle detected by ultrasonic sensors (2a, 2b) at a first point in time, the installation positions of the ultrasonic sensors, and the change in the position of the vehicle from the first point in time, when the obstacle was detected, to a second point in time, at which a predetermined amount of time has elapsed since the first point in time, calculates the estimated detection state of the obstacle as detected by the ultrasonic sensors at the second point in time if the obstacle were stationary. The in-vehicle object determining apparatus is further provided with a determining unit (19) that determines that the obstacle is a moving object if the calculated estimated detection state of the obstacle deviates from the actual detection state of the obstacle as detected by the ultrasonic sensors at the second point in time.

Description

technical field [0001] This application is based on the Japanese application number 2014-215713 for which it applied on October 22, 2014, and uses the description content here. [0002] The present disclosure relates to an in-vehicle object determining apparatus (In-Vehicle Object Determining Apparatus) for determining whether an object around a vehicle is a moving object. Background technique [0003] Conventionally, there is known a technique for judging whether an obstacle detected by an obstacle sensor such as a laser radar or an ultrasonic sensor is a moving object. For example, Patent Document 1 discloses a vehicle-mounted object determination device that uses an ultrasonic sensor to determine whether an object on the side of a vehicle is a moving object. [0004] In the vehicle-mounted object discriminating device disclosed in Patent Document 1, by comparing the waveforms of distance measurement data sequentially obtained with the movement of the vehicle from the ult...

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Problems solved by technology

[0006] However, since the vehicle-mounted object discriminating device disclosed in Patent Document 1 uses the waveform of distance measurement data obtained with the movement of the vehicle to discriminate whether or not the obstacle detected by the obstacle sensor is a moving object, when the vehicle stops , has the problem of not being able to judge whether the obstacle detected by the obstacle sensor is a moving object

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