Target detection device

Abstract

An object detection device is provided with: a camera that detects an object present in an imaging range around a host vehicle; a millimeter-wave radar that detects, by a method different from that of the camera, a target present in a measurement range including a region different from an imaging range around the host vehicle; a display unit that displays a target detected by the camera or the millimeter-wave radar; a category determination unit that determines the category of the target detected by the camera; and a category estimation unit that estimates the category of the target detected by the millimeter wave radar on the basis of the category of the target determined by the category determination unit, and the display unit displays the state of the target including the category of the target determined by the category determination unit or the state of the target including the category of the target estimated by the category estimation unit.

Description

TECHNICAL FIELD

[0001] The present application relates to a target detection device. BACKGROUND

[0002] For example, a device described in Japanese Patent Application Publication No. 2022-41288 acquires, as surrounding information, a traveling environment of a vehicle by an external sensor such as a camera. The device generates an image for performing display related to confirmation of a situation of a lane to a lane change destination. Also, the device displays, on a display section, an image of a lane of a road, a self vehicle, and other vehicles as the confirmation of the situation of the lane to the lane change destination. SUMMARY

[0003] Sometimes, a target itself is detected by another sensor in a state where the target such as another vehicle deviates from a photographing range (detection range) of a camera. Thus, even if the target is detected, if the category of the target cannot be discriminated, the category of the target cannot be displayed, and thus the category of the target cannot be recognized in the above-described related art.

[0004] An object of the present application is to provide a target detection device capable of recognizing a category of a target even in a state where the target deviates from a detection range of one sensor.

[0005] (1) One embodiment of the present application is a target detection device that detects a target present around a self vehicle, including:

[0006] a first sensor that detects a target present within a first detection range around the self vehicle;

[0007] a second sensor that detects a target present within a second detection range including an area different from the first detection range around the self vehicle, in a different method from the first sensor;

[0008] a display section that displays a target detected by the first sensor or the second sensor;

[0009] a category discrimination section that discriminates a category of a target detected by the first sensor; and

[0010] a category inference section that infers a category of a target detected by the second sensor, based on a category of a target discriminated by the category discrimination section,

[0011] the display section displays a state of a target including the category of the target discriminated by the category discrimination section or a state of a target including the category of the target inferred by the category inference section.

[0012] (2) In the above-described (1),

[0013] The category inference unit can infer the category of the target detected by the second sensor based on the category of the target discriminated by the category discrimination unit in a case where the target present in the first detection range detected by the first sensor moves into the second detection range.

[0014] (3) In the above (1) or (2),

[0015] The target detection device further includes a target information extraction unit that extracts information about the target detected by the first sensor, and

[0016] a storage unit that associates and stores the category of the target discriminated by the category discrimination unit and the information about the target extracted by the target information extraction unit,

[0017] The category inference unit can infer the category of the target stored by the storage unit as the category of the target detected by the second sensor in a case where the information about the target detected by the second sensor and the information about the target stored by the storage unit are identical.

[0018] (4) In the above (3), the target detection device can further include:

[0019] a storage data reset unit that resets the category of the target and the information about the target stored by the storage unit when at least one of the conditions that the state where the target is detected by the second sensor is not satisfied, the state where the target is present on the display screen of the display unit, and the time when the category of the target and the information about the target are stored by the storage unit is equal to or less than a predetermined prescribed time.

[0020] According to the present application, the category of the target can be recognized even in a state where the target deviates from the detection range of one sensor. BRIEF DESCRIPTION OF DRAWINGS

[0021] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described with reference to the accompanying drawings, in which like numerals refer to like elements, and wherein:

[0022] Figure 1 is a schematic configuration diagram of a driving assistance system that includes a target detection device according to an embodiment of the present application.

[0023] Figure 2 is a flowchart showing steps of a display control process performed by the display control unit shown in Figure 1

[0024] Figure 3 is a flowchart showing steps of a display control process performed by the display control unit shown in Figure 1 ​The flowchart shown illustrates the steps of the storage data reset process performed by the storage data reset unit.

[0025] Figure 4A This is a schematic top view illustrating an example of a scenario where a target detection device detects targets existing around a vehicle.

[0026] Figure 4B This is a schematic top view illustrating an example of a scenario where a target detection device detects targets existing around a vehicle.

[0027] Figure 5A This indicates the use of storage in Figure 1 The image shown is a schematic top view of an example of a scenario where target data in a target storage device is used to infer the type of target detected by millimeter-wave radar.

[0028] Figure 5B This indicates the use of storage in Figure 1 The diagram shows a schematic top view of another example of a scenario where target data in a target storage device is used to infer the type of target detected by millimeter-wave radar.

[0029] Figure 5C This indicates the use of storage in Figure 1 The diagram shows a schematic top view of another example of a scenario where target data in a target storage device is used to infer the type of target detected by millimeter-wave radar.

[0030] Figure 5D This indicates the use of storage in Figure 1 The diagram shows a schematic top view of another example of a scenario where target data in a target storage device is used to infer the type of target detected by millimeter-wave radar. Detailed Implementation

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0032] Figure 1 This is a schematic structural diagram of a driving assistance system equipped with the target detection device according to an embodiment of the present invention. Figure 1 In this embodiment, the target detection device 1 is equipped with a device for detecting its own vehicle A (reference t). Figure 4A , Figure 4B In the driving assistance system 2 of the vehicle A, the target detection device 1 is a device for detecting targets existing in the vicinity of the vehicle A.

[0033] The target detection device 1 includes a camera 3, multiple millimeter-wave radars 4, a vehicle speed sensor 5, a timer 6, a target storage device 8, a display device 9, and a target detection electronic control unit 10 (ECU).

[0034] Camera 3 is positioned at the front of vehicle A. Camera 3 captures images of the area in front of vehicle A. Camera 3 detects the area E1 (reference range) in front of vehicle A. Figure 4A , Figure 4B The target is defined as an object existing around the vehicle A. Camera 3 is a first sensor that detects targets within a shooting range E1 around the vehicle A. Camera 3 can be, for example, a monocular camera or a stereo camera. Camera 3 is an image sensor capable of acquiring the type of target (described later). The shooting range E1 of camera 3 is, for example, a first detection range with an angle less than 180 degrees.

[0035] Millimeter-wave radar 4 is positioned on both sides of vehicle A. Millimeter-wave radar 4 illuminates the sides of vehicle A with a millimeter-wave band, determining the distance to targets present on the sides of vehicle A. The detection range E2 of millimeter-wave radar 4 on the sides of vehicle A (reference) Figure 4A , Figure 4B The millimeter-wave radar 4 has a measurement range E2 that differs from the camera 3's field of view E1. The millimeter-wave radar 4 constitutes a second sensor that detects targets within a measurement range E2 that exist in an area different from the camera 3's field of view E1 surrounding the vehicle A, using a different method than the camera 3. The measurement range E2 of the millimeter-wave radar 4 is, for example, a second detection range with an angle less than 180 degrees.

[0036] Vehicle speed sensor 5 is a sensor that detects the driving speed (vehicle speed) of its own vehicle A. Timer 6 measures time. Timer 6 can be built into the target detection ECU 10.

[0037] In the target storage device 8, the target category and target-related information are associated and stored. Target categories include, for example, vehicles other than vehicle A itself (other vehicles), two-wheeled vehicles, bicycles, people, or other obstacles. Furthermore, other vehicle categories may include, for example, cars, trucks, or buses. Target-related information may include, for example, the vehicle classification of other vehicles (cars, SUVs, station wagons, etc.), their relative speeds to vehicle A, and other vehicle features (spoilers, wings, etc.). The target category and target-related information are collectively referred to as target data.

[0038] The display device 9 is disposed on an instrument panel disposed in a front portion of the driver's seat. The display device 9 displays information relating to target detection and driving assistance. The information relating to target detection and driving assistance includes targets detected by the camera 3 and the millimeter wave radar 4.

[0039] The display device 9 displays the state of the target detected by the camera 3 and the millimeter wave radar 4 as information relating to target detection. The state of the target includes the category of the target, the position and the attitude of the target with respect to the host vehicle A, and the like. The display device 9 displays the target together with the host vehicle A in a drawable region on a display screen, for example. The display device 9 displays the target together with the host vehicle A in the form of an image on the drawable region on the display screen in such a manner that the driver of the host vehicle A can recognize the category of the target, for example.

[0040] The target detection ECU 10 is configured by a CPU, a RAM, a ROM, an input-output interface, and the like. The target detection ECU 10 loads a program recorded in the ROM into the RAM, for example, and executes the program loaded into the RAM by the CPU.

[0041] The target detection ECU 10 has an image data acquisition section 11, a first target presence / absence determination section 12, a target category discrimination section 13, a target information extraction section 14, a target data storage section 15, and a distance data acquisition section 16. Further, the target detection ECU 10 has a second target presence / absence determination section 17, a target category estimation section 18, a display control section 19, a storage data reset section 20, and a target category output section 21.

[0042] The image data acquisition section 11 acquires image data of the front of the host vehicle A obtained by photographing by the camera 3.

[0043] The first target presence / absence determination section 12 determines whether a target is present within the photographing range El of the camera 3 (refer to FIG. 2) on the basis of the image data of the camera 3 acquired by the image data acquisition section 11. Figure 4A 、 Figure 4B ) of the camera 3.

[0044] When it is determined by the first target presence / absence determination section 12 that a target is present within the photographing range El of the camera 3, the target category discrimination section 13 discriminates the category of the target. The category of the target is as described above. The target category discrimination section 13 cooperates with the image data acquisition section 11 and the first target presence / absence determination section 12 to constitute a category discrimination section that discriminates the category of the target detected by the camera 3.

[0045] When it is determined by the 1st target existence determination section 12 that the target exists within the imaging range El of the camera 3, the target information extraction section 14 extracts information about the target on the basis of the image data of the camera 3 and the detection value of the vehicle speed sensor 5. The information about the target is as described above. The detection value of the vehicle speed sensor 5 is used together with the image data of the camera 3 to calculate the relative speed of the target with respect to the host vehicle A.

[0046] The target data holding section 15 associates and holds the class of the target determined by the target class determination section 13 and the information about the target extracted by the target information extraction section 14 in the target storage device 8. If the class of the target and the information about the target, i.e., the target data, are held in the target storage device 8 by the target data holding section 15, the storage time of the target data is measured by the timer 6.

[0047] The target storage device 8 and the target data holding section 15 constitute a storage section that associates and stores the class of the target determined by the target class determination section 13 and the information about the target extracted by the target information extraction section 14.

[0048] The distance data acquisition section 16 acquires distance data from the host vehicle A to the target obtained by the millimeter wave radar 4.

[0049] The 2nd target existence determination section 17 determines whether or not the target exists within the measurement range E2 of the millimeter wave radar 4 on the basis of the distance data from the host vehicle A to the target acquired by the distance data acquisition section 16. Figure 4A 、 Figure 4B ).

[0050] When it is determined by the 2nd target existence determination section 17 that the target exists within the measurement range E2 of the millimeter wave radar 4, the target class inference section 18 infers the class of the target detected by the millimeter wave radar 4 on the basis of the class of the target determined by the target class determination section 13. The class of the target is as described above.

[0051] The target class inference section 18 cooperates with the distance data acquisition section 16 and the 2nd target existence determination section 17 to constitute a class inference section that infers the class of the target detected by the millimeter wave radar 4 on the basis of the class of the target determined by the class determination section.

[0052] In the case where the target existing within the imaging range El detected by the camera 3 moves to the measurement range E2, the target class inference section 18 infers the class of the target detected by the millimeter wave radar 4 on the basis of the class of the target determined by the target class determination section 13.

[0053] Specifically, sometimes the information related to the target detected by the millimeter wave radar 4 is consistent with the information related to the target stored in the target storage device 8. In this case, the target category inference unit 18 infers the category of the target stored in the target storage device 8 as the category of the target detected by the millimeter wave radar 4.

[0054] The display control unit 19 displays the target detected by the camera 3 or the millimeter wave radar 4 on the display device 9. The display control unit 19 displays the state of the target including the category of the target discriminated by the target category discrimination unit 13 or the state of the target including the category of the target inferred by the target category inference unit 18 on the display device 9.

[0055] The display device 9 and the display control unit 19 constitute a display unit that displays the target detected by the camera 3 or the millimeter wave radar 4. The display unit displays the state of the target including the category of the target discriminated by the target category discrimination unit 13 or the state of the target including the category of the target inferred by the target category inference unit 18.

[0056] Figure 2 is a flowchart showing the steps of the display control processing performed by the display control unit 19.

[0057] In Figure 2 , the display control unit 19 first determines whether the category of the target is discriminated by the target category discrimination unit 13 (step S101). When the display control unit 19 determines that the category of the target is discriminated, the state of the target including the discriminated category of the target is displayed on the display screen of the display device 9 (step S102).

[0058] When the display control unit 19 determines that the category of the target is not discriminated, it is determined whether the category of the target is inferred by the target category inference unit 18 (step S103). When the display control unit 19 determines that the category of the target is inferred, the state of the target including the inferred category of the target is displayed on the display screen of the display device 9 (step S104).

[0059] When the display control unit 19 determines that the category of the target is not inferred, the above steps S102 and S104 are not performed.

[0060] Returning to Figure 1 , when at least one of the three conditions of the first state, the second state, and the third state is not satisfied, the stored data reset unit 20 resets the category of the target and the information related to the target stored in the target storage device 8. The first state is the state in which the target is detected by the millimeter wave radar 4. The second state is the state in which the target exists on the display screen of the display device 9. The third state is the state in which the time at which the category of the target and the information related to the target are stored in the target storage device 8 is within a predetermined prescribed time.

[0061] Figure 3 This is a flowchart illustrating the steps of the storage data reset process performed by the storage data reset unit 20.

[0062] exist Figure 3 In the middle, the data storage reset unit 20 first determines, through the second target presence / absence determination unit 17, whether the target has entered the measurement range E2 of any millimeter-wave radar 4 (reference). Figure 4A , Figure 4B The state within the storage data reset unit 20 (step S111). That is, the storage data reset unit 20 determines whether the state is in which a target has been detected by any millimeter-wave radar 4.

[0063] When the data reset unit 20 determines that the target is not within the measurement range E2 of any millimeter-wave radar 4, it resets the stored data in the target storage device 8 (step S112). Here, the stored data in the target storage device 8 refers to the target category and related information, i.e., target data. That is, the data reset unit 20 deletes the target data stored in the target storage device 8.

[0064] When the data storage reset unit 20 determines that the target has entered the measurement range E2 of any millimeter-wave radar 4, it determines whether the display control unit 19 displays the target's status on the drawable area of ​​the display screen of the display device 9 (step S113).

[0065] When the storage data reset unit 20 determines that the target is not in the drawable area on the display screen of the display device 9, it resets the target data stored in the target storage device 8 (step S112).

[0066] When the storage data reset unit 20 determines that the target is not in the drawable area on the display screen of the display device 9, it determines whether the time the target data is stored in the target storage device 8 is less than a predetermined time (step S114). The determination of whether the time the target data is stored in the target storage device 8 is less than the predetermined time is based on the measurement time of the timer 6.

[0067] When the storage data reset unit 20 determines that the target data is not stored in the target storage device 8 for a period of time less than a predetermined time, it resets the target data stored in the target storage device 8 (step S112).

[0068] When the storage data reset unit 20 determines that the target data is stored in the target storage device 8 for a period of time that is not less than a specified time, step S112 is not executed.

[0069] Return to Figure 1The target category output section 21 outputs the category of the target that is discriminated by the target category discrimination section 13 or the category information of the target that is inferred by the target category inference section 18 to the drive assist ECU 25.

[0070] The drive assist ECU 25 controls each section of the own vehicle A to perform the steering assist and the acceleration / deceleration assist of the own vehicle A in accordance with the category information of the target that is output from the target category output section 21.

[0071] As described above, in the drive assist system 2 that is provided with the target detection device 1, as shown in Figure 4A , the other vehicle B is detected by the camera 3 in a state in which the other vehicle B enters the photographing range El when the other vehicle B is traveling on the lane Lb. The lane Lb is a lane that is adjacent to the lane La on which the own vehicle A is traveling. The photographing range El is a photographing range of the camera 3 in the front of the own vehicle A. At this time, the category of the other vehicle B is detected by the camera 3.

[0072] Further, the state of the other vehicle B that is detected by the camera 3 is displayed on the display screen of the display device 9. Also, the category information of the other vehicle B that is detected by the camera 3 is transmitted to the drive assist ECU 25, and the drive assist of the own vehicle A is performed in accordance with the category information of the other vehicle B in the drive assist ECU 25.

[0073] Further, the category of the other vehicle B is correlated with information about the other vehicle B, such as the vehicle classification of the other vehicle B, the relative speed of the other vehicle B with respect to the own vehicle A, and the characteristic object of the other vehicle B, and is stored in the target storage device 8.

[0074] Thereafter, as shown in Figure 4B , if the vehicle speed of the other vehicle B decreases with respect to the vehicle speed of the own vehicle A, the own vehicle A approaches the other vehicle B. As a result, the other vehicle B deviates from the photographing range El of the camera 3, and is in a state in which the other vehicle B enters the measurement range E2 of the millimeter wave radar 4 on the side of the own vehicle A. Therefore, the other vehicle B is not detected by the camera 3, but is detected by the millimeter wave radar 4. However, in the millimeter wave radar 4, the category of the other vehicle B cannot be directly detected. On the other hand, as for the vehicle classification and the characteristic object of the other vehicle B, etc., the detection is possible by the millimeter wave radar 4.

[0075] Thus, by associating the vehicle classification and the feature and the like of the other vehicle B detected by the millimeter wave radar 4 and the classification of the other vehicle B and the information about the other vehicle B stored in the target storage device 8, the classification of the other vehicle B is inferred. Specifically, sometimes the vehicle classification and the feature and the like of the other vehicle B detected by the millimeter wave radar 4 and the information about the other vehicle B stored in the target storage device 8 coincide. In this case, the classification of the other vehicle B stored in the target storage device 8 is inferred as the classification of the other vehicle B detected by the millimeter wave radar 4.

[0076] Also, the state of the other vehicle B inferred from the distance data of the millimeter wave radar 4 is displayed on the display screen of the display device 9. Also, the classification information of the other vehicle B inferred on the basis of the distance data of the millimeter wave radar 4 and the target data stored in the target storage device 8 is transmitted to the drive assist ECU 25. Also, in the drive assist ECU 25, the drive assist of the host vehicle A is performed in accordance with the classification information of the other vehicle B.

[0077] As described above, in the present embodiment, the target existing in the photographing range El of the surroundings of the host vehicle A is detected by the camera 3. Meanwhile, the target existing in the measurement range E2 including an area different from the photographing range El of the surroundings of the host vehicle A is detected by the millimeter wave radar 4. Also, the classification of the target detected by the camera 3 is discriminated, and on the basis of the classification of the target, the classification of the target detected by the millimeter wave radar 4 is inferred. Also, the state of the target including the classification of the discriminated or inferred target is displayed. Specifically, in a state where the target enters the photographing range El of the camera 3, the state of the target including the classification of the discriminated target is displayed. In a state where the classification of the target cannot be discriminated by the target deviating from the photographing range El of the camera 3, the state of the target including the classification of the inferred target is displayed. Thus, even in a state where the target deviates from the photographing range El of the camera 3, the classification of the target is recognized.

[0078] Also, in the present embodiment, in a case where the target existing in the photographing range El detected by the camera 3 moves into the measurement range E2 of the millimeter wave radar 4, the classification of the target detected by the millimeter wave radar 4 is inferred on the basis of the classification of the discriminated target. Thus, the classification of the target moving from the photographing range El of the camera 3 into the measurement range E2 of the millimeter wave radar 4 is reliably inferred. Therefore, even in a state where the target deviates from the photographing range El of the camera 3, the classification of the target is recognized with high accuracy.

[0079] And, in the present embodiment, information about the target detected by the camera 3 is extracted, the category of the target that is discriminated and the information about the target that is extracted are associated and stored in the target storage device 8. Also, in a case where the information about the target detected by the millimeter wave radar 4 and the information about the target stored in the target storage device 8 are identical, the category of the target stored in the target storage device 8 is inferred as the category of the target detected by the millimeter wave radar 4. Thus, it is determined whether the information about the target detected by the millimeter wave radar 4 is identical to the information about the target stored in the target storage device 8 by the detection of the camera 3, and the category of the target detected by the millimeter wave radar 4 is inferred. Therefore, even in a state where the target deviates from the photographing range El of the camera 3, the category of the target is further accurately recognized.

[0080] And, in the present embodiment, when at least one of the three conditions of the first state, the second state, and the third state is not satisfied, the category of the target and the information about the target stored in the target storage device 8 are reset. The first state is a state where the target is detected by the millimeter wave radar 4. The second state is a state where the target exists on the display screen of the display device 9. The third state is a state where the time at which the category of the target and the information about the target are stored in the target storage device 8 is within a prescribed time. Thus, as needed, by resetting the category of the target and the information about the target stored in the target storage device 8, for example, it is possible to suppress the unnecessary image from being continuously displayed. Also, as the target storage device 8, a memory that is small in capacity and inexpensive can be used.

[0081] Figure 5A 、 Figure 5B 、 Figure 5C 、 Figure 5D is a schematic top view that shows an example of a scenario in which the category of the target detected by the millimeter wave radar 4 is inferred using the target data stored in the target storage device 8.

[0082] Figure 5A shows a scenario in which even when the other vehicle B reverses with respect to the host vehicle A from the state shown in Figure 4B

[0083] Figure 5B shows a scenario in which the millimeter wave radar 4 is also disposed at the front of the host vehicle A, and the other vehicle B enters the measurement range E2 of the millimeter wave radar 4 disposed at the front of the host vehicle A. In the scenario shown in Figure 5B Figure 4A ​​The state shown is a state in which the vehicle speed of the other vehicle B is higher than the vehicle speed of the own vehicle A, and the other vehicle B is traveling more forward than the own vehicle A on a lane Lb adjacent to the lane La on which the own vehicle A is traveling.

[0084] Figure 5C The state shown is a state in which the vehicle speed of the other vehicle B is higher than the vehicle speed of the own vehicle A, and the other vehicle B is traveling more forward than the own vehicle A on a lane Lb adjacent to the lane La on which the own vehicle A is traveling. Figure 5C The state shown is a state in which the vehicle speed of the other vehicle B is higher than the vehicle speed of the own vehicle A, and the other vehicle B is traveling more forward than the own vehicle A on a lane Lb adjacent to the lane La on which the own vehicle A is traveling.

[0085] Figure 5D The state shown is a state in which the vehicle speed of the other vehicle B is higher than the vehicle speed of the own vehicle A, and the other vehicle B is traveling more forward than the own vehicle A on a lane Lb adjacent to the lane La on which the own vehicle A is traveling. Figure 5D The state shown is a state in which the vehicle speed of the other vehicle B is higher than the vehicle speed of the own vehicle A, and the other vehicle B is traveling more forward than the own vehicle A on a lane Lb adjacent to the lane La on which the own vehicle A is traveling.

[0086] In addition, the present application is not limited to the above-described embodiments. For example, in the above-described embodiments, the class of the target detected by the camera 3 is discriminated, and based on the class of the target, the class of the target detected by the millimeter wave radar 4 is inferred, but this form is not particularly limited. For example, a laser sensor such as a LiDAR that can acquire the class of the target can be used instead of the camera 3 as the first sensor. A cheap sonar or the like that cannot acquire the class of the target can be used instead of the millimeter wave radar 4 as the second sensor.

[0087] Further, the driving assistance system 2 of the above-described embodiments is provided with the target detection ECU 10 and the driving assistance ECU 25, but this form is not particularly limited, and the target detection function and the driving assistance function can be implemented by one ECU.

[0088] Further, the target detection device 1 of the above-described embodiments is included in the driving assistance system 2, but the present application can also be applied to a vehicle that is not equipped with a driving assistance system.

Claims

1. A target detection device for detecting targets existing around its own vehicle, characterized in that, have: The first sensor detects targets within a first detection range existing around the vehicle itself; The second sensor detects targets existing within a second detection range that includes an area different from the first detection range surrounding the vehicle itself, using a different method than the first sensor. A display unit that displays the target detected by the first sensor or the second sensor; A category discrimination unit that determines the category of the target detected by the first sensor; and The category inference unit infers the category of the target detected by the second sensor based on the category of the target determined by the category discrimination unit. The display unit displays the status of a target that includes the category of the target determined by the category discrimination unit or the status of a target that includes the category of the target inferred by the category inference unit.

2. The target detection device according to claim 1, characterized in that, When a target detected by the first sensor that exists within the first detection range moves into the second detection range, the category inference unit infers the category of the target detected by the second sensor based on the category of the target determined by the category discrimination unit.

3. The target detection device according to claim 1, characterized in that, It also has: The target information extraction unit extracts information related to the target detected by the first sensor; and The storage unit associates and stores the target category determined by the category discrimination unit with the target-related information extracted by the target information extraction unit. When the information related to the target detected by the second sensor is consistent with the information related to the target stored in the storage unit, the category inference unit infers the category of the target stored in the storage unit as the category of the target detected by the second sensor.

4. The target detection device according to claim 3, characterized in that, It also has: The data storage reset unit resets the target category and target-related information stored in the storage unit when at least one of the following three conditions is not met: the target is detected by the second sensor; the target is present on the display screen of the display unit; or the target category and target-related information are stored in the storage unit for a predetermined period of time or less.

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