Vehicle object detection system and method for detecting target objects in detection areas located behind and to the sides of a vehicle - Patents.com

Abstract

To provide a system and method for detecting a vehicle object for detecting target object in a detection area located behind an owned vehicle or by an owned vehicle.SOLUTION: In a driver support system 1, a vehicle object detection system 10 includes: warning means 30 for outputting a warning to the driver of an owned vehicle; and determination means 20 for generating a determination as to whether the target object detected in the detection area is an attention requiring object and outputting the determination to the warning means 30 on the basis of the determination which shows that the target object detected in the detection area is an attention requiring object. The determination means 20 generates a determination on the basis of the difference between the relative speed of the target object and the absolute speed of the target object in comparison to the owned vehicle in the lateral direction of the owned vehicle and on the basis of the comparison of specified ranges or the comparison between the estimated arrival time and the specified position of the target object in the detection area in a specific length of time calculated on the basis of the current position and the motion parameter of the target object in the length direction of the owned vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] Technical Field The present invention relates to a vehicle object detection system, preferably a rear cross traffic detection system, for detecting a target object such as a vehicle (hereinafter also referred to as a "target vehicle") in a detection area located behind and / or to the side of a host vehicle.

[0002] Furthermore, the invention relates to a computer-implemented method for detecting a target object, such as a target vehicle, in a detection area located behind and / or to the side of an ego-vehicle, in particular for controlling such a vehicle object detection system.

[0003] Furthermore, the invention relates to a driver assistance system for a vehicle equipped with such a vehicle object detection system, and to a corresponding computer program for performing the computer-implemented method and respective non-transitory computer readable media. [Background technology]

[0004] background Conventional driver assistance systems or advanced driver assistance systems (ADAS) for vehicles, for example, which are widely used in connection with conventional vehicles as well as autonomous vehicles, typically comprise such vehicle object detection systems.

[0005] Many vehicle accidents are caused by human error that could have been avoided by such advanced driver assistance systems. Commonly known safety-critical ADAS applications include, for example, pedestrian detection / avoidance, lane departure warning / correction, traffic sign recognition, automatic emergency braking, (rear) cross traffic warning, and blind spot detection (BSD).

[0006] In relation to (rear) cross traffic alert, the respective rear cross traffic alert (RCTA) system often uses detection means such as the same radar infrastructure used to detect vehicles in blind spots (BSD).

[0007] For example, long-range radar / long-range radar sensors are typically used in applications such as emergency braking assistance and adaptive cruise control, while short-range radar is often used in conjunction with applications such as blind spot detection (BSD), rear cross traffic warning, lane change assist and rear pre-crash systems.

[0008] In relation to (rear) cross traffic alerting, conventional rear cross traffic alerting (RCTA) systems can use radar infrastructure such as radar sensors to detect vehicles or objects in blind spots (blind spot detection, BSD) to help avoid accidents when backing up from a parking space, i.e. when the vehicle is reversing.

[0009] In case of a possible collision or hazard situation, a rear traffic approaching notification (RTAN) may be output by the RCTA system to the driver of the host vehicle by a visual or audio indicator, this notification is typically output by a rear approaching target notification system (RTAN system) implemented by the vehicle object detection system. Summary of the Invention [Problem to be solved by the invention]

[0010] However, such systems have the problem of providing the ability to determine the likelihood of a collision or hazardous situation between the reversing host vehicle and a target object located behind and / or to the side of the host vehicle, i.e. approaching from the side and behind the host vehicle, based on the so-called Time To Collision (TTC) and a crossing prediction of the collision hazard area. This may make a warning output unnecessary, since a warning is output even if the target object is far away from the host vehicle. That is, a warning is activated and output to warn the driver of the host vehicle of the approach of a distant moving object / target object that does not pose a danger to the host vehicle. [Means for solving the problem]

[0011] Summary of the Invention A vehicle object detection system according to the present invention is preferably a rear cross traffic detection system for detecting a target object in a detection area located behind and / or to the side of an own vehicle, the vehicle object detection system comprising a determining means configured to generate a determination as to whether a target object (such as a target vehicle) detected in the detection area is an attention-requiring object or not, and to output the determination to a warning means. The warning means is configured to output a warning to a driver of the own vehicle based on a determination indicating that the target object is an attention-requiring object. The determining means comprises: Self The relative speed of the target object to the vehicle In the lateral direction of the vehicle A comparison of the difference between the absolute speed of the target object and the specified range; a comparison of the estimated arrival position of the target object, which is the position that the target object is estimated to reach within the detection area during a certain period of time, calculated by taking into account the current position of the target object and one or more movement parameters of the target object in the longitudinal direction of the ego-vehicle, with the specified position; The designated position is preferably at a fixed position relative to the ego vehicle, i.e. at a fixed distance to the ego vehicle in a longitudinal direction of the ego vehicle.

[0012] For example, such motion parameters that can be detected by various conventional sensors of the target object are the current position of the target object and the change in the respective moving direction, the speed and acceleration of the target object. In addition, for example, when the host vehicle reverses, the motion parameters of the host vehicle must also be taken into account.

[0013] In this regard, the vehicle object detection system according to the present invention may be further modified such that the determination means is configured to generate a determination as to whether a target object detected in the detection area is an attention-seeking object in response to the host vehicle being detected as reversing.

[0014] Thus, the present invention allows for determining / classifying a target object / vehicle as a “distant object” so that when the ego vehicle is reversing and the following conditions are met: - the difference between the relative speed of the target object with respect to the host vehicle and the absolute speed of the target object in the Y-axis direction (in the conventional vehicle coordinate system) or in the lateral direction of the host vehicle is within a specified range; The estimated arrival position of the target object in the X-axis direction (of the conventional vehicle coordinate system) or in the longitudinal direction of the host vehicle is farther away than the specified position, and - No alarm / warning is triggered when the condition that the target object is within the specified area is met.

[0015] This allows object detection to continue as normal, but allows alarms or warnings to be suppressed in certain circumstances when all of the above conditions are met.

[0016] Thus, one advantage achieved by the present invention is the avoidance of unnecessary alarm warnings / triggering.

[0017] The vehicle object detection system according to the present invention comprises a determining means , own The relative speed of the target object to the vehicle In the lateral direction of the vehicleThe system may be further configured to determine that the target object is not a warning object in response to the difference from the absolute speed of the target object being within a specified range.

[0018] Furthermore, the vehicle object detection system according to the present invention can be further modified so that the determination means is configured to determine that the target object is not an attention-seeking object in response to the estimated arrival position being farther from the vehicle in the longitudinal direction of the vehicle than a specified position in the longitudinal direction of the vehicle.

[0019] Furthermore, the vehicle object detection system according to the present invention can be further realized such that the determination means is configured to determine that the target object is not an attention-seeking object in response to the currently detected position of the target object relative to the host vehicle being within an area rear of the host vehicle, being located a predetermined distance from the host vehicle in the longitudinal direction of the host vehicle, and being within a designated area included in the detection area.

[0020] Therefore, the vehicle object detection system according to the present invention may be configured such that the determination means is configured to generate a determination indicating that the target object is not an attention-seeking object on the basis that the host vehicle is reversing and that at least two of a plurality of conditions (secondary conditions) are satisfied, the plurality of conditions being: (i )self The relative speed of the target object to the vehicle In the lateral direction of the vehicle The difference with the absolute speed of the target object is within a specified range, (ii) the estimated arrival position is farther from the host vehicle in the longitudinal direction of the host vehicle than the designated position in the longitudinal direction of the host vehicle; and (iii) The currently detected position of the target object relative to the host vehicle is within an area rearward of the host vehicle, is located a predetermined distance from the host vehicle in the longitudinal direction of the host vehicle, and is within a designated area included in the detection area.

[0021] As a result, when the host vehicle is turning backward and the above condition (secondary condition) is satisfied, it is possible to suppress false alerts (FA), which are unnecessary warning outputs.

[0022] Furthermore, the vehicle object detection system according to the present invention can be further configured such that the determining means is configured to determine whether a candidate object detected in the detection area is a candidate based on the host vehicle moving backwards, the candidate being regarded as a target object used to determine whether the target object is an attention-attracting object by evaluating the following primary condition, the primary condition being: While the host vehicle is reversing, an object detected in the detection area is approaching the host vehicle, and / or The estimated collision time between the vehicle and an object detected in the detection area is less than a specified time.

[0023] Preferably, the primary condition is evaluated before the secondary condition. Furthermore, the vehicle object detection system according to the present invention can be further modified so that the determination means is configured to output a determination to the warning means indicating to the warning means that a warning will not be output even if a target object is detected, based on the determination means generating a determination indicating that the target object is not an attention-warning object.

[0024] A driver assistance system according to the present invention is for a host vehicle and comprises detection means configured to detect a target object in a detection area located to the rear and / or side of the host vehicle, a vehicle object detection system according to the present invention as outlined above, and warning means configured to warn the driver of the host vehicle of the presence of a target object in the detection area based on the determination means of the vehicle object detection system generating a determination indicating that the target object is an attention-warning object.

[0025] Preferably, the driver assistance system according to the invention may further be configured such that the detection means comprises at least two sensors configured to detect target objects in the detection area, preferably at least two radar sensors, such as two short-range radar sensors. Preferably, the short-range radar sensors are millimeter wave radar sensors (mmWave radar sensors).

[0026] The vehicle according to the invention is preferably an autonomous vehicle and is equipped with a driver assistance system according to the invention as outlined above, with one sensor located at the left rear edge / area of ​​the vehicle and the other sensor located at the right rear edge / area of ​​the vehicle.

[0027] The computer-implemented method according to the invention is for detecting a target object in a detection area located behind and / or to the side of an ego-vehicle, in particular for controlling a vehicle object detection system according to the invention as outlined above, the method comprising the following steps: generating a determination as to whether a target object detected in the detection area is an attention-seeking object; and outputting the determination to a warning means configured to output a warning to a driver of the host vehicle based on the determination indicating that the target object is an attention-seeking object, the determination comprising: Self The relative speed of the target object to the vehicle In the lateral direction of the vehicle A comparison of the difference between the absolute speed of the target object and the specified range; The estimated arrival position of the target object, which is the position where the target object is estimated to reach within the detection area during a specific period of time, calculated by taking into account the current position of the target object and one or more motion parameters of the target object in the longitudinal direction of the vehicle, is generated based on at least one of the following: a comparison with the specified position; and

[0028] Therefore, the characteristics and advantages described in relation to the vehicle object detection system according to the present invention arise in the same or similar manner in relation to the method for detecting a target object in a detection area located behind the host vehicle according to the present invention, which is why, to avoid repetition, reference is made to the respective description of the vehicle object detection system according to the present invention.

[0029] A computer program according to the invention comprises instructions which, when the program is executed by a computer or a processor, cause the computer or the processor to carry out the above-mentioned method according to the invention.

[0030] A non-transitory computer readable medium according to the invention stores the above-mentioned computer program according to the invention. The preferred embodiments and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0031] [Figure 1] FIG. 2 shows an embodiment of a vehicle according to the invention equipped with a driver assistance system according to the invention in a specific reverse driving situation. [Diagram 2] 2 is a flow chart of a decision process executed by the driver assistance system according to the invention of FIG. 1; [Diagram 3] FIG. 2 is a diagram showing in more detail the schematic configuration of the driver assistance system according to the present invention shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Detailed Description In this regard, the vehicle object detection system described herein may include memory for use in processes performed in the vehicle object detection system, for example. The memory used in the embodiments may be volatile memory, such as Dynamic Random Access Memory (DRAM), or non-volatile memory, such as Programmable Read Only Memory (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), or Flash memory, such as floating gate memory, charge trap memory, Magnetoresistive Random Access Memory (MRAM), or Phase Change Random Access Memory (PCRAM).

[0033] In this regard, the vehicle object detection system described herein may include a processor or a "circuit". A "circuit" may be understood as any kind of logic implementation entity, which may be a dedicated circuit or a processor executing software stored in a memory, firmware, or any combination thereof. Thus, in one embodiment, a "circuit" may be a hardwired logic circuit, or a programmable logic circuit, such as a programmable processor, for example, a microprocessor (e.g., a Complex Instruction Set Computer (CISC) processor or a Reduced Instruction Set Computer (RISC) processor). A "circuit" may also be a processor executing software, for example, any kind of computer program, for example, a computer program using a virtual machine code such as Java. Any other kind of implementation of the respective functions described in more detail below may also be understood as a "circuit" according to alternative embodiments.

[0034] One preferred embodiment of the present invention will now be specifically described for illustrative purposes with reference to the drawings, in which components or elements are shown and described by way of example only, and it will be understood that they are not intended to limit the present invention thereto.

[0035] FIG. 1 shows an embodiment of a vehicle 50 according to the invention equipped with a driver assistance system 1 according to the invention in a specific reversing driving situation, the driver assistance system 1 being explained in more detail in relation to FIG. FIG. 3 shows in more detail the schematic configuration of the driver assistance system 1 according to the present invention shown in FIG.

[0036] As can be seen from FIG. 3, the driver assistance system 1 provided in the host vehicle 50 comprises the vehicle object detection system 10 according to the present invention, a detection means 40 and a warning means 30.

[0037] The detection means 40 is configured to detect a target object 60, such as another vehicle (target vehicle), in a detection area DA located behind and to the sides of the host vehicle 50, as will be explained in more detail below.

[0038] In this embodiment, the detection means 40 comprise at least two sensors 401, 402 which are radar sensors, in particular two short-range radar sensors arranged to detect a target object 60 in a detection area DA.

[0039] More specifically, the radar sensors 401, 402 may, for example, be part of a conventional (rear) cross traffic warning system and in this particular embodiment are short-range radar sensors 401, 402 capable of detecting at least the relative position of the target object 60 (target vehicle) and other objects relative to the host vehicle 50, the relative speed / velocity of the target object 60 relative to the host vehicle 50, the absolute speed and acceleration of the target object 60, etc.

[0040] 1, the two short-range radar sensors 401, 402 are each configured to detect a target object 60 in a detection area DA, with one sensor 402 located at the left rear edge / area of ​​the vehicle 50 and the other sensor 401 located at the right rear edge / area of ​​the vehicle 50. Each sensor 401, 402 therefore monitors / detects a different detectable area DA that is included in the respective field of view of each sensor 401, 402 on either side of the ego-vehicle 50 due to its field of view (FoV).

[0041] The warning means 30 is configured to warn the driver of the host vehicle 50 of the presence of the target object 60 in the detection area DA. For example, the warning means 30 may be a conventional visual or audio indicator (display or speaker) capable of notifying the driver of the host vehicle 50 of the presence of the target object 60 in the detection area DA. In this embodiment, the warning means 30 warns the driver of the host vehicle 50 of the presence of the target object 60 in the detection area DA only when the determination means 20 of the vehicle object detection system 10 described below generates a determination indicating that the target object 60 is an attention-demanding object.

[0042] The vehicle object detection system 10 is for detecting or processing detection of a target object 60 in a detection area DA located behind and to the sides of the host vehicle 50, and includes the above-mentioned determination means 20. The vehicle object detection system 10 may be implemented, for example, by a processor or computer that stores several programs for performing the functions of the determination means 20 and conventional functions.

[0043] The determination means 20 is configured to determine or generate a determination as to whether or not the target object 60 detected in the detection area DA is an attention-attention object, and output the determination to the warning means 30. Next, the warning means 30 is configured to output a warning to the driver of the host vehicle 50 that the target object 60 is present in the detection area DA only when the determination means generates a determination indicating that the target object 60 is an attention-attention object.

[0044] First, the determination means 20 is configured to determine whether a candidate object currently detected in the detection area DA is a candidate to be considered as a target object 60 to be used for further determination of whether the target object is an attention-calling object or not, when the host vehicle 50 reverses. Thus, the determination means 20 evaluates the following primary conditions while the host vehicle 50 reverses: a candidate object detected in the detection area DA is approaching the host vehicle 50, and an estimated collision time between the host vehicle 50 and the candidate object detected in the detection area DA is less than a specified time.

[0045] In this embodiment, when the primary condition is satisfied, if reverse movement of the vehicle 50 is detected, the judgment means 20 generates a judgment as to whether the target object 60 detected in the detection area DA is an attention-attention object or not, i.e., whether there is no attention-attention object, based on whether all of the specific secondary first to third conditions are satisfied.

[0046] Thus, according to this embodiment, the determination means 20 generates a determination indicating that the target object 60 is not an attention-calling object when it is determined that all of the secondary conditions described below are satisfied. On the other hand, when it is determined that only one of the secondary conditions is not satisfied, the determination means 20 generates a determination indicating that the target object 60 is an attention-calling object that triggers the output of a warning by the warning means 30. Next, the determination regarding the secondary condition will be described in more detail.

[0047] The determination means 20 is as shown in FIG. , own The relative speed of the target object 60 with respect to the vehicle 50; In the lateral direction of the vehicle 50, which is the direction in the Y-axis direction, It is configured to determine whether or not the first condition is met based on a comparison between the difference in the absolute velocity of the target object 60 and a specified range.

[0048] More specifically, the determination means 20 , ownThe relative speed of the target object 60 with respect to the vehicle In the lateral direction of the vehicle 50 If the difference with the absolute speed of the target object 60 is within a specified range, it is determined that the first condition for comparing the difference is met.

[0049] Furthermore, the determining means 20 is configured to determine that the second condition is satisfied based on a comparison between an estimated arrival position EAP of the target object 60, which is a position where the target object 60 is estimated to reach within the detection area DA during a certain period of time, calculated by taking into account the current position of the target object 60 and one or more movement parameters of the target object 60, in the longitudinal direction of the host vehicle 50, and the designated position SP. More specifically, the determining means 20 determines that the second condition of the comparison between the estimated arrival position EAP of the target object 60 and the designated position SP is satisfied when the estimated arrival position EAP is farther from the host vehicle 50 in the longitudinal direction of the host vehicle 50 than the designated position SP in the longitudinal direction of the host vehicle 50.

[0050] Furthermore, the determination means 20 is configured to determine that the third condition is satisfied when the currently detected position of the target object 60 relative to the host vehicle 50 is within an area rearward of the host vehicle 50, is located a predetermined distance from the host vehicle 50 in the longitudinal direction of the host vehicle 50, and is within a designated area SA included in the detection area DA, as shown in FIG. 1.

[0051] As described above, when the first to third (secondary) conditions are all satisfied / fulfilled, the determination means 20 generates a determination indicating that the target object 60 is not an attention-calling object, i.e., that there is no attention-calling object. On the other hand, when it is determined that only one of the first to third secondary conditions is not satisfied, the determination means 20 generates a determination indicating that the target object 60 is an attention-calling object that triggers the output of a warning by the warning means 30.

[0052] In this way, when the first to third (secondary) conditions are all satisfied / fulfilled, the judgment means 20 has generated a judgment indicating that the target object 60 is not an attention-seeking object, and therefore outputs the result of the judgment to the warning means 30 indicating to the warning means 30 not to output a warning even if a target object 60 such as another target vehicle far from the vehicle is detected.

[0053] Fig. 2 shows a flow chart of a determination process executed by the driver assistance system 1 according to the invention of Fig. 1. More specifically, the determination process as shown in Fig. 2 is executed by a determination means 20.

[0054] 1, a candidate object has already been detected in the detection area DA by the detection means 40 and the determination means 20 has generated a determination as to whether the candidate object detected in the detection area DA is a candidate to be considered as a target object to be used in determining whether the target object is an attention-warning object or not by evaluating the primary conditions when the host vehicle 50 is reversing. These primary conditions are that the object detected in the detection area DA is approaching the host vehicle 50, that the host vehicle 50 is reversing, and that the estimated collision time between the host vehicle 50 and the object detected in the detection area DA is less than a specified time.

[0055] If these primary conditions are met, the detected object is considered as a target object 60. Next, as seen in Fig. 2, in step 10, a data structure in the form of a flag "flagA" (an alarm flag for triggering or preventing / suppressing an alarm and / or warning process of the warning means 30) is set to either "True" or "False" depending on the determination of the determining means 20.

[0056] More specifically, "flagA" is set to TRUE when the judgment means 20 generates a judgment indicating that the target object 60 is not an attention-attention object when the first to third conditions as described above are satisfied.

[0057] Otherwise, i.e. when the decision means 20 generates a decision indicating that the target object 60 is an attention-demanding object, "flagA" is set to FALSE. The procedure then proceeds to step S20 to check whether "flagA" is set to TRUE. If it is set to TRUE, the procedure proceeds to step S30, otherwise step S30 is skipped and the procedure ends, with a warning being output by the warning means 30 if the primary condition is satisfied.

[0058] In step S30, a request to suppress the warning / alarm is sent to the warning means 30, thereby indicating that the target object 60 is not currently an attention-seeking object, so that a warning / alarm will not be output by the warning means 30 until at least the next determination.

[0059] In other words, if the determination means 20 generates a determination that the target object is not an attention-warning object, the determination means 20 outputs a determination to the warning means 30 indicating to the warning means 30 that a warning should be suppressed even if the target object 60 is detected.

[0060] Next, an example of the operation of the driver assistance system 1 including the vehicle object detection system 10 will be described with reference to FIG.

[0061] As seen in FIG. 1, the ego vehicle 50 is traveling backwards and a candidate object is assumed to satisfy a first order condition such that the candidate object is considered as a target object 60 detected by the right or left rear radar sensor 401, 402 or both sensors 401, 402. Then, the determination means 20 evaluates whether or not the first to third secondary conditions are satisfied. In this case, all of the first to third secondary conditions are satisfied.

[0062] That is, more specifically, , own The relative speed of the target object 60 with respect to the vehicle In the lateral direction of the vehicle 50The difference with the absolute speed of the target object 60 is within a specified range (first condition), the estimated arrival position EAP is farther from the host vehicle 50 in the longitudinal direction of the host vehicle 50 than the specified position SP in the longitudinal direction of the host vehicle 50, and the position of the target object 60 (currently detected position) is within the above-mentioned specified area SA (third condition).

[0063] Therefore, in this case, since all of the first to third conditions are satisfied, the determination means 20 generates a determination indicating that the target object 60 is not an attention-calling object so that the warning means 30 will not output a warning even if the target object 60 is detected in the detection area DA. This is because if the detected target object 60 satisfies all of the first to third conditions, it is considered to be far from the host vehicle 50 and will not pose a risk of collision for the time being.

[0064] According to any of the above-mentioned embodiments, the determining means 20 may include a determining processor. The determining processor may perform the functions of the determining means 20.

[0065] The features of the invention disclosed in the foregoing description, in the drawings and in the claims may be essential both individually and in any combination for realizing the invention.

Claims

1. A vehicle object detection system (10), preferably a rear cross traffic detection system, for detecting a target object (60) in a detection area (DA) located behind and / or to the side of an ego-vehicle (50), said vehicle object detection system (10) comprising: a determining means (20) configured to generate a determination as to whether a target object (60) detected in the detection area (DA) is an attention-attracting object or not, and to output the determination to a warning means (30) configured to output a warning to a driver of the host vehicle (50) based on the determination indicating that the target object (60) is an attention-attracting object, The determination means (20) A vehicle object detection system (10) configured to generate the judgment based on a comparison of a difference between the relative speed of the target object (60) with respect to the host vehicle (50) and the absolute speed of the target object (60) in a lateral direction of the host vehicle (50) with a specified range.

2. 2. The vehicle object detection system (10) of claim 1, wherein the determination means is configured to generate the determination as to whether the target object (60) detected in the detection area (DA) is an attention-attracting object in response to detection that the host vehicle is reversing.

3. The vehicle object detection system (10) of claim 1, wherein the determination means (20) is configured to determine that the target object is not an attention-seeking object in response to the difference between the relative speed of the target object (60) with respect to the host vehicle (50) and the absolute speed of the target object (60) in the lateral direction of the host vehicle (50) being within the specified range.

4. The vehicle object detection system (10) of claim 1, wherein the determination means (20) generates the determination based on a comparison of an estimated arrival position (EAP) of the target object (60), which is a position where the target object (60) is estimated to arrive within the detection area (DA) during a specific period of time, calculated by taking into account the current position of the target object (60) and one or more motion parameters of the target object (60) in the longitudinal direction of the vehicle (50), with a specified position (SP), and a comparison of the difference between the relative speed and the absolute speed with the specified range.

5. The vehicle object detection system (10) of claim 4, wherein the determination means (20) is configured to determine that the target object is not an attention-seeking object in response to the estimated arrival position (EAP) being farther from the vehicle (50) in the longitudinal direction of the vehicle (50) than the specified position (SP) in the longitudinal direction of the vehicle (50).

6. The vehicle object detection system (10) of claim 4, wherein the determination means (20) is configured to determine that the target object is not an attention-seeking object in response to the currently detected position of the target object (60) relative to the host vehicle (50) being within an area rearward of the host vehicle (50), being located at a predetermined distance from the host vehicle (50) in the longitudinal direction of the host vehicle (50), and being within a designated area (SA) included in the detection area (DA).

7. The determination means (20) is configured to generate the determination indicating that the target object (60) is not an attention-attracting object based on the vehicle (50) moving backward and based on the satisfaction of at least two conditions among a plurality of conditions, the plurality of conditions being: (i) the difference between the relative speed of the target object (60) with respect to the host vehicle (50) and the absolute speed of the target object (60) in the lateral direction of the host vehicle (50) is within the specified range; and (ii) the estimated arrival position (EAP) is farther from the vehicle (50) in the longitudinal direction of the vehicle (50) than the designated position (SP) in the longitudinal direction of the vehicle (50); The vehicle object detection system (10) of claim 4, further comprising: (iii) a currently detected position of the target object (60) relative to the host vehicle (50) being within an area rearward of the host vehicle (50), being located at a predetermined distance from the host vehicle (50) in the longitudinal direction of the host vehicle (50), and being within a designated area (SA) included in the detection area (DA).

8. The determination means (20) is configured to determine whether or not a candidate object detected in the detection area (DA) is a candidate to be regarded as a target object (60) used in the determination of whether or not the target object (60) is an attention-attracting object by evaluating the following primary conditions, based on the vehicle (50) moving backward. The primary conditions are: While the vehicle is reversing, the candidate object detected in the detection area (DA) is approaching the vehicle; and / or The vehicle object detection system (10) of claim 1, wherein an estimated collision time between the host vehicle and the candidate object detected in the detection area (DA) is less than a specified time.

9. 2. The vehicle object detection system (10) of claim 1, wherein the determination means (20) is configured to output to the warning means (30) the determination indicating to the warning means (30) that a warning will not be output even if a target object is detected, based on the determination generated by the determination means (20) indicating that the target object (60) is not an attention-attention object.

10. A driver assistance system (1) for a host vehicle (50), comprising: detection means (40) configured to detect a target object (60) in a detection area (DA) located behind and / or to the side of said vehicle (50); A vehicle object detection system (10) according to any one of claims 1 to 9, and a warning means (30) configured to warn the driver of the vehicle that a target object (60) is present in the detection area (DA) based on the determination made by the determination means (20) of the vehicle object detection system (10) indicating that the target object (60) is an attention-seeking object.

11. 11. A driver assistance system (1) according to claim 10, wherein the detection means (40) comprises at least two sensors (401, 402), preferably at least two radar sensors, such as two short-range radar sensors, configured to detect a target object (60) in the detection area (DA).

12. A vehicle (50), preferably an autonomous vehicle, comprising: A vehicle (50) comprising a driver assistance system (1) as described in claim 10, wherein one sensor (401) is arranged at a left rear edge / area of ​​the vehicle (50) and the other sensor (402) is arranged at a right rear edge / area of ​​the vehicle (50).

13. A computer-implemented method for detecting a target object (60) in a detection area (DA) located behind and / or to the side of an ego-vehicle (50), in particular for controlling a vehicle object detection system (10) according to any one of claims 1 to 9, said method comprising the following steps: generating a determination as to whether a target object (60) detected in the detection area (DA) is an attention-attracting object; and outputting the determination to a warning means (30) configured to output a warning to a driver of the host vehicle (50) based on the determination indicating that the target object (60) is an attention-attracting object, The determination is The computer-implemented method is generated based on a comparison of a difference between the relative speed of the target object (60) with respect to the host vehicle (50) and the absolute speed of the target object (60) in a lateral direction of the host vehicle (50) with a specified range.

14. The computer-implemented method of claim 13, wherein the determination is made based on a comparison of an estimated arrival position (EAP) of the target object (60), which is a position where the target object (60) is estimated to arrive within the detection area (DA) during a specific period of time, calculated by taking into account the current position of the target object (60) and one or more motion parameters of the target object (60) in the longitudinal direction of the vehicle (50), with a specified position (SP), and a comparison of the difference between the relative speed and the absolute speed with the specified range.

15. A computer program comprising instructions which, when executed by a computer, cause the computer to perform the computer-implemented method of claim 13.

16. A non-transitory computer readable medium storing the computer program of claim 15.

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