Vehicle object detection system and method for detecting a target object in a detection area located behind and lateral of a subject vehicle
A vehicle object detection system for detecting a target object in a detection area located behind and/or lateral of a subject vehicle, that is configured to generate a judgement on whether a target object which has been detected in the detection area is an alert object, to output the judgement to warning means which is configured to output a warning to a driver of the subject vehicle based on the judgement indicating that the target object is an alert object, and to generate the judgement based on: one or more positions of one or more other objects other than the target object being detected to be located between the target object and the subject vehicle, and a time period during which the target object is detected, being smaller than a specified period of time.
1 . A vehicle object detection system ( 10 ) for detecting a target object ( 60 ) in a detection area (DA) located behind and/or lateral of a subject vehicle ( 50 ), the vehicle object detection system ( 10 ) comprising:
judging means ( 20 ) configured to generate a judgement on whether a target object ( 60 ) which has been detected in the detection area (DA) is an alert object, and to output the judgement to warning means ( 30 ) which is configured to output a warning to a driver of the subject vehicle ( 50 ) based on the judgement indicating that the target object ( 60 ) is an alert object, wherein the judging means ( 20 ) is configured to generate the judgement based on
one or more positions of one or more other objects ( 70 ) other than the target object ( 60 ) being detected to be located between the target object ( 60 ) and the subject vehicle ( 50 ), and
a time period during which the target object ( 60 ) is detected, being smaller than a specified period of time.
2 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to generate the judgement further based on
a detected reflection strength of the detected target object, the reflection strength being indicative of an amount of energy that the detected target object reflects off and being less than a specified value.
3 . The vehicle object detection system ( 10 ) according to claim 2 , wherein the reflection strength is a radar cross-section (RCS) or a radar signature.
4 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to generate the judgement further based on
a detected position of the target object ( 60 ) with respect to the subject vehicle ( 50 ) being within a specified area (SA) with respect to the subject vehicle ( 50 ), being an area behind and/or lateral of the subject vehicle ( 50 ) and being included in the detection area (DA).
5 . The vehicle object detection system ( 10 ) according to claim 4 , wherein the specified area (SA) is at least one of an area beginning at a radial distance from the subject vehicle ( 50 ) and ending at a radial distance from the subject vehicle ( 50 ) or an area which is larger than a specified lateral distance to the subject vehicle ( 50 ).
6 . The vehicle object detection system ( 10 ) according to claim 4 , wherein the one or more positions of the one or more other objects ( 70 ) are detected to be in an area of the detection area (DA) being located between the subject vehicle ( 50 ) and the specified area (SA).
7 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the one or more other objects ( 70 ) are detected to be one or more stationary objects and/or are detected to be located in a specific angle region (AR), an angle of the specific angle region (AR) being defined by a position of a sensor ( 401 , 402 ) of the subject vehicle ( 50 ) as vertex, with the target object ( 60 ) being located on the angle bisector.
8 . The vehicle object detection system according to claim 1 , wherein the judging means ( 20 ) is configured to generate the judgement on whether the target object ( 60 ) which has been detected in the detection area (DA) is an alert object, in response to the subject vehicle being detected to move backward.
9 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to, based on the subject vehicle ( 50 ) moving backward, generate the judgement indicating that the target object ( 60 ) is not an alert object based on at least the following conditions being satisfied, the conditions being
one or more positions of one or more other objects ( 70 ) other than the target object ( 60 ) being detected to be located between the target object ( 60 ) and the subject vehicle ( 50 ),
a time period during which the target object ( 60 ) is detected, being smaller than a specified period of time,
a detected reflection strength of the detected target object being less than a specified value, the reflection strength being indicative of an amount of energy that the detected target object reflects off, and
a detected position of the target object ( 60 ) with respect to the subject vehicle ( 50 ) being within a specified area (SA) with respect to the subject vehicle ( 50 ), being an area behind and/or lateral of the subject vehicle ( 50 ) and being included in the detection area (DA).
10 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to, based on the subject vehicle ( 50 ) moving backward, judge whether a candidate object detected in the detection area (DA) is a candidate for being considered as target object ( 60 ) used for the judgment of whether the target object ( 60 ) is an alert object by evaluating the following primary conditions:
the object detected in the detection area (DA) is approaching the subject vehicle, while the subject vehicle is moving backward, and/or
an estimated time of collision between the subject vehicle and the object detected in the detection area (DA) is less than a specified time.
11 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the judging means ( 20 ) is configured to output the judgement to the warning means ( 30 ) which judgement indicates to the warning means ( 30 ) not to output a warning even if a target object has been detected, based on the judging means ( 20 ) generating the judgement indicating that the target object ( 60 ) is not an alert object.
12 . A driver assistance system ( 1 ) for a subject vehicle ( 50 ), comprising:
detecting means ( 40 ) configured to detect a target object ( 60 ) in a detection area (DA) located behind and/or lateral of the subject vehicle ( 50 ),
a vehicle object detection system ( 10 ) according to claim 1 , and
warning means ( 30 ) configured to warn a driver of the subject vehicle that a target object ( 60 ) is present in the detection area (DA) based on the judging means ( 20 ) of the vehicle object detection system ( 10 ) generating the judgement indicating that the target object ( 60 ) is an alert object.
13 . A computer-implemented method for detecting a target object ( 60 ) in a detection area (DA) located behind and/or lateral of a subject vehicle ( 50 ), particularly for controlling a vehicle object detection system ( 10 ) according to claim 1 , wherein the method comprises the following steps:
generating a judgement on whether a target object ( 60 ) which has been detected in the detection area (DA) is an alert object, and outputting the judgement to warning means ( 30 ) which is configured to output a warning to a driver of the subject vehicle ( 50 ) based on the judgement indicating that the target object ( 60 ) is an alert object,
wherein, in the step of judging, generating the judgement is based on
one or more positions of one or more other objects ( 70 ) other than the target object ( 60 ) being detected to be located between the target object ( 60 ) and the subject vehicle ( 50 ), and
a time period during which the target object ( 60 ) is detected, being smaller than a specified period of time.
14 . A non-transitory computer-readable medium having stored thereon a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the computer-implemented method of claim 13 .
15 . The vehicle object detection system ( 10 ) according to claim 1 , wherein the vehicle object detection system ( 10 ) comprises a rear-cross traffic detection system.
16 . The vehicle object detection system ( 10 ) according to claim 5 , wherein the specified area (SA) is an area beginning at a radial distance of 9 from the subject vehicle ( 50 ) and ending at a radial distance of 42 m from the subject vehicle ( 50 ).
17 . The vehicle object detection system ( 10 ) according to claim 5 , wherein the specified area (SA) is an area larger than 5 m in lateral distance from the subject vehicle ( 50 ).