Target detecting device for avoiding collision between vehicle and target captured by sensor mounted to the vehicle
The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle.
1. A target detecting device mounted in a vehicle in order to avoid a collision between the vehicle and a target that is captured by a sensor mounted to the vehicle, the target detecting device comprising:
a radar sensor that transmits radar waves to a target present around a reference vehicle in which the target detecting device is mounted, and receives reflected waves from the target;
an imaging sensor that captures an image of an area around the reference vehicle; and
an electronic control unit, the electronic control unit being configured to:
detect a target using information acquired by the radar sensor;
select a target that satisfies a predetermined condition, among targets detected by the radar sensor;
output information on a selected target;
detect a stopped vehicle present around the reference vehicle;
detect a target from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target;
perform the image recognition more than once, and if an identical target is recognized more than a predetermined number of times, specify the recognized image as containing an object to be detected; and
make, when the stopped vehicle is detected, criteria for detecting a pedestrian in at least an area of the image that overlaps the stopped vehicle from the perspective of the reference vehicle less restrictive, by reducing the predetermined number of times, compared to an instance in which a stopped vehicle is not detected.
2. The target detecting device according to claim 1 , wherein
the electronic control unit is further configured to detect a stopped vehicle by using at least one of: a target detected from information acquired by the radar sensor; and a target detect from the image acquired by the imaging sensor.
3. The target detecting device according to claim 1 , wherein
the electronic control unit is further configured to specify a stopped vehicle by detecting a rear end of a vehicle using at least either one of the imaging sensor or the radar sensor and thereafter detecting a side surface of the vehicle using the radar sensor.
4. The target detecting device according to claim 1 , wherein
the electronic control unit is further configured to estimate a position where a pedestrian may be present on a basis of both a position and a length of the stopped vehicle when a detected pedestrian is present in a same direction with a detected stopped vehicle from the perspective of the reference vehicle.