Title:
OBJECT DETECTION DEVICE, OBJECT DETECTION SYSTEM, AND OBJECT DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2019/198532
Kind Code:
A1
Abstract:
[Problem] To perform appropriate clustering regarding radar measurement information. [Solution] The present invention is configured such that a processor 23 of an object detection device 3: acquires setting information of radar lattices 41 for measurement which are respectively set corresponding to a measurement area 18 of a radar 2 and which are composed of a plurality of radar cells R; acquires setting information of a processing lattice 45 for clustering processing which is set corresponding to the measurement area 18 and which is composed of a plurality of processing cells F; calculates a likelihood pertaining to the measurement value of each radar cell R, on the basis of the distance between each radar cell R and each processing cell F; calculates, on the basis of the likelihoods, a lattice value for each processing cell F in the processing lattice 45; and performs clustering of the processing cells F on the basis of the distance between or the lattice values of the processing cells F, or on the basis of both the distance and the lattice values.
Inventors:
LIU WEIJIE
YASUGI MAKOTO
NAKAGAWA YOICHI
YASUGI MAKOTO
NAKAGAWA YOICHI
Application Number:
PCT/JP2019/013640
Publication Date:
October 17, 2019
Filing Date:
March 28, 2019
Export Citation:
Assignee:
PANASONIC CORP (JP)
International Classes:
G01S13/87; G01S13/89; G01S13/91; G01S13/931; G08G1/01
Domestic Patent References:
| WO2017057056A1 | 2017-04-06 |
Foreign References:
| JP2015025814A | 2015-02-05 | |||
| JP2008286582A | 2008-11-27 | |||
| JP2017129410A | 2017-07-27 | |||
| JP2016183953A | 2016-10-20 | |||
| JP2010287156A | 2010-12-24 | |||
| US20160084944A1 | 2016-03-24 | |||
| JP2008286582A | 2008-11-27 |
Other References:
D. KELLNERJ. KLAPPSTEINK. DIETMAYER: "Grid-based DBSCAN for clustering extended objects in radar data", INTELLIGENT VEHICLES SYMPOSIUM, 2012, pages 365 - 370, XP032452958, DOI: 10.1109/IVS.2012.6232167
See also references of EP 3779507A4
See also references of EP 3779507A4
Attorney, Agent or Firm:
OSHIMA & PARTNERS (JP)
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