초록 ▼

An object recognition apparatus in a subject vehicle includes a radar unit for transmitting a plurality of laser beams in a scan range spread in horizontal and vertical directions of the subject vehicle and receiving a reflection, a recognition unit for recognizing the object in front of the subject

An object recognition apparatus in a subject vehicle includes a radar unit for transmitting a plurality of laser beams in a scan range spread in horizontal and vertical directions of the subject vehicle and receiving a reflection, a recognition unit for recognizing the object in front of the subject vehicle based on the reflection, a determination sub-unit in the radar unit, a calculation sub-unit in the radar unit; and an adjustment sub-unit in the radar unit. The radar unit is so disposed in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle that the determination sub-unit uses coverage in the vertical direction of the laser beam being sufficient for variation of heights of the reflector on the object at a first distance detected by the radar unit as the predetermined condition for selecting of the object.

대표청구항 ▼

What is claimed is: 1. An object recognition apparatus in a subject vehicle comprising: a radar unit configured to transmit a plurality of laser beams in a scan range of a horizontal direction and vertical direction of the subject vehicle and receive a reflection of the plurality of laser beams by

What is claimed is: 1. An object recognition apparatus in a subject vehicle comprising: a radar unit configured to transmit a plurality of laser beams in a scan range of a horizontal direction and vertical direction of the subject vehicle and receive a reflection of the plurality of laser beams by an object, the radar unit being included in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle; a recognition unit configured to recognize the object in front of the subject vehicle based on the reflection; a determination sub-unit configured to determine positions of the plurality of the laser beams based on the reflection of the plurality of laser beams reflected by a reflector on the object in a condition for selecting the object by using first coverage in the vertical direction of the plurality of laser beams, the first coverage being sufficient for including variation of heights of the reflector on the object at a first distance detected by the radar unit as the condition for selecting the object, the determination sub-unit being included in the radar unit; a calculation sub-unit configured to calculate a deviation angle of the center axis of the plurality of the laser beams from the target angle based on the positions of the plurality of laser beams determined by the determination sub-unit by using an average of a number of positions of the plurality of laser beams, wherein data of the number of positions being discarded when the deviation angle is calculated, the calculation sub-unit being included in the radar unit; and an adjustment sub-unit configured to control at least one of an adjustment of the center axis of the vertical scan range and an adjustment of the recognition of the object by the recognition unit, the adjustment sub-unit being included in the radar unit. 2. The object recognition apparatus according to claim 1, wherein the determination sub-unit uses second coverage in the vertical direction of each of the laser beams, the second coverage being sufficient for variation of heights of the reflector on the object at a second distance greater than the first distance as the condition for selecting the object. 3. An object recognition apparatus in a subject vehicle comprising: a radar unit configured to transmit a plurality of laser beams in a scan range of a horizontal direction and vertical direction of the subject vehicle and receive a reflection of the plurality of laser beams by an object, the radar unit being included in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle; a recognition unit configured to recognize the object in front of the subject vehicle based on the reflection; a determination sub-unit configured to determine positions of the plurality of the laser beams based on the reflection of the plurality of laser beams reflected by a reflector on the object in a condition for selecting the object by using coverage in the vertical direction of the plurality of laser beams, the coverage being sufficient for including variation of heights of the reflector on the object at a distance detected by the radar unit as the condition for selecting the object, the determination sub-unit being included in the radar unit; a calculation sub-unit configured to calculate a deviation angle of the center axis of the plurality of the laser beams from the target angle based on the positions of the plurality of laser beams determined by the determination sub-unit, the calculation sub-unit being included in the radar unit; and an adjustment sub-unit configured to control at least one of an adjustment of the center axis of the vertical scan range and an adjustment of the recognition of the object by the recognition unit, the adjustment sub-unit being included in the radar unit, wherein the adjustment sub-unit determines a direction of the radar unit as one of an upward direction and a downward direction when the deviation angle is greater than a first range of the angle, and the recognition sub-unit decreases a probability of recognition of the object as a forward vehicle based on the reflection of a laser beam that is next to a center laser beam of the vertical scan range corresponding to the determination of the direction of the radar unit. 4. The object recognition apparatus according to claim 1, wherein two adjacent laser beams are projected in directions so that portions of the plurality of laser beams have an overlapping range, and the determination sub-unit determines an intermediate position of the two laser beams as the position of the laser beam when the two laser beams simultaneously generates the reflection of the reflector on the object. 5. The object recognition apparatus according to claim 4, wherein the first coverage in the vertical direction of the laser beam of the condition is defined by a width of a non-overlapping range of each of the laser beams in the vertical direction. 6. The object recognition apparatus according to claim 1 further including: a speed detector configured to detect a speed of the subject vehicle, wherein the determination sub-unit determines the position of the laser beam generating the reflection of the reflector of the object when the speed of the subject vehicle is greater than a first value. 7. The object recognition apparatus according to claim 1 further including: an acceleration detector configured to detect an acceleration of the subject vehicle, wherein the determination sub-unit determines the position of the laser beam generating the reflection of the reflector of the object when the speed of the subject vehicle is equal to or smaller than a first value. 8. The object recognition apparatus according to claim 1 further including: a curvature detector configured to detect a curvature of a road being traveled by the subject vehicle, wherein the determination sub-unit determines the position of the laser beam generating the reflection of the reflector of the object when the curvature of the road is greater than a first value. 9. The object recognition apparatus according to claim 3, wherein a projection adjustment range of the laser beam from the radar unit in the vertical direction is wider than a total scan range of the laser beams, and the adjustment sub-unit shifts the total scan range of the plurality laser beams in the projection adjustment range when the deviation angle is not within a second range of the angle that is greater than the first range.