Patent ID: 11954918
Assignee: DENSO CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. A non-transitory tangible computer-readable storage medium containing thereon a program for detecting an object existing around a vehicle, the program being configured to cause an ECU to execute the program comprising instructions, the instructions comprising:
acquiring bearing data on a bearing of the object existing around the vehicle from a bearing sensor provided on the vehicle;
acquiring distance data on a distance from the vehicle to the object from a distance sensor provided on the vehicle;
identifying a grid cell where the object exists on a grid map that is based on a polar coordinate system whose center is the vehicle on the basis of the bearing data and the distance data;
in response to a plurality of objects being detected in a plurality of grid cells and a plurality of non-continuous grid cells being identified as the grid cells where the object exists, determining whether the plurality of objects detected in the plurality of non-continuous grid cells are a same object on the basis of a result of an edge detection from image data;
identifying the same object existing over the plurality of non-continuous grid cells; and
correlating the identified same object with a plurality of continuous grid cells where the same object exists.