Patent ID: 11906612
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. An object detection method, which is applied to a moving body, the object detection method comprising:
transmitting a radio wave to measure, based on a reflected wave acquired from an object to be detected existing in a periphery of the moving body, a position and a doppler speed of the object at a reflection point;
executing grouping processing of determining that a plurality of reflection points are acquired from a first object, and a single reflection point is acquired from a second object, among the plurality of objects;
calculating a moving direction and a moving speed of the first object by using the doppler speeds and the positions of the plurality of reflection points of the first object;
calculating a moving direction and a moving speed of the second object by using a difference in positions acquired in two consecutive cycles;
applying different filter gains to the moving speed of the first object and the moving speed of the second object, based on a result of the grouping processing, by increasing the filter gains in proportion to a number of the plurality of reflection points; and
after applying the different filter gains, output the moving direction and the moving speed of each of the first object and the second object.