Patent ID: 9594166
Date: 2017-03-14
CPC Classifications: G01S

Claim:
1. An object detecting apparatus that detects an object using a distance measuring sensor and is mounted in a moving body, comprising: a position calculator that calculates a position of the object relative to the moving body based on a detection result of the distance measuring sensor; a speed detector that detects a speed of the moving body; a displacement calculator that calculates a distance moved by the moving body based on the speed of the moving body that is detected by the speed detector; a relative speed calculator that calculates a relative speed between the moving body and the object based on the position of the object calculated by the position calculator and the speed of the moving body detected by the speed detector; a first determiner that determines whether a position calculation in the position calculator is possible; a second determiner that determines whether a moved distance calculation by the displacement calculator is possible; a first estimator that estimates the position of the object based on a last known position of the object and the distance moved by the moving body calculated by the displacement calculator when the position calculation is determined to be impossible by the first determiner and the moved distance calculation is determined to be possible by the second determiner; and a second estimator that estimates the position of the object based on the last known position of the object and a last known relative speed when the position calculation is determined to be impossible by the first determiner and the moved distance calculation is determined to be impossible by the second determiner.