{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "A contact object detection apparatus includes an on-road static object detector, a sonar sensor, a position estimator, a corrector, and a contact object determination unit. The on-road static object detector detects an on-road static object from an image of an environment behind a vehicle to…",
  "path": "/patents/1357418",
  "publishedAt": "2024-01-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06V20/58",
    "SUBARU CORPORATION"
  ],
  "textContent": "A contact object detection apparatus includes an on-road static object detector, a sonar sensor, a position estimator, a corrector, and a contact object determination unit. The on-road static object detector detects an on-road static object from an image of an environment behind a vehicle to calculate a position of the object. When the object is no longer detectable, the position estimator estimates a current position of the object based on the last position detected by the on-road static object detector, traveling speed data, and steering angle data, to calculate an angle between a center axis of the sonar sensor and the estimated current position. The corrector corrects a decrease in a sensor output value of the sonar sensor based on the calculated angle. The contact object determination unit determines whether the object has a possibility of contact with the vehicle, based on the corrected sensor output value.",
  "title": "CONTACT OBJECT DETECTION APPARATUS AND NON-TRANSITORY RECORDING MEDIUM"
}