Denso Wave Corporation

Wataru Kobori

Tetsuya Iwasaki

Gaku Takano

Kunihiko Ito

Shoji Katsura

Keiji Matsumoto

An arithmetic processor is provided to detect a background even when observed data values vary. The processor includes a background candidate data memorystoring data as a background candidate. In the data, an observation count, as the number of times of obtaining the same observation data, is correlated with distance data representing the observed data. The processor also includes a ranking sectionranking background candidates using the observation count as a basis; an observation count update sectioncomparing observed data with a background candidate stored in the memoryto find a match, counting observations of the background candidate if there is a match, and replacing distance data of a lowest-ranked background candidate with the observed data if there is no match; and a background determination sectiondetermining there are two backgrounds if the top two background candidates remain unchanged for a predetermined period.

Arithmetic processor, arithmetic processing method, and computer readable medium storing computer program

An object detection apparatus measures a distance to a detected object at each irradiation angle, based on reflected waves of electromagnetic waves irradiated from a laser light irradiating unit at each irradiation angle. The apparatus determines whether the measured distance remains unchanged for prescribed period of time, for each irradiation angle, and stores the determined distance in a storage unit as a stationary object distance in association with the irradiation angle. The apparatus compares the current measured distance and the stored distances, and determines whether a stationary object distance matching the current distance is present among the stored distances. The apparatus initially compares the shortest stationary object distance among the stored distances with the current distance, and upon determining that a stationary object distance matching the current distance is present, stops the comparison of the current distance and the stored distances that have not been compared with the current distance.

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Tokyo, Japan

Wataru Kobori