JP2020003351A - Detection device - Google Patents

Abstract

To detect a corner of the target vehicle quickly at low cost.SOLUTION: In a detection device 1, a transmit antenna TXANT1 radiates a modulated signal to the space. Receive antennas RXANT1-RXANTN receive the reflected wave of the modulated signal radiated from the transmit antenna TXANT1. A calculation unit is provided with distance peak detection units 31-3N and a bearing detection unit 34, acquires the distance and bearing of an object from the received signal of reflected wave having been received by the receive antennas RXANT1-RXANTN at each fixed time interval, and calculates a temporal change amount of the distance from the acquired distance and bearing of the object. A corner detection unit 35 detects a corner of the object from the temporal change amount calculated by the calculation unit. The corner detection unit compares the temporal change amount calculated by the calculation unit with a previously set threshold, detects a corner of the object when the temporal change amount exceeded the threshold, and outputs a corner detection signal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a detection device, and more particularly to a technique effective for detecting a corner portion of an object by a radar system.

  Driving support systems have attracted attention as a technique for reducing the load on the driver of a car and reducing the accident rate. As one of the driving support systems, there is an automatic parking support system.

  This automatic parking assistance system is a system that detects a parking space, guides a vehicle into a lane marking, and automatically parks a car while securing an appropriate distance to an adjacent vehicle at a target parking position.

  In recent years, along with the performance improvement of millimeter-wave radar, its application has been promoted not only for long-range detection where millimeter-wave radar was originally used, but also for medium-range or short-range, and millimeter-wave radar is In order to realize an automatic parking application, it is used for a detection device for detecting a corner portion of a target vehicle at the time of automatic parking.

  As a detection technique by a detection apparatus using this type of radar apparatus, for example, when detecting an object in front of the own vehicle by a millimeter wave radar, an erroneous detection such as judging a reflection point group straddling a plurality of objects as one object is considered. In order to prevent grouping processing, calculate the right end recognition point, left end recognition point, and representative recognition point of a plurality of reflection points, and perform grouping processing using the estimated width of the object calculated based on each change amount Is known (for example, see Patent Document 1).

JP-A-2013-132553

  However, in the technique of Patent Document 1 described above, whether or not the targets are the same object is determined based on the amount of time change of the recognition point. However, the calculation of the right end recognition point and the left end recognition point, which are the corners of the object, is performed. The method is not described.

  Further, when performing parallel parking or parallel parking in automatic parking, it is necessary to quickly and accurately extract a corner portion of a target vehicle. In the case of Patent Literature 1, the right end recognition point is a reflection point located at the rightmost end in the left-right direction among the reflection points within the grouping range, which is regarded as the right end recognition point. I can't judge. In other words, the corner of the target vehicle cannot be detected, and the accuracy of automatic parking may be reduced.

  In addition, as a technique for detecting a corner portion or the like in a target vehicle using the above-described millimeter wave radar, it is conceivable to detect a corner portion of the target vehicle by performing beam scanning by transmission beam forming of the millimeter wave radar. Can be

  However, in this case, a phase shifter or the like for performing transmission beam forming is newly required, and the number of transmission antennas also increases. As a result, there is a problem that the cost of the detection device increases.

  An object of the present invention is to provide a technique capable of quickly and inexpensively detecting a corner of an object in an automatic parking application.

  The above and other objects and novel features of the present invention will become apparent from the description of the present specification and the accompanying drawings.

  The following is a brief description of an outline of typical inventions disclosed in the present application.

  That is, a typical detecting device has a first transmitting antenna, a plurality of receiving antennas, a calculating unit, and a corner detecting unit. The first transmitting antenna radiates the modulated signal into space. The plurality of receiving antennas receive reflected waves of the modulated signal radiated from the first transmitting antenna.

  The calculating unit obtains the distance and the direction of the object from the received signals of the reflected waves received by the plurality of receiving antennas at regular intervals, and calculates the temporal change amount of the distance from the obtained distance and the direction of the object. .

  The corner detection unit detects a corner of the target object from the temporal change amount calculated by the calculation unit. This corner detection unit compares the temporal change amount calculated by the calculation unit with a preset threshold value, and detects the corner of the object when the temporal change amount exceeds the threshold value. And outputs a corner detection signal indicating that a corner of the object is detected.

  In particular, the corner detection unit detects, as a corner of the object, a point of the object corresponding to the distance and the azimuth calculated by the calculation unit before the time when the temporal change amount exceeds the threshold value.

  The effects obtained by typical aspects of the invention disclosed in the present application will be briefly described as follows.

  It is possible to provide a low-cost detection device with a short detection time.

FIG. 2 is an explanatory diagram illustrating an example of a configuration of the detection device according to the first embodiment. FIG. 2 is an explanatory diagram illustrating an operation of the detection device in FIG. 1. 3 is a flowchart illustrating an example of an operation process performed by the detection device in FIG. 1. FIG. 4 is an explanatory diagram of a strong reflection signal of an object, a signal intensity of a reflection point between a strong reflection point and a corner of the object, and an azimuth. FIG. 4 is an explanatory diagram illustrating another example of the detection device in FIG. 1. 6 is a flowchart illustrating an example of a detection process performed by the detection device of FIG. It is explanatory drawing which shows an example of the verification experiment for every scene of the parallel automatic parking by the study of this inventor. FIG. 4 is an explanatory diagram showing an example of reception strength in a millimeter wave radar having a wide-angle antenna for a BSD application, studied by the present inventors. FIG. 9 is an explanatory diagram of an FFT spectrum in the verification experiment of FIG. FIG. 4 is an explanatory diagram illustrating a relationship between the amount of spectral leakage power of a reflected signal and the intensity of a reflected signal. FIG. 9 is an explanatory diagram illustrating an example of a configuration of a detection device according to a second embodiment. It is explanatory drawing of operation | movement by the detection apparatus of FIG. It is a flowchart which shows an example of the detection processing by the detection apparatus of FIG. 12 is a flowchart illustrating an example of a detection process when a new switch and a transmission antenna are provided in the detection device in FIG. 11. FIG. 11 is an explanatory diagram illustrating an example of a configuration of a detection device according to Embodiment 3. It is explanatory drawing of operation | movement in the detection apparatus of FIG. It is explanatory drawing which shows the relationship of the distance and azimuth | direction of each time of distance position R0, R4 of the own vehicle and the target vehicle. 16 is a flowchart illustrating an example of a detection process performed by the detection device of FIG. 16 is a flowchart illustrating an example of a detection process when a new switch and a transmission antenna are provided in the detection device in FIG. 15. FIG. 13 is an explanatory diagram illustrating an example of a configuration in a detection device according to a fourth embodiment. 21 is a flowchart illustrating an example of a detection process performed by the detection device of FIG. 20.

In all the drawings for describing the embodiments, the same members are denoted by the same reference numerals in principle, and the repeated description thereof will be omitted.
(Embodiment 1)
Hereinafter, embodiments will be described in detail.
<Configuration example of detection device>

  FIG. 1 is an explanatory diagram illustrating an example of a configuration of the detection device 1 according to the first embodiment.

  The detection device 1 is as shown in FIG. It comprises a transmitting / receiving antenna / analog section 2, a digital signal processing section 3, and a memory 4. The transmitting / receiving antenna / analog section 2 includes a frequency generator VCO, a transmitting antenna TXANT1, N receiving antennas RXANT1 to RXANTN forming N receiving channels, N frequency mixers MIX1 to MIXN, and N analog / It has digital converters ADC1 to ADCN. Note that the receiving antennas RXANT1 to RXANTN are arranged at intervals where a phase difference occurs in the received signals between the respective receiving channels in order to detect the orientation of the target.

  The modulated signal generated by the frequency generator VCO is distributed to the transmitting antenna TXANT1 and the frequency mixers MIX1 to MIXN. The modulation signal is, for example, a signal in the 79 GHz band in the case of a millimeter wave radar.

  The transmitting antenna TXANT1, which is the first transmitting antenna, radiates the modulated signal output from the frequency generator VCO into space as a radio wave. The radiated radio wave hits the object, and a part of the reflected radio wave is received by the reception antennas RXANT1 to RXANTN of the detection device 1.

  The reception signals received by the reception antennas RXANT1 to RXANTN are converted into low-frequency signals by the frequency mixers MIX1 to MIXN and sent to the analog / digital converters ADC1 to ADCN.

  The low-frequency signals converted by the frequency mixers MIX1 to MIXN include frequency components corresponding to the distance between the detection device 1 and the target. The low-frequency signals are converted into digital signals by the analog / digital converters ADC1 to ADCN, respectively, and then sent to the digital signal processing unit 3.

  The digital signal processing unit 3 includes distance peak detection units 31 to 3N, an azimuth detection unit 34, and a corner detection unit 35. The distance peak detection units 31 to 3N constituting the calculation unit perform, for example, FFT (Fast Fourier Transform) processing on the signals converted into digital signals by the analog / digital converters ADC1 to ADCN of the transmitting / receiving antenna / analog unit 2. To convert from a time domain signal to a frequency domain signal.

  Then, power intensity and phase information at a frequency proportional to the distance of the object from the detection device 1 are extracted from the converted frequency domain signal, and the power intensity and phase information at the extracted frequency are output to the azimuth detecting unit 34.

  The azimuth detecting unit 34 constituting the calculating unit is based on the power intensity and the phase information at the frequency generated by the distance peak detecting units 31 to 3N, for example, by using signal processing of DBF (Digital Beam Forming). The azimuth where the object exists is detected, and information on the distance and azimuth of the object is output to the memory 4 and the corner detector 35, respectively.

  The memory 4 stores the information on the distance and direction of the object output from the direction detection unit 34 for each time period from time t = t1 to t = tN, and stores the information on the distance and direction of the object for each time period. Output to the corner detection unit 35. Here, N at time t = tN is different from N which is the number of reception channels described above.

The corner detecting unit 35 determines the corner of the object based on the information on the distance and the direction of the object output from the direction detecting unit 34 and the information on the distance and the direction of the object at each time stored in the memory 4. It is determined whether or not the object exists, and when a corner of the object is detected, a corner detection signal is output.
<Operation principle of detection device 1>

  Here, the operation of the detection device 1 will be described.

  FIG. 7 is an explanatory diagram showing an example of a verification experiment for each scene of parallel automatic parking, which was studied by the present inventors. FIG. 8 is an explanatory diagram showing an example of the reception intensity in a millimeter wave radar having a wide-angle antenna for a BSD (Blind Spot Detection) application studied by the present inventors.

  First, in order to realize an automatic parking application using a millimeter wave radar, the inventors conducted a verification experiment for each scene of parallel automatic parking shown in FIG.

  In FIG. 7, a wall 105 is provided on the left side, and a curb 106 is provided on the right side. The vehicles 101 and 102 are parked in parallel along the curb 106 with a parking space for one vehicle. An example is shown in which the own vehicle 100 is automatically parked between the vehicle 101 and the vehicle 102.

  In FIG. 7, in a state where the automatic parking is started, it is necessary for the vehicle 100 of the own vehicle to accurately and quickly recognize the rear corner of the vehicle 101 which is the target vehicle parked ahead.

  For example, when the side of the target vehicle 101 is viewed with a millimeter-wave radar having a wide-angle antenna, a radio wave transmitted from the radar is perpendicular to the target vehicle 101 as shown by a solid line in FIG. Is strongly received at the distance position R0. On the other hand, the signals at the distance positions R1 to R5 incident from an angle other than the perpendicular shown by the dotted line in FIG. 8 cause specular reflection, and the reception intensity is reduced.

  In particular, since the specular reflection becomes stronger as the incident angle becomes acute, the reception power becomes very small at the corner of the target vehicle 101 to be detected, that is, at the distance position R5 shown in FIG. 8, and the vehicle 100 of the own vehicle moves backward. If the corner of the target vehicle 101 does not approach the distance position R0, it is difficult to detect.

  FIG. 9 is an explanatory diagram of an FFT spectrum in the verification experiment of FIG.

  As shown in the FFT spectrum of FIG. 9, the received signal from the distance position R0 where the reflection intensity is strong also affects the received signals at the distance positions R1 to R5 due to spectrum leakage due to the window function at the time of the FFT processing. This makes corner detection of the vehicle 101 more difficult. Here, the distance intervals between the distance positions R0 to R1, the distance positions R1 to R2,... Are determined by the resolution of the FFT.

  As described with reference to FIG. 9 described above, the received signal from the distance position R0 where the reflection intensity is strong affects the received signals at the distance positions R1 to R5 due to spectral leakage due to the window function in the FFT processing.

  However, as a result of a detailed study performed by the inventor, the distance between the distance position R0 where the reflection intensity is strong and the distance position where the corner of the target vehicle 101 is located is not buried in the spectral leakage power at the distance position R0. It has been found that there is a signal at a distance position larger than the noise floor.

  FIG. 10 is an explanatory diagram showing the relationship between the amount of spectral leakage power of the reflected signal and the intensity of the reflected signal. FIG. 10 shows a comparison result between the amount of spectral leakage power of the reflected signal from the distance position R0 in FIG. 8 and the intensity of the reflected signal from the distance position R4.

The spectral leakage power at the distance position R0 decreases as the distance bin increases, and at the distance bin at the distance position R4, the spectral leakage power decreases by about 10 dB from the spectral leakage power at the distance position R0. It was confirmed that the azimuth of the position R4 could be detected. The detection technique in the detection device 1 is based on this finding.
<Operation example of detection device 1>

  Hereinafter, the operation of the detection device 1 will be described in detail.

  FIG. 2 is an explanatory diagram illustrating the operation of the detection device 1 of FIG. FIG. 3 is a flowchart illustrating an example of an operation process performed by the detection device 1 in FIG. Note that the flowchart shown in FIG. 3 mainly shows a process in which the digital signal processing unit 3 included in the detection device 1 mainly operates.

  First, at time t = t1 shown in FIG. 2, the automatic vehicle 100 starts parking processing. At this time t = t1, the detection device 1 transmits a radio wave toward the target vehicle 101, in other words, radiates, and reflects the reflected wave from the target vehicle 101 by the reception antennas RXANT1 to RXANTN of the detection device 1. Receive.

  The received signal is frequency-converted and converted into a digital signal by the transmission / reception antenna / analog unit 2 of the detection device 1 and output to the digital signal processing unit 3. This digital signal is subjected to FFT processing by the distance peak detectors 31 to 3N of the digital signal processor 3 to obtain a frequency proportional to the distance of the object from the detector 1 and the power intensity and phase information at that frequency. Extract. The power intensity and the phase information at the frequency are output to the azimuth detecting unit 34.

  The azimuth detecting unit 34 uses the DBF processing based on the power intensity and the phase information at the frequencies generated by the distance peak detecting units 31 to 3N, and uses the DBF processing to distance the position R0 where the reflection intensity is strong and the distance where the corner of the target vehicle 101 is located. The information of the distance and the direction of the position R4 is obtained (Step S101). Here, in the case of the example shown in FIG. 2, the angle ∠R4 = 2 °.

  The azimuth detecting unit 34 outputs information on the distance and the azimuth of the distance position R4 of the target vehicle 101 to the memory 4 and the corner detecting unit 35, respectively. The memory 4 stores the information on the distance and the azimuth at the time t = t1 of the distance position R4 of the target vehicle 101 output from the azimuth detecting unit 34.

  The same signal processing is performed for the next time t = t2, and the information on the distance and the azimuth of the distance position R4 of the target vehicle 101 at the time t = t2 is output to the memory 4 and the corner detection unit 35. In the example shown in FIG. 2, the azimuth information is the angle ΔR4 = 2 °.

  The corner detection unit 35 compares the information of the distance and the direction of the distance position R4 at the time t = t1 with the information of the distance and the direction of the distance position R4 at the time t = t2, and a variation amount of both is constant. It is determined whether or not the threshold has been reached.

  This threshold value is externally input from, for example, an ECU (Electronic Control Unit) that controls the automatic driving of the vehicle 100. Alternatively, what is stored in the memory 4 in advance may be obtained.

  If the amount of change is smaller than the threshold, the process returns to step S101 again (step S102). In the case of the example of FIG. 2, since the variation of the angle ∠R4 is equal to or less than the threshold, the process returns to step S101 again. The time interval between the time t = t1 and the time t = t2 depends on the processing time for calculating the distance and the azimuth, and the processing time is on the order of several tens ms in the case of a millimeter wave radar.

  Similar signal processing is performed at time t = tN, and information on the distance and direction of the distance position R4 of the target vehicle 101 at time t = tN is output to the memory 4 and the corner detection unit 35, respectively. In the case of the example of FIG. 2, the angle ∠R4 = 45 °.

  The corner detection unit 35 compares the information of the distance and the azimuth of the distance position R4 at time t = t1, t2 =,... TN−1 with the information of the distance and the azimuth of the distance position R4 at the time t = tN. It is determined whether or not the amount of change between the two exceeds a set threshold. If the amount of change is larger than the threshold, it is determined that there is a corner at that distance position (step S103). In the case of the example of FIG. 2, at time t = tN, the variation of the angle ∠R4 becomes 43 °, which exceeds the threshold value.

  More precisely, the distance and the azimuth of the distance position R4 at the time t = tN-1 indicate the corner position of the target vehicle 101. In addition, the object in the 2 ° azimuth, which has been calculated as the azimuth of the distance position R4 until time t1 <t <tN, changes from the corner of the target vehicle 101 to the wall 105, so the 2 ° azimuth distance position R4 Changes to another distance position. In the case of FIG. 2, at time t = tN, the distance position in the 2 ° azimuth changes from the distance position R4 to the distance position R14. For this reason, the threshold value of the variation amount may be the variation amount of the azimuth of a certain noted distance position, the variation amount of the distance in a certain noted azimuth, or both.

  With the above processing, the detection device 1 can quickly detect the rear corner of the target vehicle 101 by determining from the time variation of the distance position and the azimuth of the target vehicle 101.

In addition, since the rear corner of the target vehicle 101 can be detected with high accuracy without using a transmission beam forming technique or the like, the low-cost detection device 1 can be provided.
<Effectiveness of the detection device 1>

  FIG. 4 is an explanatory diagram of a strong reflection signal of an object, a signal intensity of a reflection point between a strong reflection point and a corner of the object, and an azimuth.

  FIG. 4 shows the results of an experiment performed to confirm the effectiveness of the detection device 1 of FIG.

  At the time corresponding to the time t = t2 shown on the left side of FIG. 4, the direction of the distance R4 between the distance position R0 where the reflection intensity is strong and the distance position where the corner of the target vehicle 101 is located is calculated to be −15 °.

  On the other hand, at the time corresponding to the time t = tN when the distance to the corner of the target vehicle 101 shown in the right side of FIG. 4 coincides with the distance position R4, the azimuth of the distance position R4 is calculated to be + 30 °.

  That is, it was confirmed that the azimuth of the distance position R4 had changed by 45 ° from time t = t2 to time t = tN, and it was confirmed that the detection device 1 could detect the rear corner of the target vehicle 101.

  Note that the reason why the azimuth of the distance position R4 at time t = tN is 30 ° is that the spectrum leakage from the distance position R0 where the reflection intensity is strong affects the distance position R4, and the azimuth of the distance position R0. Is calculated.

  Further, as a more preferred embodiment, when the corner detection unit 35 determines that the threshold value has been exceeded twice or more, the corner detection unit 35 detects the corner of the target vehicle 101, so that there is an influence of noise such as disturbance. In this case, it is possible to accurately detect the corner of the target vehicle 101.

  <Another configuration example and operation example of the detection device>

  FIG. 5 is an explanatory diagram showing another example of the detection device 1 of FIG. FIG. 6 is a flowchart illustrating an example of a detection process performed by the detection device of FIG.

  The detecting device 1 shown in FIG. 5 differs from the detecting device 1 of FIG. 1 in that switches SW1 and SW2 and a transmitting antenna TXANT2 are newly provided in the transmitting / receiving antenna / analog unit 2.

  The switch SW1 switches the connection between the frequency generator VCO and the transmission antenna TXANT1. The switch SW2 switches the connection between the frequency generator VCO and the transmission antenna TXANT2. These switches SW1 and SW2 form a switch unit.

  The switches SW1 and SW2 switch connection destinations based on a corner detection signal output from the corner detection unit 35. The transmitting antenna TXANT2 as the second transmitting antenna is an antenna having a tilt angle characteristic of a downward depression angle, for example, and is an antenna specialized for detecting the curb 106 shown in FIG.

  Subsequently, an operation in the detection device 1 of FIG. 5 will be described.

  FIG. 6 is a flowchart illustrating an example of a detection process performed by the detection device of FIG. Here, the processing of steps S201 to S203 in the flowchart of FIG. 6 is the same as the processing of steps S101 to S103 in the flowchart of FIG.

  In the detection device 1 shown in FIG. 5, the transmission antenna TXANT1 and the frequency generator VCO are connected by the switch SW1 until the corner of the target vehicle 101 is detected (steps S201 to S203), that is, until time t <tN. ing.

  Then, at time t = tN, when a corner detection signal is output from the corner detection unit 35 when the corner of the target vehicle 101 is detected, the switch SW1 is turned off and the switch SW2 is turned on. As a result, the transmission antenna TXANT2 and the frequency generator VCO are connected.

  As described above, the transmission antenna TXANT2 has, for example, a tilt angle characteristic of downward, that is, a depression angle, and is an antenna specialized in detecting the curb 106. At time t = tN + 1, the transmitting antenna TXANT2 is used to detect a changed distance in the azimuth of interest, for example, the curb 106 located at the distance position R14 in FIG. 2 (step S204). If the curb 106 is not detected in the process of step S204, the process may return to step S201.

As described above, by detecting the curb 106 after detecting the corner of the target vehicle 101, it becomes possible to determine the corner position of the target vehicle 101 with higher accuracy.
(Embodiment 2)
<Example of configuration of detection device 1>

  FIG. 11 is an explanatory diagram illustrating an example of a configuration of the detection device 1 according to the second embodiment.

  The difference between the detection device 1 shown in FIG. 11 and the detection device 1 of the first embodiment shown in FIG. 1 is the configuration of the digital signal processing unit 3. Other configurations are the same as those in FIG.

  The digital signal processing unit 3 includes distance peak detection units 31 to 3N, an azimuth detection unit 34, a corner detection unit 35, and a newly provided surface detection unit 36. The distance peak detection units 31 to 3N convert the signals converted into digital signals by the analog / digital converters ADC1 to ADCN of the transmission / reception antenna / analog unit 2 from time domain signals to frequency domain signals by, for example, FFT processing.

  Then, a frequency proportional to the distance of the object from the detection device 1 and the power intensity and phase information at the frequency are extracted from the frequency domain signal, and the power intensity and phase information at the frequency are output to the azimuth detecting unit 34.

  The azimuth detecting unit 34 detects the azimuth where the target object is present using, for example, signal processing of a DBF, based on the power intensity and the phase information at the frequency generated by the distance peak detection units 31 to 3N. The azimuth information is output to the memory 4 and the plane detection unit 36.

  The memory 4 stores the information on the distance and direction of the object output from the direction detection unit 34 for each time period from time t = t1 to t = tN, and stores the information on the distance and direction of the object for each time period. Output to the corner detection unit 35 and the surface detection unit 36. Here, N at time t = tN is different from N which is the number of reception channels described above.

  Based on the information on the distance and orientation of the object output from the orientation detection unit 34 and the information on the distance and orientation of the object at each time stored in the memory 4, the surface detection unit 36 It is determined whether or not the surface of the target is configured, and when it is determined that the target forms the surface of the same target, a determination result signal is output to the corner detection unit 35.

Upon receiving the determination result signal from the plane detection unit 36, the corner detection unit 35 outputs the information on the distance and the azimuth of the object output from the azimuth detection unit 34 and the distance and time of the object stored in the memory 4 with respect to time. Based on the azimuth information, it is determined whether or not there is a corner of the object, and when a corner is detected, a corner detection signal is output.
<Operation example of detection device 1>

  FIG. 12 is an explanatory diagram of the operation of the detection device 1 of FIG. FIG. 13 is a flowchart illustrating an example of a detection process by the detection device 1 in FIG. Note that the processing in the flowchart in FIG. 13 is mainly performed by the operation of the digital signal processing unit 3.

  First, automatic parking starts at time t = t1 in FIG. At time t = t1, the detection device 1 transmits a radio wave toward the target vehicle 101, and receives reflected waves from the target vehicle 101 by the reception antennas RXANT1 to RXANTN of the detection device 1.

  The reception signals received by the reception antennas RXANT <b> 1 to RXANT-N are frequency-converted and converted into digital signals by the transmission / reception antenna / analog unit 2 included in the detection device 1 and output to the digital signal processing unit 3.

  This digital signal is subjected to FFT processing by distance peak detection units 31 to 3N included in the digital signal processing unit 3, and thereafter, a frequency proportional to the distance of the object from the detection device 1 and power intensity and phase information at the frequency are extracted. I do. The power intensity and phase information at the extracted frequency are output to the azimuth detecting unit 34.

  The azimuth detecting unit 34 uses the DBF processing to obtain information on the distance and azimuth of the distance position R0 where the reflection intensity is strong and the information on the reflection intensity based on the power intensity and the phase information at the frequencies generated by the distance peak detection units 31 to 3N. Information on the distance position R4, which is the distance between the strong distance position R0 and the distance position where the corner of the target vehicle 101 is located, and the azimuth information are acquired (step S301). In the example of FIG. 12, the angle ∠R0 = 45 ° and the angle ∠R4 = 2 °.

  Here, when there is no difference between the azimuth of the distance position R0 having the strong reflection intensity and the azimuth of the distance position R4 (step S302), two or more reflection points can be detected from the target vehicle 101 as the target. If no, the process returns to step S301. Alternatively, the flow of the automatic parking may be stopped or restarted.

  If there is a difference between the azimuth of the distance position R0 where the reflection intensity is strong and the azimuth of the distance position R4 (step S302), it is determined that two or more reflection points can be detected from the target vehicle 101, and the distance position R0 is detected. , R4 are output to the memory 4 and the corner detector 35.

  The memory 4 stores the information of the distance and the direction at the time t = t1 of the distance position R0 of the target vehicle 101 and the information of the distance and the direction at the time t = t1 of the distance position R4 input from the direction detecting unit 34. I do.

  The same signal processing is performed for the next time t = t2, and information on the distances and directions of the distance positions R0 and R4 of the target vehicle 101 at the time t = t2 is output to the memory 4 and the plane detection unit 36 (step S303). ). In the example of FIG. 12, the angle ∠R0 = 45 ° and the angle ∠R4 = 2 °.

  The plane detection unit 36 determines the distance position R0 from the distance position R0 based on the information on the distance and direction of the distance positions R0 and R4 at time t = t1 and the information on the distance and direction of the distance positions R0 and R4 at time t = t2. It is determined whether the position R4 is an element constituting the surface of the same object (step S304).

  If the distance position R0 and the distance position R4 are elements constituting the surface of the same object, as shown in FIG. 12, the trajectories of the distance position R0 and the distance position R4 over time are arranged on a certain straight line. Will be.

  The corner detector 35 calculates the distance and orientation information of the distance positions R0 and R4 at the time t = tN (step S305), and the distance and orientation information of the distance position R4 at the time t = t1, t2,. Are compared to determine whether the amount of change between the two exceeds a certain threshold (step S306).

  If the amount of change is smaller than the threshold, the process returns to step S305. In the example of FIG. 12, since the variation of the angle ∠R4 is equal to or less than the threshold, the process returns to step S305 again.

  Also in this case, the threshold value is input from outside, such as an ECU that controls the automatic driving of the vehicle 100. Alternatively, what is stored in the memory 4 in advance may be obtained.

  If the variation exceeds the threshold value, it is determined that there is a corner at that distance position, that is, at the distance position R4 in FIG. 12 (step S307). In the example of FIG. 12, at time t = tN, the variation of the angle ∠R4 becomes 43 °, which exceeds the threshold value. More precisely, the distance and the azimuth of the distance position R4 at the time t = tN-1 indicate the corner position of the target vehicle 101.

  In addition, the object in the azimuth of 2 °, which has been calculated as the azimuth of the distance position R4 until time t1 <t <tN, changes from the corner of the target vehicle 101 to the wall 105 or the curb, so that the distance of 2 ° azimuth is changed. The position R4 changes to another distance position.

  In the case of FIG. 12, at time t = tN, the distance position in the 2 ° azimuth changes from the distance position R4 to the distance position R14. Therefore, the threshold value of the variation amount may be the variation amount of the azimuth at a certain distance position of interest, or may be the variation amount of the distance in a certain attention direction. Alternatively, both may be used.

  By the above operation, the detection device 1 is provided with the surface detection unit 36 that determines whether or not the surface of the same object is formed by the time trajectories of the distance positions R0 and R4 at the time t = t2, so that the target vehicle can be more accurately provided. It is possible to detect a corner portion at the subsequent stage of 101.

  Thereby, the accuracy of automatic parking can be improved.

  Further, as a more preferable example, when the processing of step S306 by the above-described corner detection unit 35 is performed a plurality of times, that is, when the threshold value is continuously exceeded by the corner detection unit 35 twice or more, It is possible to more accurately detect the corner of the vehicle 101 even when there is an influence of noise such as disturbance due to the determination as the corner of the target vehicle 101.

  <Another configuration example and operation example of the detection device 1>

  Further, the detection device 1 may have a configuration in which the switches SW1 and SW2 and the transmission antenna TXANT2 shown in FIG. 5 of the first embodiment of the present invention are newly provided in the configuration of the detection device 1 of FIG.

  In this case, the connection configuration of the newly provided switches SW1 and SW2 and the transmission antenna TXANT2 is the same as that of FIG. Further, the transmission antenna TXANT2 is also an antenna having a tilt angle characteristic of a downward depression angle, and is an antenna specialized for detecting the curb 106 in FIG.

  FIG. 14 is a flowchart illustrating an example of a detection process in a detection device in which new switches SW1 and SW2 and a transmission antenna TXANT2 are provided in the detection device 1 of FIG.

  Here, the processing of steps S401 to S407 in the flowchart of FIG. 14 is the same as the processing of steps S301 to S307 in the flowchart of FIG.

  Until the detection device 1 detects the corner of the target vehicle 101 (steps S401 to S407), that is, until the time t <tN, the transmission antenna TXANT1 and the frequency generator VCO are connected by the switch SW1.

  Then, at time t = tN, when a corner detection signal is output when the corner of the target vehicle 101 is detected, the switch SW1 is turned off and the switch SW2 is turned on (step S408). As a result, the transmission antenna TXANT2 and the frequency generator VCO are connected.

  As described above, the transmission antenna TXANT2 has, for example, a downward depression angle tilt angle characteristic, and is an antenna specialized for detecting the curb 106. At time t = tN + 1, the distance after the change in the azimuth of interest using the transmitting antenna TXANT2, for example, the wall 105 located at the distance position R14 in FIG. 2 is detected (step S409).

In this case, the corner position of the target vehicle 101 can be determined with higher accuracy by detecting the curb 106 after detecting the corner of the target vehicle 101.
(Embodiment 3)

In the third embodiment, when the own vehicle and the target vehicle 101 are not horizontally arranged, and, for example, the target vehicle 101 has a certain inclination, it is suitable for detecting the corner of the vehicle 101. An example will be described.
<Example of configuration of detection device 1>

  FIG. 15 is an explanatory diagram illustrating an example of a configuration of the detection device 1 according to the third embodiment.

  The detector 1 shown in FIG. 15 differs from the detector 1 of FIG. 11 of the second embodiment in that a threshold adjuster 37 is newly provided in the digital signal processor 3.

  In addition, the surface detection unit 36 determines whether the target object forms a surface of the same target, calculates the inclination of the surface, and sends the calculation result to the threshold adjustment unit 37 as inclination information. Output. This tilt information is correction information.

  A threshold value set in advance is input to the surface detection unit 36. This threshold value is obtained by being input from outside such as an ECU that controls the automatic driving of the vehicle 100. Alternatively, what is stored in the memory 4 in advance may be obtained. Other configurations are the same as those in FIG.

The threshold adjuster 37 calculates a corrected threshold corrected in accordance with the inclination information output from the surface detector 36 and outputs the corrected threshold to the corner detector 35.
<Operation example of detection device 1>

  FIG. 16 is an explanatory diagram of the operation in the detection device 1 of FIG. FIG. 18 is a flowchart illustrating an example of a detection process by the detection device 1 in FIG. Here, the processing shown in the flowchart of FIG. 18 is mainly performed by the digital signal processing unit 3.

  First, at time t = t1 in FIG. 16, the automatic parking process starts. At time t = t1, the detection device 1 transmits a radio wave toward the target vehicle 101, and receives reflected waves from the target vehicle 101 with the reception antennas RXANT1 to RXANTN of the detection device 1. In the example of FIG. 16, it is assumed that the target vehicle 101 is parked at an inclination of, for example, about 5 °, and the vehicle moves at a speed of about 10 km / h.

  The reception signals received by the reception antennas RXANT <b> 1 to RXANTN are frequency-converted and converted into digital signals by the transmission / reception antenna / analog unit 2 of the detection device 1, and output to the digital signal processing unit 3.

  This digital signal is subjected to FFT processing by distance peak detectors 31 to 3N included in the digital signal processor 3 to extract a frequency proportional to the distance of the object from the detector 1 and power intensity and phase information at the frequency. Then, the power intensity and phase information at the extracted frequency are output to the azimuth detecting unit 34.

  The azimuth detecting unit 34 uses the DBF processing to obtain information on the distance and azimuth of the distance position R0 where the reflection intensity is strong and the reflection intensity based on the power intensity and the phase information at the frequencies generated by the distance peak detection units 31 to 3N. Information on the distance and azimuth of the distance R4 between the strong distance position R0 and the distance position where the corner of the target vehicle 101 is located is acquired (step S501). In the example of FIG. 16, the angle ∠R0 = 50 ° and the angle ∠R4 = 6.5 °.

  Here, when there is no difference between the azimuth of the distance position R0 having the strong reflection intensity and the azimuth of the distance position R4 (step S502), two or more reflection points are detected from the target vehicle 101 as the target. As a result, the process returns to step S501. Alternatively, the automatic parking process may be stopped or the detection device 1 may be restarted.

  If there is a difference between the azimuth of the distance position R0 where the reflection intensity is strong and the azimuth of the distance position R4 (step S502), it is determined that two or more reflection points can be detected from the target vehicle 101 and the distance between the distance positions R0 and R4. And the azimuth information are output to the memory 4 and the corner detector 35.

  The memory 4 stores the information of the distance and the direction at the time t = t1 of the distance position R0 of the target vehicle 101 and the information of the distance and the direction at the time t = t1 of the distance position R4 input from the direction detecting unit 34. I do.

  The same signal processing is performed for the next time t = t2, and information on the distance and the azimuth of the distance positions R0 and R4 of the target vehicle 101 at the time t = t2 is output to the memory 4 and the surface detection unit 36. Here, in the example of FIG. 16, ∠R0 = 50 ° and ∠R4 = 6.7 °.

  The plane detection unit 36 is based on the threshold values at which the information on the distance and the orientation of the distance positions R0 and R4 at the time t = t1 and the information on the distance and the orientation of the distance positions R0 and R4 at the time t = t2 are obtained. Then, it is determined whether or not the distance position R0 and the distance position R4 are elements constituting the surface of the same object (step S504).

  If the distance position R0 and the distance position R4 are elements constituting the surface of the same object, as shown in FIG. 16, the trajectories of the distance position R0 and the distance position R4 over time are arranged on a certain straight line. Will be.

  FIG. 17 is an explanatory diagram showing the relationship between the distance and the azimuth of the distance position R0, R4 between the own vehicle 100 and the target vehicle 101 at each time.

  The graph of FIG. 17A shows the distance at each time of the distance positions R0 and R4 in a state in which the own vehicle 100 and the target vehicle 101 are arranged with an inclination of about 5 °. is there.

  Similarly, the graph of FIG. 17B shows the azimuth of each of the distance positions R0 and R4 in a state where the own vehicle 100 and the target vehicle 101 are arranged with an inclination of about 5 °. Things.

  As shown in FIG. 17, when the own vehicle 100 and the target vehicle 101 are not arranged horizontally, it can be confirmed that the distance and the azimuth of the distance positions R0 and R4 change with time.

  In other words, the surface detection unit 36 and the corner detection unit 35 need to consider the amount of change in the distance and azimuth of the target object, that is, the distance of the vehicle 101 due to the inclination. A threshold value according to the inclination is input.

  For example, in the case of handling up to an inclination of 5 °, the threshold value of the azimuth fluctuation is a numerical value obtained by adding a fluctuation margin due to noise to 0.2 °. Information on the inclination between the own vehicle 100 and the target vehicle 101 detected by the surface detection unit 36 is output to the threshold adjustment unit 37. The threshold adjuster 37 calculates a corrected threshold which is a threshold corrected according to the inclination information, and outputs the corrected threshold to the corner detector 35.

  The corner detection unit 35 compares the information of the distance and the direction of the distance position R0, R4 at the time t = tN with the information of the distance and the direction of the distance position R4 at the time t = t1, t2,. Then, it is determined whether or not the amount of change between the two exceeds the correction threshold value (step S506).

  If the variation is smaller than the correction threshold, the process returns to step S505 again. In the example of FIG. 16, since the variation of the angle ∠R4 is equal to or smaller than the correction threshold, the process returns to step S505.

  If the variation exceeds the correction threshold, it is determined that there is a corner at that distance position, that is, the distance position R4 in FIG. 16 (step S507). More precisely, the distance and the azimuth of the distance position R4 at the time t = tN-1 indicate the corner position of the target vehicle 101.

  Also, the object in the azimuth of 10.7 ° calculated as the azimuth of the distance position R4 until the time t1 <t <tN changes from the corner of the target vehicle 101 to the wall 105 or the curb, so the 2 ° azimuth Is changed to another distance position.

  In the case of FIG. 16, at time t = tN, the distance position in the 2 ° azimuth changes from the distance position R4 to the distance position R14. For this reason, the threshold value of the variation amount may be the variation amount of the azimuth at a certain noted distance position, the variation amount of the distance in a given noted azimuth, or both.

  By the above operation, even when the vehicle 100 of the own vehicle and the target vehicle 101 are not horizontal and are arranged with a certain inclination, it is possible to quickly detect a corner behind the target vehicle 101. It becomes.

  Thereby, even if the target vehicle 101 or the like is parked in an inclined state, the automatic parking process can be performed with high accuracy.

  Also in this case, when the processing of step S506 by the corner detection unit 35 is performed a plurality of times, that is, when the correction threshold value is determined by the corner detection unit 35 more than once, the corner of the target vehicle 101 is determined. The determination makes it possible to more accurately detect the corner of the vehicle 101 even when there is an influence of noise such as disturbance.

  <Another configuration example and operation example of the detection device 1>

  Further, as described with reference to FIG. 14 of the second embodiment, also in the detection device 1 of FIG. 15, the switches SW1 and SW2 and the transmission antenna TXANT2 shown in FIG. 5 of the first embodiment of the present invention are newly provided. May be adopted.

  Also here, the newly provided transmitting antenna TXANT2 is an antenna having a downward depression tilt angle characteristic, and is an antenna specialized for detecting the curb 106 and the like in FIG.

  FIG. 19 is a flowchart illustrating an example of a detection process in a detection device provided with new switches SW1 and SW2 and a transmission antenna TXANT2.

  Here, the processing of steps S601 to S607 in the flowchart of FIG. 19 is the same as the processing of steps S501 to S507 in the flowchart of FIG.

  Until the detection device 1 detects a corner of the target vehicle 101 (steps S601 to S607), that is, until time t <tN, the transmission antenna TXANT1 and the frequency generator VCO are connected by the switch SW1.

  Then, at time t = tN, when the corner detection signal is output when the corner of the target vehicle 101 is detected, the switch SW1 is turned off and the switch SW2 is turned on (step S608). As a result, the transmission antenna TXANT2 and the frequency generator VCO are connected.

  As described above, the transmission antenna TXANT2 has, for example, a downward depression angle tilt angle characteristic, and is an antenna specialized for detecting the curb 106. At time t = tN + 1, the distance after the change in the azimuth of interest using the transmitting antenna TXANT2, for example, the curb 106 shown in FIG. 7 is detected (step S609).

In this case, the corner position of the target vehicle 101 can be determined with higher accuracy by detecting the curb 106 after detecting the corner of the target vehicle 101.
(Embodiment 4)

  In the fourth embodiment, on the assumption that the rear corner of the target vehicle 101 is recognized, the automatic parking process is performed using the information of the free spot 160 detected before the automatic parking process is started. The technique to be performed will be described. The free spot 160 is information on an area where the vehicle 100 of the vehicle can be parked. For example, in the example of FIG. 7, the free spot 160 is a parking space between the vehicle 101 and the vehicle 102 as indicated by a dotted frame.

  Before entering the automatic parking process, even when the rear corner of the target vehicle 101 is recognized by the free spot detection, the target vehicle 101 enters the automatic parking process at the timing when the own vehicle 100 enters the automatic parking process. It may be moving back and forth. Therefore, it is necessary to recognize the corner of the target vehicle 101 from the side.

Hereinafter, the details of this technique will be described.
<Example of configuration of detection device 1>

  FIG. 20 is an explanatory diagram illustrating an example of a configuration of the detection device 1 according to the fourth embodiment.

  In the detection device 1 shown in FIG. 20, a memory 4a is newly provided in the detection device 1 shown in FIG. 11 of the second embodiment. This memory 4a stores the distance and direction of the corner of the target vehicle 101 detected by the free spot detection.

  The information on the distance and direction of the corner of the target vehicle 101 based on the detection of the free spot is, for example, information obtained from an externally connected sensor. Alternatively, the information may be information detected by the detection device 1.

The corner detecting unit 35 outputs the information on the distance and the azimuth of the object output from the azimuth detecting unit 34, the information on the distance and the azimuth of the object stored in the memory 4 for each time, and the free information stored in the memory 4a. Based on the information on the distance and orientation of the object obtained by the spot detection, it is determined whether or not a corner of the object exists, and a corner detection signal is output when the corner of the object is detected.
<Operation example of detection device 1>

  Hereinafter, detection processing by the detection device 1 will be described.

  FIG. 21 is a flowchart illustrating an example of a detection process by the detection device 1 in FIG.

  In the automatic parking by the detection device 1 in FIG. 20, it is assumed that the free spot detection process is performed before the automatic parking process is started, and the initial position of the target vehicle 101 is grasped as described above. .

  In FIG. 21, the operation at time t0 <t <tN-1 is the same as the processing of steps S301 to S306 in FIG.

  At time t = tN, the distance and the azimuth of the distance position R4 of the target vehicle 101 are detected, and the target vehicle 101 is detected as a free spot based on the corner position information of the target vehicle 101 stored in the memory 4a. It is checked whether the user has moved back and forth later (step S707).

  If the result of the corner detection of the target vehicle 101 obtained by the above-described sensor free spot detection matches the result of the corner detection by the corner detection unit 35, the target vehicle 101 has not moved after the free spot detection. Is determined (step S708), and the process of automatic parking proceeds.

  If the results of the corner detection of the target vehicle 101 by the free spot detection and the corner detection by the corner detection unit 35 do not match, the automatic parking process is stopped. Alternatively, if the safety can be confirmed from the positional relationship between the target vehicle 101 and the vehicle 102 located behind the vehicle 101 shown in FIG. 7, the automatic parking process may proceed as it is.

  Further, when the automatic parking process proceeds, the automatic parking correction process can be performed by reconfirming the position of the corner of the target vehicle 101 by the detection device 1.

  As described above, even if the target vehicle 101 moves forward or backward after the detection of the free spot, the automatic parking process can be safely advanced or stopped.

  Thereby, safety at the time of automatic parking can be improved.

  As described above, the invention made by the inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the gist of the invention. Needless to say.

DESCRIPTION OF SYMBOLS 1 Detecting device 2 Transmitting / receiving antenna / analog part 3 Digital signal processing part 4 Memory 4a Memory 31 Distance peak detecting part 34 Direction detecting part 35 Corner detecting part 36 Surface detecting part 37 Threshold adjusting part 100 Vehicle 101 Vehicle 105 Wall 106 Curbstone VCO Frequency generator TXANT Transmission antenna RXANT Receiving antenna MIX Frequency mixer ADC Analog / digital converter SW1 switch SW2 switch

Claims (14)

A first transmitting antenna for emitting a modulated signal into space;
A plurality of receiving antennas for receiving reflected waves of the modulated signal radiated from the first transmitting antenna;
Calculating the distance and direction of the object from the received signals of the reflected waves received by the plurality of receiving antennas at regular intervals, and calculating a temporal change amount of the distance from the obtained distance and direction of the object; Department and
A corner detection unit that detects a corner of the target object from the temporal change amount calculated by the calculation unit,
Has,
The corner detection unit compares the temporal change amount calculated by the calculation unit with a preset threshold value, and when the temporal change amount exceeds the threshold value, A detection device that, when a corner is detected, outputs a corner detection signal indicating that the corner of the object has been detected. The detection device according to claim 1,
The corner detection unit detects a point of the object corresponding to the distance and the azimuth calculated by the calculation unit before a time when the temporal change amount exceeds the threshold value as a corner of the object. , Sensing device. The detection device according to claim 1,
The detection device, wherein the corner detection unit outputs the corner detection signal when the temporal change amount calculated by the calculation unit exceeds the threshold value at least twice consecutively. The detection device according to claim 1,
Having a memory for storing the distance and azimuth of the object calculated by the calculation unit,
The detection device, wherein the corner detection unit reads a distance and an azimuth of the object from the memory and calculates a temporal change amount of the distance. The detection device according to claim 1,
A second transmitting antenna that has a tilt angle characteristic of a depression angle and radiates the modulated signal into space;
A switch unit that switches a connection destination of the first transmission antenna and the second transmission antenna based on the corner detection signal;
Has,
The switch unit connects the first transmitting antenna and a frequency generator that generates the modulation signal until the corner detection signal is output from the corner detection unit, and the corner detection unit detects the corner detection signal from the corner detection unit. A detection device that performs switching so that the second transmission antenna is connected to the frequency generator when a signal is output. The detection device according to claim 1,
The corner detection unit does not move when the distance and direction of the corner of the object input in advance from the outside are compared with the distance and direction of the corner detected by the detection device, and the object is not moving. And detecting the corner of the object from the temporal change amount calculated by the calculation unit. A first transmitting antenna for emitting a modulated signal into space;
A plurality of receiving antennas for receiving reflected waves of the modulated signal radiated from the first transmitting antenna;
The distance and direction of the object are acquired in a point-like manner at regular intervals from the reception signals of the reflected waves received by the plurality of receiving antennas, and the temporal change amount of the distance from the acquired distance and direction of the object is obtained. A calculating unit for calculating,
A corner detection unit that detects a corner of the target object from the temporal change amount calculated by the calculation unit,
Based on the temporal change amount of the distance calculated by the calculation unit, it is determined whether or not the target object forms a plane of the same target, and it is determined that the target object forms the same plane. A surface detection unit that outputs a determination result signal to the corner detection unit when
Has,
The corner detector compares the temporal change calculated by the calculator when receiving the determination result signal with a preset threshold, and determines that the temporal change is the threshold. A detection device that detects a corner of the object when the number exceeds the threshold, and outputs a corner detection signal indicating that the corner of the object is detected. The detection device according to claim 7,
The surface detection unit determines the surface of the object based on the distance and the azimuth of the object acquired in a point-like manner at regular intervals by the calculation unit,
The corner detection unit detects a point of the object corresponding to the distance and the azimuth calculated by the calculation unit before a time when the temporal change amount exceeds the threshold value as a corner of the object. , Sensing device. The detection device according to claim 8,
The detection device, wherein the corner detection unit outputs the corner detection signal when the temporal change amount calculated by the calculation unit exceeds the threshold value at least twice consecutively. The detection device according to claim 9,
Having a memory for storing the distance and azimuth of the object calculated by the calculation unit,
The detection device, wherein the corner detection unit reads a distance and an azimuth of the object from the memory and calculates a temporal change amount of the distance. A first transmitting antenna for emitting a modulated signal into space;
A plurality of receiving antennas for receiving reflected waves of the modulated signal radiated from the first transmitting antenna;
The distance and the azimuth of the object are acquired in a point-like manner at regular intervals from the reception signals of the reflected waves received by the plurality of receiving antennas, and the temporal change amount of the distance from the acquired distance and azimuth of the object is obtained. A calculating unit for calculating,
Based on the temporal change amount of the distance calculated by the calculation unit, it is determined whether or not the target object forms a surface of the same target, and it is determined that the target object forms the same surface. A surface detection unit that outputs a determination result signal to the corner detection unit when
An adjustment unit that generates correction information according to the tilt information;
A corner detection unit that detects a corner of the object from the temporal change amount calculated by the calculation unit,
Has,
The surface detection unit detects a tilt amount of the target object based on a temporal change amount of the distance calculated by the calculation unit, and outputs the detected tilt amount as the correction information,
The corner detection unit corrects a preset threshold value according to the correction information, and calculates the time change amount calculated by the calculation unit when receiving the corrected threshold value and the determination result signal. When the temporal change amount exceeds the corrected threshold value, a corner of the object is detected, and a corner detection signal indicating that the corner of the object is detected is output. , Sensing devices. The detection device according to claim 11,
The corner detection unit detects a point of the object corresponding to the distance and the azimuth calculated by the calculation unit before a time when the temporal change amount exceeds the threshold value as a corner of the object. , Sensing device. The detection device according to claim 12,
The detection device, wherein the corner detection unit outputs the corner detection signal when the temporal change amount calculated by the calculation unit exceeds the threshold value at least twice consecutively. The detection device according to claim 11,
Having a memory for storing the distance and azimuth of the object calculated by the calculation unit,
The detection device, wherein the corner detection unit reads a distance and an azimuth of the object from the memory and calculates a temporal change amount of the distance.

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