JPH07270536A - Equipment and method for discriminating object and vehicle mounting equipment for discriminating object - Google Patents

Abstract

PURPOSE:To extract road facilities, such as road side reflectors and central reflectors, from objects of detection which are detected. CONSTITUTION:A laser light is projected in front of a vehicle and the light reflected by an object of detection is received. The time interval from projection of the laser light to reception of the reflected light thereof is measured. The distance to the object is calculated. Based on the distance (d) to the object and a sweeping angle theta at which the laser light is projected, the relative position of the object is calculated. As to the objects of detection, the relative positions are sorted in the order of nearness. Continuity is judged as to two objects of detection being adjacent to each other and grouping is made on the basis of the result of this judgment. According to the total number of the objects belonging to each group and the relation thereof in the relative positions, it is judged whether they are discrete objects or continuous objects. The continuous objects are judged as road facilities, while the discrete objects are judged as preceding vehicles.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention discriminates whether or not an object to be detected detected by projecting laser light on the basis of the reflected light is road equipment (roadside reflector, central reflector, etc.) provided on the roadside or in the center of the road. The present invention relates to a target discriminating apparatus and method, and a vehicle equipped with the target discriminating apparatus.

[0002]

2. Description of the Related Art An example of an inter-vehicle distance detecting device for detecting an inter-vehicle distance with a vehicle in front is disclosed in Japanese Patent Laid-Open No. 61-239.
No. 85 publication. The inter-vehicle distance detecting device emits an electromagnetic wave while sweeping it forward, and receives a reflected wave from a reflecting object. The distance to the reflecting object is calculated based on the propagation time of the electromagnetic wave from the emission of the electromagnetic wave to the reception of the reflected wave. The radiated electromagnetic waves are swept at a constant cycle. The distance to the reflective object detected at a certain angle in the electromagnetic wave sweep this time and the distance to the reflective object detected at the same sweep angle as the sweep angle at which the reflective object was detected in the sweep before the constant period Calculate the distance difference. Based on the calculated distance difference and the vehicle speed of the vehicle (own vehicle) equipped with the inter-vehicle distance detection device, it is determined whether the reflecting object is a preceding vehicle or a roadside reflector provided on both left and right sides of the road. . The traveling lanes of the host vehicle and the preceding vehicle are determined based on the position (sweep angle) of the reflecting object identified as the roadside reflector. The distance to the preceding vehicle traveling on the own lane is output as the inter-vehicle distance. This inter-vehicle distance is to avoid the risk of rear-end collision with the preceding vehicle,
It is used to maintain a safe inter-vehicle distance from the preceding vehicle.

However, in this vehicle-to-vehicle distance detecting apparatus, it is premised that the same reflecting object exists in the same sweep angle direction as seen from the vehicle-to-vehicle distance detecting apparatus within one period of sweeping of electromagnetic waves. However,
A vehicle equipped with an inter-vehicle distance detecting device is running. If the road side reflectors continuously provided on the road side or the reflectors continuously provided on the center line are provided at a narrow interval, these two adjacent ones have the same sweep angle at different times. It may be mistaken for the same reflective object. Two different reflecting objects detected at the same sweep angle at different times are erroneously recognized as the same reflecting object to calculate the distance difference, and the reflecting object is identified by this erroneous distance difference. Since the reflecting object is identified based on the erroneous distance difference, the roadside reflector and the preceding vehicle cannot be accurately identified, and the roadside reflector may be mistaken for the preceding vehicle. There is a possibility that the lane of the preceding vehicle cannot be accurately discriminated and the roadside reflector, which has a low risk, is mistakenly recognized as the preceding vehicle, resulting in malfunction.

[0004]

DISCLOSURE OF THE INVENTION The present invention provides an object discriminating apparatus capable of reliably extracting a roadside reflector provided on the roadside and a central reflector provided on a center line from detected detected objects. Has an aim.

Laser light is projected while being swept in a predetermined measurement angle range to detect an object to be detected. The objects to be detected are, for example, general vehicles having four or more wheels such as passenger cars, buses, and trucks, vehicle reflectors mounted on motorcycles, roadside reflectors provided on the roadside, and central reflectors provided on the center line. . The vehicle reflectors are discretely present, and the roadside reflector or the central reflector is continuously present along the road (in the traveling direction of the own vehicle). The present invention utilizes the property that the presence of a plurality of roadside reflectors and the central reflector is continuous in a predetermined direction at substantially regular intervals.

The object discriminating apparatus according to the present invention emits a laser beam at a constant time interval in response to a given light projecting timing signal indicating a laser beam projecting time, and a laser beam from the light emitting unit. Sweeping means for sweeping and projecting light at constant angular intervals based on a given sweeping angle control signal in a predetermined measurement angle range, sweeping angle detecting means for detecting the sweeping angle of laser light by the sweeping means, and sweeping means The light receiving means for receiving the reflected light from the object to be detected of the laser light swept and projected by the light receiving means and outputting the light receiving timing signal indicating the light receiving timing of the reflected light, and outputting the light emitting timing signal to the light projecting means. In addition, the sweep angle control signal is output to the sweeping means, and the light receiving timing signal obtained by the light receiving means is input from the output time of the light emitting timing signal. Control means for calculating the distance from the light emitting / receiving position to the detected object, and the relative position of the detected object based on the distance to the detected object and the sweep angle. A continuity determination means is provided for extracting a detected object that continuously exists in a predetermined direction from the detected object.

According to the object discriminating method of the present invention, the laser light is emitted at a constant time interval in response to a given light emission timing signal indicating the time when the laser light is emitted, and the emitted laser light is emitted at a predetermined measurement angle. Based on a given sweep angle control signal in the range, sweep and project at a fixed angular interval, detect the sweep angle of the swept laser beam, and detect the swept and projected laser beam from the detected object Of the reflected light, outputs a light receiving timing signal indicating the light receiving time of the reflected light, outputs a light emitting timing signal, and outputs a sweep angle control signal, and receives light from the time of outputting the light emitting timing signal. Calculate the distance from the light emitting and receiving position to the detected object based on the time interval until the timing signal is input.
The relative position of the detected object is calculated based on the distance to the detected object and the sweep angle, and the detected objects that are continuously present in a predetermined direction are extracted from the detected detected objects.

According to the present invention, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. Based on the calculated relative position, detected objects that continuously exist in a predetermined direction are extracted.
The predetermined direction is the traveling direction of the host vehicle.

Therefore, it is possible to extract, from the detected objects to be detected, the objects to be continuously detected in the traveling direction of the vehicle. The continuously detected object is the roadside reflector or the central reflector. As a result, the roadside reflector or the central reflector that continuously exists can be reliably identified without being mistaken for a vehicle in front of the host vehicle or a preceding vehicle such as a motorcycle.

In the first embodiment of the present invention, the continuity judging means detects the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam which is the basis for calculating the distance. Relative position calculating means for calculating the relative position of the object, rearrangement means for rearranging the detected objects in the memory in the order in which the relative position is close to the light emitting and receiving position, based on the relative position calculated by the relative position calculating means, According to the order rearranged by the rearrangement means, it is determined whether or not the two detected objects adjacent to each other have continuity in a predetermined direction based on their relative positions. Then, grouping means for grouping the detected objects into groups based on the determination result of the continuity, and each group formed by the grouping means are grouped into groups. Based on the total number of detected objects and their relative positions, the object classification means for judging whether the group is a continuous object or a discrete object, and the object judging means are judged to be continuous objects. When multiple groups exist, it is judged whether one continuous target and another continuous target are the same continuous target,
When it is determined that they are the same, the continuous object associating unit that combines the one continuous object and the other continuous object into one group is realized.

According to the first embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. The objects to be detected are rearranged in the order of being closer to the light emitting and receiving position based on their relative positions. It is determined whether there is continuity in a predetermined direction for two detected objects that are adjacent to each other in the rearranged order,
It is divided into groups based on the determination result of the continuity.
The predetermined direction is the traveling direction of the host vehicle. It is determined whether each formed group is a continuous object that continuously exists or a discrete object that discretely exists. If there are multiple continuous objects, it is determined whether they are one continuous object,
When it is determined that they are the same, they are combined into one group.

Therefore, it is possible to extract, from the detected objects, the detected objects that continuously exist in the traveling direction of the vehicle as a continuous object. This continuous object is the roadside reflector or the central reflector.

When the roadside reflectors are provided along the roadsides on both the left and right sides of the road, or the roadside reflectors are provided along the roadside on the left side of the road and the central reflectors are provided along the center line. There are cases.
In such a case, if the detected objects are rearranged in the order in which they are closer to the light emitting and receiving positions along the traveling direction of the host vehicle, the roadside reflector and the center reflector may alternately exist, and the roadside reflector and the center reflector may be continuous. Are lost, and they may be mistaken as leading vehicles.

In the second embodiment of the present invention, the continuity determining means detects the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam which is the basis for calculating the distance. Relative position calculating means for calculating the relative position of the object, the measurement angle range is divided into a plurality of areas, and the detected object is stored in the memory on the basis of the relative position calculated by the relative position calculating means for each area. Then, the rearrangement means for rearranging the relative position in the order closer to the light emitting and receiving position and the rearrangement order by the rearrangement means, therefore, for the two detected objects adjacent to each other, based on their relative positions, Grouping means for determining whether or not two detected objects have continuity in a predetermined direction and grouping the detected objects into the above-mentioned regions based on the result of the continuity judgment; For each group formed by the looping means, an object classification means for judging whether the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions, and the above When there are a plurality of groups determined to be continuous targets by the target determination means, it is determined whether one continuous target and another continuous target are the same continuous target, and when it is determined that they are the same, It is realized by a continuous object associating unit that combines the one continuous object and the other continuous object into one group.

According to the second embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. The above measurement angle range is divided into a plurality of areas. The measurement angle range is divided into, for example, two regions on the left and right with respect to the traveling direction of the host vehicle. The detected objects are rearranged for each area in the order of being closer to the light emitting / receiving position based on the relative position thereof. It is determined whether or not there is continuity in a predetermined direction for two objects to be detected that are adjacent to each other in the rearranged order, and the objects are grouped based on the result of the continuity determination. The predetermined direction is the traveling direction of the host vehicle. It is determined whether each formed group is a continuous object that continuously exists or a discrete object that discretely exists. When there are a plurality of continuous targets, it is determined whether or not they are one continuous target, and when they are determined to be the same, they are grouped into one group.

Therefore, when the roadside reflectors are provided along the roadsides on the left and right sides of the road, or the roadside reflectors are provided along the roadside on the left side of the road and the central reflectors are provided along the center line. In the case where there are two or more reflectors as road equipment continuously, as in the case of the road equipment, the reflectors can be extracted as continuous objects independently of each other, and the roadside reflector and the central reflector can be extracted. Will not be mistaken as a preceding vehicle.

When the central reflectors are provided in two rows along the center line and the distance between the two rows of central reflectors is narrow in the width direction of the road, a plurality of measurement angle ranges are provided as in the second embodiment. Even if they are divided and rearranged, two rows of central reflectors may be alternately present. In such a case, the two rows of central reflectors lose their continuity, and they may be mistaken as leading vehicles.

In the third embodiment of the present invention, the continuity determining means detects the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam which is the basis for calculating the distance. Relative position calculating means for calculating the relative position of the object, rearrangement for arranging the detected objects on the memory in a fixed order according to the relative position based on the relative position calculated by the relative position calculating means Means, the reference object to be detected is determined according to the fixed order arranged by the rearrangement means, and based on the relative position of the reference object to be detected and the first object to be arranged next thereto, It is determined whether or not the two detected objects have continuity in a predetermined direction, and when it is determined that they have continuity, the first detected object is set as a new reference detected object, and Standard When it is determined that there is no continuity between the detection object and the second detection object arranged next to the detection object, and it is determined that there is no continuity, the reference detection object is fixed and the first detection object Continuing the inspection of the continuity of the two detected objects, such as moving to the next inspection of the continuity of the second detected objects, the continuity of the detected objects is determined once. After the inspection in step 1 is completed, the detected objects determined to have no continuity with the reference detected object are re-arranged at the end of the above array, and the continuity inspection is repeated for these detected objects. Grouping means for grouping detected objects, and for each group formed by the grouping means, the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions. When there are a plurality of target classification means for determining whether or not they are elephants, and a plurality of groups determined to be continuous targets by the target determination means, whether one continuous target and another continuous target are the same continuous target If it is judged that they are the same, it is realized by the continuous object associating means for collecting the one continuous object and the other continuous object into one group.

According to the third embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. Based on the calculated relative position, the detected objects are arranged in a fixed order according to the relative position. A reference object to be detected is determined according to the arranged fixed order, and based on the relative position of the reference object and the first object to be arrayed next, the two objects are detected. It is determined whether there is continuity in a predetermined direction. The predetermined direction is the traveling direction of the host vehicle. When it is determined that there is continuity, the first
Object to be detected is defined as a new reference detected object, and the continuity is inspected between the new reference detected object and the second detected object arranged next, and it is determined that there is no continuity. Then, the reference object to be detected is fixed and the continuity of the two objects to be detected is transferred to the inspection of the continuity of the second object to be arranged next to the first object to be detected. The inspection is performed sequentially. After one inspection of continuity has been completed for all the detected objects, the detected objects determined to have no continuity with the reference detected object are re-arranged at the end of the above array and these detected objects are arranged. The objects to be detected are grouped by repeating the successive inspections for.
It is determined whether each formed group is a continuous object that continuously exists or a discrete object that discretely exists. When there are a plurality of continuous targets, it is determined whether or not they are one continuous target, and when they are determined to be the same, they are grouped into one group.

Therefore, even when the central reflectors are provided in two rows along the center line, the roadside reflector or the central reflector can be extracted as a continuous object, and the roadside reflector and the central reflector can be extracted. It will not be mistaken for.

In the first, second and third embodiments of the present invention, a group determined to be a discrete object by the object classifying means is determined as a preceding vehicle and is a continuous object by the object classifying means. The system further includes a determination unit that determines the group determined to be a group and the group combined by the continuous target association unit to be a road facility.

Therefore, the continuous object is determined to be a road facility, and the discrete object is determined to be a preceding vehicle.

In the first, second and third embodiments of the present invention, preferably, the rearranging means is based on one of two coordinates representing the relative position of the detected object. Are arranged according to their size,
When there are a plurality of detected objects with the same one coordinate, they are arranged in the ascending order of the difference between the previously arranged detected object and other coordinates.

Therefore, even if there are a plurality of detected objects having the same one of the two coordinates (the coordinates of the coordinate axes along the traveling direction of the vehicle) representing the relative position of the detected object, The detected objects can be rearranged in a predetermined direction on the memory.

The object discriminating apparatus according to the present invention is mounted on a vehicle. A vehicle equipped with the target discriminating device is called a host vehicle. Preferably, the object discriminating device is positioned as a part of the inter-vehicle distance detecting device. When the road facilities (the roadside reflector and the central reflector) are identified and the preceding vehicle is identified as described above, the inter-vehicle distance to the preceding vehicle (preferably the preceding vehicle in which the own vehicle is traveling in the driving lane) is calculated. It Based on the calculated inter-vehicle distance, safety measures such as display, alarm output, and control are taken.

[0026]

【Example】

Table of contents 1 Overview 2 Hardware configuration 3 Distance averaging processing and sweep angle averaging processing to target object 4 Target determination (first embodiment) 4.1 Data collection for pair 4.2 Relative position calculation of target object 4.3 Target Sorting of detected objects 4.4 Continuity identification and grouping of detected objects 4.4.1 Continuity identification of detected objects 4.4.2 Grouping of detected objects 4.5 Group classification 4.6 Correlation of continuous targets 4.7 Overall judgment of targets 5 Targets Judgment (second embodiment) 5.1 Region division of measurement angle range 6 Judgment of target (third embodiment) 6.1 Continuity discrimination of detected object

1 Overview

FIG. 1 shows a state in which two vehicles and one motorcycle are traveling on a road. ， This road has two lanes on each side. These lanes are designated L1, L2, L3 and L4.

The vehicle 1 and the two-wheeled vehicle 3 are traveling on the inner lane L2, and the vehicle 2 is traveling on the outer lane L1. A large number of reflectors R are provided on the center line C at appropriate intervals. The reflector R provided on the center line C is hereinafter simply referred to as "central reflector". In addition, a large number of reflectors (not shown) may be provided at appropriate intervals along the road side. Hereinafter, the reflector provided on the roadside is simply referred to as "roadside reflector".

In general, a vehicle having four wheels or more (hereinafter simply referred to as "vehicle") such as a passenger car, a bus, a truck, etc., one at each of both ends of the rear portion (near the place where the tail light is attached), for a total of two. Reflectors are installed. One reflector is attached to the motorcycle. The reflector mounted on the vehicle and the two-wheeled vehicle will be simply referred to as "vehicle reflector" hereinafter. These vehicle reflectors are used to detect the presence of vehicles and motorcycles, as will be described in more detail below. It may be called a wheel including a vehicle and a two-wheeled vehicle. When referring to motorcycles in particular, the term motorcycle is used rather than vehicle.

The central reflector, the roadside reflector, and the vehicle reflector are called retroreflectors, and have a reflection direction substantially the same as the incident direction.

The central reflector and the roadside reflector are distinguished from the vehicle reflector by the processing in the object discriminating device as will be described later, and are recognized as road equipment. In the following description (only the first embodiment), only the central reflector is considered as road equipment for simplicity.

The object discriminating and measuring apparatus is mounted on a vehicle. In this embodiment, the target discriminating device is assumed to be mounted on the vehicle 1. FIG. 2 shows a state in which the detection head of this object discriminating device is mounted on a vehicle. The detection head 10 of the object discriminating device is attached to the bumper at the front of the vehicle. A vehicle equipped with the target discriminating device is called "own vehicle". The driving lane of the own vehicle is called "own lane", and the lanes other than the own lane are called "other lanes". A vehicle existing in front of the own vehicle is referred to as a "leading vehicle" including both the own lane and the other lane and including the two-wheeled vehicle.

The detection head 10 of the object discriminating device projects a pulsed laser beam toward the front of the vehicle. This laser light is swept over a predetermined measurement angle range. The laser light is projected at a constant angular interval within the above measurement angle range.

For example, the measurement angle range is 200 [mrad], and each has a spread of 100 [mrad] to the left and right in the traveling direction of the host vehicle. Also, the time required for one sweep of the laser light in this measurement angle range (hereinafter referred to as "sweep time")
Is 100 [ms]. In addition, this measurement angle range is divided into 100 areas at equal angular intervals, and one area is further divided into 40 areas. That is, the measurement angle range is at an angular interval of 0.05 [mrad].
Divided into 4000. The laser light is projected on 80 areas inside, excluding 10 areas on both sides out of 100 areas. The measurable distance is 150 [m], and the resolution of the measured distance (measurement distance accuracy) is about 0.15 [m].

The laser light projected from the detection head 10 of the object discriminating device is reflected by the central reflector R or the vehicle reflector attached to the preceding vehicle (vehicle 2, motorcycle 3) and returns to the detection head 10. The target discriminating device detects the central reflector R and the vehicle reflectors of the preceding vehicle (the vehicle 2 and the two-wheeled vehicle 3) as detected objects based on the reflected light.

Based on the detected positional relationship of the relative positions of the detected objects, it is determined that the central reflector is the one that continuously exists in the traveling direction of the host vehicle, and the discrete ones are the vehicles of the preceding vehicle. Determined to be a reflector.

The road shape is recognized based on the arrangement of the central reflectors. Since the central reflectors are provided on the center line C of the road, the arrangement of the central reflectors represents the road shape. Distance (distance) from the center line to the preceding vehicle (objects detected as discrete objects)
(Distance in the width direction of the road) is calculated, and the preceding vehicle on the own lane is identified based on this distance.

When the preceding vehicle is on the traveling lane (on the own lane), the preceding vehicle may suddenly stop, and there is a risk that the own vehicle may collide with another vehicle. Since the central reflector is installed along the road, there is no risk of a rear-end collision. The distance to the preceding vehicle traveling on the own lane, which is a dangerous object, is the inter-vehicle distance.

Depending on the distance to the preceding vehicle, measures are taken to avoid the risk of a rear-end collision with the preceding vehicle. For example, when the inter-vehicle distance to the preceding vehicle is small, operations such as sounding an alarm and braking the own vehicle are performed to notify the driver of the own vehicle that the inter-vehicle distance is small.

2 Hardware configuration

FIG. 3 is a block diagram showing the electrical construction of the object discriminating and measuring apparatus. The target discriminating device includes a detection head 10, a vehicle speed sensor 18, and a signal processing device 19. Detection head
Reference numeral 10 includes a control circuit 11, a laser diode (LD) drive circuit 12, a laser diode (LD) 13, a scanner 14, a scan position detection circuit 15, a photodiode (PD) 16 and a light receiving circuit 17.

The control circuit 11 controls the operation of the detection head 10. The control device 11 outputs a light emission timing signal indicating the timing of emitting the laser light to the laser diode drive circuit 12, and also outputs a scanner control signal for controlling the scanner 14 to the scanner 14.

As shown in FIG. 4A, the light emission timing signal is a pulse signal repeatedly output at a time interval of 25 [μs] from 10 [ms] to 90 [ms] after the start of the sweep. The scanner control signal is an analog signal that represents the sweep angle as an analog value (or multivalue), as shown in FIG. 4 (B). The half cycle of this control signal is 100 [ms], and its level increases linearly in the first half cycle and decreases linearly in the second half cycle.

The laser diode drive circuit 12 drives the laser diode 13 in response to the light projection timing signal given from the control circuit 11,
A pulsed laser beam is projected onto.

The scanner 14 comprises a mirror for reflecting the laser light projected from the laser diode 13 and a motor for reciprocally rotating the mirror within the range of the sweep angle. The motor is rotationally driven based on the scanner control signal given from the control circuit 11. The laser light reflected by the mirror is projected radially forward at a constant angular interval (equal angular intervals described above) at each projection time interval. The scanner 14 is provided with a transducer that generates a sweeping angular position signal that represents the rotational angular position of the mirror (or the rotary shaft of the motor). The sweep angle position signal is given from the scanner 14 to the sweep angle detection circuit 15.

An example of the swept angular position signal output from the scanner 14 is shown in FIG. 4 (c). Since the motor reciprocates within the sweep angle range (measurement angle range), it stops at both ends. Due to this turning in the turning direction, there are areas where the sweep angle does not change (both ends of the measurement angle range).
When laser light is projected at both ends, a plurality of pulses of laser light are projected in substantially the same angle direction. If there are pedestrians near both ends of the measurement angle range (when there is a sidewalk on the side of the road), there is a risk that laser light will continuously enter the eyes of the pedestrian. In order to avoid the occurrence of such a situation, as described above, in each of the angle directions in which the amount of change in the angle of the mirror is small, that is, in both ends of the measurement angle range, there are 10 areas (corresponding to 10 [ms]). Drive the laser diode 13 within the range of
(11 does not give a projection timing signal to the laser diode 12) so that laser light is not projected.

The sweep angle detection circuit 15 calculates the sweep angle φ (based on the direction perpendicular to the traveling direction of the vehicle 1) on which the laser light is projected, based on the sweep angle position signal provided from the scanner 14. Data representing the calculated sweep angle φ is given from the sweep angle detection circuit 15 to the control circuit 11.

The laser light projected from the scanner 14 is an object to be detected (the above-mentioned central reflector or vehicle reflector).
The reflected light is received by the photodiode 16.

Upon receiving the reflected light reflected by the object to be detected, the photodiode 16 outputs a light receiving signal representing the reflected light to the light receiving circuit 17.

When the level of the light receiving signal from the photodiode 16 is equal to or higher than a predetermined threshold value, the light receiving circuit 17 outputs a light receiving timing signal indicating the time when the photodiode 16 receives the reflected light. The reflected light is received between the laser light projected from the scanner 14 and the next laser light projected. The light receiving timing signal is given from the light receiving circuit 17 to the control circuit 11.

The control circuit 11 measures the time interval from the output time point of the light emitting timing signal to the input time point of the light receiving timing signal given from the light receiving circuit 17, and calculates the distance D to the object to be detected. After that, the control circuit 11 determines that this distance D
And the corresponding sweep angle φ detected by the sweep angle detection circuit 15 within the range of each region, the distance d and the sweep angle θ are calculated for each region (for 80 regions) by performing the averaging process described later. To do. The distance d to the object to be detected and the sweep angle θ are given from the control circuit 11 to the signal processing device 19.

The vehicle speed sensor 18 detects the vehicle speed (the vehicle speed of the vehicle 1 in which the object discriminating device is mounted). Data representing the vehicle speed v is given from the vehicle speed sensor 18 to the signal processing device 19.

The signal processing device 19 has a distance d to the object to be detected and a sweep angle θ given by the control circuit 18 of the distance measuring device 10, and a vehicle speed v given by the vehicle speed sensor 18.
Based on the above, target discrimination processing and other processing described later are performed.

It is also possible to further use the output of the steering angle sensor that detects the steering angle of the host vehicle and the output of the acceleration sensor that detects the acceleration (yaw rate) of the host vehicle to perform the target discrimination processing.

(3) Averaging processing of distance to the detected object and averaging processing of sweep angle

The averaging process of the distance D to the detected object and the averaging process of the sweep angle φ in the control circuit 11 are performed as follows.

When the control circuit 11 calculates the distance D to the detected object, the control circuit 11 temporarily stores the distance D in the memory together with the sweep angle φ detected by the sweep angle detection circuit 15. The control circuit 11 stores data indicating that there is no distance D in the memory together with the sweep angle φ when the light receiving timing signal is not input from the light receiving circuit 17.

The control circuit 11 controls the respective areas,
Except for data indicating that there is no distance D, the distance D is read from the memory and integrated, and the total number is counted.
The integrated value of the distance D divided by the total number is the distance d in the area. The control circuit 11 excludes data indicating that there is no distance D for each area, and the sweep angle φ
Are read from the memory and integrated, and the total number is counted. The integrated value of the sweep angle φ divided by the total is the sweep angle θ in that region.

The distance d and the sweep angle θ calculated by the control circuit 11 in this manner are given to the signal processing device 20. When the distance D is not detected at all 40 division angles included in one area, the control circuit 11 does not output the distance d and the sweep angle θ to the signal processing device 19.

4 Target determination (first embodiment)

FIG. 5 is a flow chart showing a processing procedure of one processing cycle of the object discrimination processing in the signal processing device 19. The signal processing device 19 can be realized by a computer system and software for operating the computer system.

The one-cycle process is synchronized with one sweep of the laser beam over the measurement angle range. From one end of the measurement angle range to the other end (for example, from left end to right end)
The laser light is swept in one direction, and the object to be detected is detected by one sweep of the laser light. After this, step 21 ~
A series of processing in step 27 is performed. After this series of processing, the laser beam is swept again in the other direction over the measurement angle range. The sweeping of the laser beam and the subsequent series of processes are repeated at regular time intervals.

The processing of the signal processing device 19 performed on the object to be detected detected by the k-th sweep of the laser beam will be described below as the current processing cycle k.

4.1 Collection of Paired Data (FIG. 5; Step 2
1)

The signal processing device 19 stores the sweep angle θ and the distance d given from the control circuit 15 of the detection head 10 as paired data in the paired data storage area provided in the memory in the given order. The maximum number of paired data stored in the paired data storage area is 80. Since there are areas where the distance d is not calculated, the number of paired data is actually less than 80.

FIG. 6 shows an example of paired data stored in the paired data storage area. The paired data is stored in the paired data storage area corresponding to the detection order i. In FIG. 6, 10
Paired data are stored. FIG. 7 shows these paired data on a graph. In FIG. 7, paired data is displayed with the vertical axis representing the distance d to the detected object and the horizontal axis representing the sweep angle θ.

In FIG. 1, the vehicle reflectors of the two-wheeled vehicle 3 and the vehicle 2, and a part of the central reflector are detected. The laser light projected from the detection head 10 has a vertical spread. However, the detection head 10 is the vehicle 1
Since it is attached to the vehicle and is located higher than the road surface, the object at a distance very close to the host vehicle cannot be detected because the central reflector is a shadow of the laser beam (the laser beam is not projected).

4.2 Calculation of Relative Position of Detected Object (FIG. 5;
Step 22)

The distance d of the object to be detected and the sweep angle θ detected by the sweep of the laser light are represented by the polar coordinate system. The signal processing device 19 coordinate-converts the relative position of the detected object represented by the polar coordinate system into the relative position by the orthogonal coordinate system.

Let the paired data for the i-th detected object OBk, i stored in the paired data storage area of the memory be dk, i and θk, i. The relative position Qk, i (xk, i, yk, i) of the detected object OBk, i in the orthogonal coordinate system is calculated based on the paired data dk, i and θk, i.
Distance dk, i to the object to be detected OBk, i and sweep angle θ
k, i is expressed in polar coordinate system. The polar coordinate system is transformed into a rectangular coordinate system, and the relative position of the detected object is represented by this rectangular coordinate system. Relative position Q of detected object OBk, i
The coordinates of k, i (xk, i, yk, i) are transformed by the following equation.

[0072]

## EQU00001 ## xk, i = dk, i .cos .theta.k, i (1) yk, i = dk, i .sin .theta.k, i (2)

For example, when i = 1, the paired data is θk,
Since 1 = 1650.8 [mrad] and dk, 1 = 34 [m], the formula
If the coordinates are converted according to (1) and (2), xk, 1 =
34 x cos 1.6508 = -3.4, yk, 1 = 34 x sin 1.6508 = 34.

In this way, as a result of performing the coordinate conversion processing on the paired data shown in FIG. 6, the relative position data in the orthogonal coordinate system as shown in FIG. 8 can be obtained. The relative position Qk, i (xk, i, y of the coordinate-transformed detected object OBk, i)
The data representing k, i) is stored in the relative position data temporary storage area of the memory as shown in FIG. FIG. 9 shows the relative position of the detected object OBk, i based on the relative position data stored in the relative position data temporary storage area on a horizontal plane graph. The Y-axis direction is the traveling direction of the vehicle, and the X-axis direction is the direction orthogonal thereto. The origin is the detection head 10 of the vehicle.
Is the position.

4.3 Sorting of Detected Objects (FIG. 5; Step 23)

In order to identify the central reflectors continuously provided on the center line, the signal processing device 19 uses the relative position Qk, i (xk, i, yk, i) data of the detected object OBk, i. Based on this, the sorting process is performed to rearrange the detected objects in ascending order of the Y coordinate.

Relative position data Relative position Qk, i (xk, i, yk, yk, i of detected object OBk, i stored in the temporary storage area
i) The data is stored in the data storage area provided in the memory in ascending order of the Y coordinate yk, i. When there are a plurality of relative position data with the same Y coordinate, the X coordinate data of the relative position data which is the relative position data having the Y coordinate smaller than the Y coordinate and is sorted before is used as the reference. Become. X coordinate data of a plurality of relative position data having the same Y coordinate is compared with the reference X coordinate data,
The plurality of pieces of relative position data are arranged in ascending order of the difference from the reference X coordinate data.

For example, the data shown in FIG. 10 is obtained by performing the sorting process on the data shown in FIG. OBk, i for identifying the detected object is the sorted order j
Has been changed to OBj. In FIG. 10, the detected objects OBk, 1, OBk, 2, OBk, 3 and OBk, 7 shown in FIG.
Since the Y coordinates of are the same as "34", sorting is performed based on those X coordinates, and the detected object having the X coordinate closest to the X coordinate of the immediately preceding detected object OBk, 8. O
Bk, 7 is given priority, and subsequently the detected objects OBk, 3, OBk,
2 and OBk, 1 are arranged in this order.

4.4 Continuity Identification and Grouping of Detected Objects (FIG. 5; Step 24)

In order to identify the central reflector that continuously exists, the signal processing device 19 determines whether or not the object to be detected continuously exists (continuity identification of the object to be detected), and continuously exists. Objects to be detected and objects to be detected that exist discretely are grouped (grouping of objects to be detected). 4.4.1 Continuity identification of detected objects

The fact that the central reflectors are continuously provided along the road means that they are continuously present in the traveling direction (Y direction) of the host vehicle. In the relative position data sorted by the process of "4.3 Sorting of detected objects", the detected objects that exist consecutively in the Y direction are the X coordinates of the relative position data of two adjacent objects. Is small.

The continuity of the detected object is identified by the (j-1) th
The object to be detected OBk, j-1 and the j-th object to be detected O
For two Bk, j, their relative positions Qk, j-1 (x
It is performed based on the difference dx, j = xk, j-1-xk, j between the X coordinates of k, j-1, yk, j-1) and Qk, j (xk, j, yk, j). The difference dx, j is calculated for each pair of adjacent relative position data and stored in the data storage area of the memory (see FIG. 10).

If the difference dx, j in X coordinate is less than or equal to the continuity determination threshold value (for example, 1 [m]), the (j-1) th object to be detected OBk, j-1 and the jth object are detected. It is determined that the detected object OBk, j has continuity. Jth detected object O
Bk, j is accompanied by a continuity identification flag indicating that the (j-1) th detected object OBk, j-1 and the jth detected object OBk, j are continuous. If it is determined that there is continuity, this flag is set to "1".

When the difference dx, j is equal to or greater than the continuity determination threshold value,
It is determined that the (j-1) th detected object OBk, j-1 and the jth detected object OBk, j have no continuity, and the continuity identification flag of the detected object OBk, j is " 0 ”.
For the first detected object OBk, 1, the difference dx, j cannot be calculated, so the continuity identification flag is "0".

For example, regarding the data shown in FIG.
j = 1, that is, the difference dx, 1 is not calculated for the detected object OBk, 1 existing at the position closest to the host vehicle, and therefore the difference dx, 1 is indicated by "*" indicating that there is no data. ing. Therefore, the continuity identification flag of the detected object OBk, 1 is also "0". Next, the detected object OB2
For, the sorted previous detected objects OBk, 1
And the difference dx, 2 between them is "0". Therefore, this difference dx,
Since 2 is below the threshold, the detected objects OBk, 1 and OBk, 2
Is determined to have continuity, and the detected object OBk, 2
The continuity discriminating flag for "1" is "1".
When the continuity discrimination processing is performed in the same manner, the detected objects having continuity are OBk, 2 and OBk, 3, OBk, 3 and OBk, 4, O.
Bk, 6 and OBk, 7, OBk, 8 and OBk, 9 and OBk, 9
And OBk, 10, and the detected object without continuity is OBk, 4
And OBk, 5, OBk, 5 and OBk, 6, OBk, 7 and OBk, 8
Is.

4.4.2 Grouping of detected objects

The signal processing device 19 divides the objects to be detected into groups based on the continuity identification flag set by judging whether or not there is continuity between two objects to be detected which are adjacent to each other (objects to be detected). Grouping of detected objects).

The objects to be detected are grouped according to the sorting order j. J-th detected object OB
The continuity identification flag of k, j is “0”, and the next (j +
If the continuity identification flag of the 1) -th detected object is "1", these j-th and (j + 1) -th detected objects are determined to be in the same group. Further, if the detected objects whose continuity identification flag is “1” continue after the (j + 2) th, those detected objects are determined to be the same group as the above group. When there is a detected object whose continuity identification flag is "0" next to the detected object whose continuity identification flag is "1", the detected object whose continuity identification flag is "0" It is determined that the object belongs to a group different from the object to be detected before. The continuity identification flag of the jth detected object is “0”, and the next (j +
If the continuity identification flag of the detected object of No. 1) is "0", it is determined that they belong to different groups. A group number m is assigned to each group formed by grouping in the order in which the group was formed. In this way, the detected objects are grouped based on the continuity identification flag.

For example, regarding the data shown in FIG.
Since the continuity identification flag of the detected object OBk, 1 is "0" and the continuity identification flag of the next detected object OBk, 2 is "1", these are in the same group (first group). It is determined to belong. Furthermore, the detected object OBk, 3
And the continuity identification flag of OBk, 4 are "1" continuously, and the continuity identification flag of the detected object OBk, 5 is "0".
Therefore, these detected objects OBk, 1, OBk, 2,
It is determined that OBk, 3 and OBk, 4 belong to the same group (first group). It is determined that the detected object OBk, 5 belongs to a group (second group) different from the above group (first group). Since the continuity identification flag of the detected object OBk, 6 next to the detected object OBk, 5 is "0", the detected object OBk, 6
It is determined that 5 and OBk, 6 belong to different groups. Similarly, the detected objects OBk, 6 and O
It is determined that Bk, 7 belongs to the same group (third group), and the detected objects OBk, 8, OBk, 9 and OBk, 10 are determined to belong to the same group (fourth group).

4.5 Group Classification (FIG. 5; Step 25)

Whether the signal processing device 19 represents a continuous object representing a central reflector in which the group is formed continuously by the group formed by the processing of "4.4.2 Grouping of detected objects", Alternatively, it is determined whether or not it represents a discrete object such as a vehicle or a motorcycle (group classification).

Discrimination of a continuous object or a discrete object is performed by determining the number of data of detected objects included in one group and the Y coordinate of the first detected object and the Y coordinate of the last detected object included in the one group. It is performed based on the difference dy, m.

The number of data pieces of the detected objects included in one group is counted, and the difference dy, m is calculated. If the number of data is equal to or larger than a predetermined threshold value (for example, 3) and the Y difference is equal to or larger than the threshold value (for example, 2 [m]), it is determined that the group is a continuous target. If the above conditions are not met, the group is determined to be a continuous target.

In the data shown in FIG. 10, for the first group, the detected objects belonging to that group are OBs.
Since k, 1, OBk, 2, OBk, 3 and OBk, 4, the number of data is "4", and the difference dy, 1 is "4". Therefore, the above condition is satisfied and "continuous object" is satisfied. Is determined.
Similarly, the fourth group is also determined to be a “continuous object” because the above conditions are satisfied. Since the second group and the third group do not satisfy the above conditions, they are determined as "discrete objects".

4.6 Correlation of Continuous Objects (FIG. 5; Step
26)

Even if the central reflector is continuously provided on the center line, the presence of a vehicle or the like causes a plurality of detected objects representing the central reflector to form one group representing one continuous object. Instead, it may be divided into multiple consecutive target groups. Therefore, the signal processing device 19 associates the plurality of continuous target groups into a group representing one continuous target so as to associate the continuous targets.

When there are two or more groups located before and after the object which is determined to be a continuous object, the X coordinate of the relative position between the object at the rearmost position of the preceding group and the object at the frontmost position of the subsequent group. The difference between is a predetermined threshold (for example, 1.
If it is 5 [m] or less, it is determined that the preceding group and the latter group represent one continuous object, and those groups are combined into one group.

For example, in the example shown in FIG. 10, both the first group and the fourth group represent continuous objects.
Since the X coordinate of the relative position of the detected object between the rearmost detected object OBk, 4 of the first group and the frontmost detected object OBk, 8 of the fourth group is "2", their difference d
y and m are “0” and are equal to or less than the above threshold. Therefore, these 1st group and 4th group will be put together as the same continuous object. Therefore,
As shown in FIG. 11, the detected objects OBk, 1, OBk, 2, O
Bk, 3, OBk, 4, OBk, 8, OBk, 9 and OBk, 10
The group formed by is the target 1, the detected object OB
The group to which k, 5 belongs to the object 2 and the detected objects OBk, 6 and OBk, 7 is labeled to the object 3.

4.7 Overall Judgment of Target (FIG. 5; Step 27)

The signal processing device 19 determines whether the detected object to be detected represents a preceding vehicle or represents a central reflector provided continuously.

The group determined to be a discrete target is determined to be a preceding vehicle. When the group includes a plurality of detected objects, they are collected as one detected object. The center relative position of the detected objects that are combined into one is the average value of the relative positions of the detected objects that belong to the group.

For example, in FIG. 12, the second group (target 2) and the third group (target 3) are determined to be preceding vehicles. For the third group, since two detected objects OBk, 6 and OBk, 7 are included in the group, target 3 (detected objects OBk, 6 and OBk, 7 are combined into one) The center relative position of is the average value of the relative positions of these detected objects, that is, ([(-3) + (-3.4)] /
2, [34 + 34] / 2) = (-3.2,34).

It is determined that the detected objects included in the group (target 1) that are determined to be continuous targets and are associated by associating the continuous targets are the central reflectors (road facilities). These detected objects can be used for road shape recognition.

5 Determination of Target (Second Embodiment)

It is assumed that the host vehicle is traveling on a road as shown in FIG. On this road, a roadside reflector R is continuously provided on the roadside of the road L having one lane on each side, and a central reflector R is continuously provided on the center line C. In such a situation, the roadside reflector and the central reflector are detected as detected objects. For detected objects, see "4.3 Sorting of detected objects" above.
When sorting is performed in, the roadside reflector and the center reflector may be mixed alternately. At this time, the sorted objects to be detected lose their continuity. Therefore, the roadside reflectors or the central reflectors cannot be identified as continuous objects, respectively, and they are identified as discrete objects, so that a large number of roadside reflectors and central reflectors that are finally present are erroneously recognized as preceding vehicles.

The second embodiment is adapted to cope with the above case.

FIG. 13 is a flow chart showing the processing procedure in the second embodiment. 13, the same processes as those shown in FIG. 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

5.1 Area Division of Measurement Angle Range (Fig. 13; Step 22A)

The measurement angle range is divided into a plurality of areas.
Here, the measurement angle range is divided into two regions on the left and right by the Y axis.

The detected object OBk, i has its relative position Qk,
Based on i (xk, i, yk, i), it is classified into one of the above two areas.

Then, the detected objects O classified into the respective areas
The processing of "4.3 Sorting of detected objects (step 23)" is performed on Bk, i.

6 Determination of Target (Third Embodiment)

It is assumed that the vehicle 1 is traveling on a road where the road L2 merges with the road L1 having one lane on each side as shown in FIG. A central reflector R is provided continuously on the center line C. The central reflectors R on the center line C are provided in one row at a position close to the host vehicle 1, and are provided in two rows R1 and R2 at a distant position in the forward direction. In such a situation, after performing the area division in "5.1 Area division of the measurement angle range" for the central reflector detected as the detected object,
Even if the detected objects are sorted, the two rows of central reflectors R1 and R2 may be mixed alternately. Also at this time, the sorted detected objects have no continuity. Therefore, the two rows of central reflectors cannot be identified as continuous objects, respectively, and they are identified as discrete objects. If it is determined to be a discrete object, it will be mistaken for a preceding vehicle.

The third embodiment is adapted to cope with the above case.

FIG. 15 is a flow chart showing the processing procedure in the third embodiment. 15, the same processes as those shown in FIG. 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

6.1 Continuity Identification of Detected Object (FIG. 15; Step 24A)

In the third embodiment, "in the first embodiment"
The process in "4.4.1 Continuity identification of detected object" is performed as follows.

The continuity of the detected object is identified by the (j-1) th
The object to be detected OBk, j-1 and the j-th object to be detected O
For two Bk, j, their relative positions Qk, j-1 (x
X of k, j-1, yk, j-1) and Qk, j (xk, j, yk, j)
The coordinate difference dx, j = xk, j-1 -xk, j is calculated. Difference d
When x, j is equal to or less than the continuity determination threshold value, the (j-1) th detected object OBk, j-1 and the jth detected object O are detected.
It is determined that there is continuity with Bk, j. Therefore, the continuity identification flag of the jth detected object OBk, j is "1".

When the difference dx, j is greater than or equal to the continuity determination threshold, the (j-1) th detected object OBk, j-1 and the jth object are detected.
It is determined that the second detected object OBk, j has no continuity. In this case, the relative position Qk, j (xk, j, yk, j) of the j-th detected object OBk, j that has no continuity is saved in the data temporary storage area and the (j-1) th The two relative positions Qk, j-1 (xk, jk) of the second detected object OBk, j-1 and the j-th next (j + 1) th detected object OBk, j + 1 j-1, yk, j-1) and Qk, j + 1
(Xk, j + 1, yk, j + 1) X coordinate difference dx, j + 1 = xk,
j-1 −xk, j + 1 is calculated.

When the difference dx, j + 1 is equal to or less than the continuity determination threshold value, the (j-1) th detected object OBk, j-1 and the (j + 1) th detected object OBk, j are detected. It is determined that there is continuity with +1. Therefore, the continuity identification flag of the (j + 1) th detected object OBk, j + 1 becomes "1".
In this case, the relative position data after the detected object OBk, j + 1 stored in the data storage area is sequentially shifted. That is, the detected object OBk, j + 1 is the detected object OB.
k, j, the detected object OBk, j + 2 is the detected object OBk, j + 1,
… Will be.

After that, j is incremented and the continuity is determined for the new (j-1). That is, the continuity is determined for the detected object OBk, j + 1 and the detected object OBk, j + 2 before the relative position data of the detected object is shifted. The detected object O saved in the data temporary storage area before the relative position data of the detected object stored in the data storage area is shifted
Bk, j is the temporary data storage when the continuity judgment is completed for the relative position data in the data storage area, or when the relative position data in the data storage area is saved in the temporary data area. If there are other relative position data saved in the area, they are returned to the data storage area together with them. After this, continuity is judged from the first relative position data returned to the data storage area.

When the difference dx, j + 1 is greater than or equal to the continuity determination threshold value, the (j-1) th detected object OBk, j-1 and the (j + 1) th detected object OBk, j are detected. It is determined that there is no continuity with +1. In this case, the continuity discrimination processing is performed for two of the (j-1) th detected object OBk, j-1 and the (j + 2) th detected object OBk, j + 2 which is located later. Is done.

In this way, the continuity of the (j-1) th detected object OBk, j-1 is determined up to the last data stored in the data storage area.

If there is no detected object having continuity, all the data saved in the temporary data storage area is returned to the data storage area. After that, continuity is determined from the first data returned to the data storage area.

The continuity identifying process is performed as described above.

Instead of the above object discrimination processing, Hough transform,
The roadside reflector and the central reflector may be extracted by using image processing such as Fleman chain code (direction code).

[Brief description of drawings]

FIG. 1 shows how two vehicles and one motorcycle are traveling on a road.

FIG. 2 shows a state in which an object discriminating device is mounted on a vehicle.

FIG. 3 is a block diagram showing an electrical configuration of a target discriminating apparatus.

FIG. 4A shows a projection timing signal, FIG. 4B shows a scanner control signal, and FIG. 4C shows a sweep angle.

FIG. 5 is a flow chart showing a processing procedure of one processing cycle of an object discrimination processing in the signal processing device of the first embodiment.

FIG. 6 shows an example of paired data stored in a paired data storage area.

FIG. 7 is a graph in which the vertical axis represents the distance to the detected object and the horizontal axis represents the sweep angle for the detected object.

FIG. 8 shows an example of relative position data stored in a relative position data temporary storage area.

FIG. 9 shows the relative position of the detected object based on the relative position data stored in the relative position data temporary storage area.

FIG. 10 shows an example of data stored in a data storage area.

FIG. 11 shows an example of an identified target.

FIG. 12 shows an example of a road in which a roadside reflector is continuously provided on the roadside of one lane on one side and a central reflector is continuously provided on a center line.

FIG. 13 is a flow chart showing a processing procedure of one processing cycle of an object discrimination processing in the signal processing device of the second embodiment.

FIG. 14 shows a road provided with a central reflector in two rows.

FIG. 15 is a flow chart showing a processing procedure of one processing cycle of an object discrimination processing in the signal processing device of the third embodiment.

[Explanation of symbols]

 10 Detection head 11 Control circuit 12 Laser diode drive circuit 13 Laser diode 14 Scanner 15 Scanner position detector 16 Photodiode 17 Light receiving circuit 18 Vehicle speed sensor 19 Signal processor

Claims (14)

[Claims] 1. A light emitting means for emitting a laser light at a constant time interval in response to a given light emitting timing signal representing a time when the laser light is emitted, and the laser light from said light emitting means in a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angle interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting the sweeping angle of laser light by the sweeping means, and sweeping and projecting by the sweeping means Light receiving means for receiving the reflected light of the detected laser light from the object to be detected, and outputting a light receiving timing signal indicating the time when the reflected light is received, outputting the light emitting timing signal to the light emitting means, and controlling the sweep angle. The signal is output to the sweeping means, and the light emitting and receiving is performed based on the time interval from the time when the light emitting timing signal is output to the time when the light receiving timing signal obtained by the light receiving means is input. Control means for calculating the distance from the position to the detected object, the calculated distance to the detected object, and the relative position of the detected object based on the sweep angle of the laser light that is the basis for calculating the distance Relative position calculation means, rearrangement means for rearranging the detected objects in the memory in the order in which the relative position is closer to the light emitting and receiving position based on the relative position calculated by the relative position calculation means, and the rearrangement means for rearrangement. According to the order in which the two detected objects are adjacent to each other, it is determined based on their relative positions whether or not the two detected objects have continuity in a predetermined direction. Grouping means for grouping the detected objects based on the result, and for each group formed by the grouping means, the total number of detected objects belonging to the group A target classifying unit that determines whether the group is a continuous target or a discrete target based on their relative positions, and if there are a plurality of groups that are determined to be continuous targets by the target determining unit, It is determined whether or not the continuous target and the other continuous target are the same continuous target, and when it is determined that they are the same continuous target, the one continuous target and the other continuous target are combined into one group. The attaching means and the group determined to be a discrete object by the target classifying means are determined to be preceding vehicles, and the groups determined to be continuous targets by the target classifying means and the continuous object associating means are unified. A target discriminating device comprising a discriminating unit that discriminates a group into a road facility. 2. A light emitting means for emitting the laser light at a constant time interval in response to a given light emitting timing signal representing the time when the laser light is emitted, and the laser light from said light emitting means within a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angle interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting the sweeping angle of laser light by the sweeping means, and sweeping and projecting by the sweeping means Light receiving means for receiving the reflected light of the detected laser light from the object to be detected, and outputting a light receiving timing signal indicating the time when the reflected light is received, outputting the light emitting timing signal to the light emitting means, and controlling the sweep angle. The signal is output to the sweeping means, and the light emitting and receiving is performed based on the time interval from the time when the light emitting timing signal is output to the time when the light receiving timing signal obtained by the light receiving means is input. Control means for calculating the distance from the position to the detected object, the calculated distance to the detected object, and the relative position of the detected object based on the sweep angle of the laser light that is the basis for calculating the distance Relative position calculation means, the measurement angle range is divided into a plurality of areas, and for each area, the relative position of the detected object is projected and received on the memory based on the relative position calculated by the relative position calculation means. The rearrangement means for rearranging in an order closer to the position and the rearranged order by the rearrangement means, therefore, for the two detected objects adjacent to each other, the two detected objects are determined based on their relative positions. Whether or not there is continuity in the direction is determined, and based on the result of the determination of the continuity, the grouping means for grouping the detected objects into the above areas and the grouping means are used. For each formed group, a target classifying unit that determines whether the group is a continuous target or a discrete target, based on the total number of detected objects belonging to the group and their relative positions, by the target determining unit. If there are multiple groups that have been determined to be continuous targets, it is determined whether one continuous target and another continuous target are the same continuous target. A continuous target associating unit that collects the target and the other continuous target into one group, and a group that is determined as a discrete target by the target classifying unit is determined as a preceding vehicle, and is a continuous target by the target classifying unit. Determination means for determining the group determined to be the above and the group combined by the continuous target association means to be road equipment, Target discriminating apparatus having. 3. A light emitting means for emitting the laser light at a constant time interval in response to a given light emitting timing signal representing the time when the laser light is emitted, and the laser light from said light emitting means in a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angle interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting the sweeping angle of laser light by the sweeping means, and sweeping and projecting by the sweeping means Light receiving means for receiving the reflected light of the detected laser light from the object to be detected, and outputting a light receiving timing signal indicating the time when the reflected light is received, outputting the light emitting timing signal to the light emitting means, and controlling the sweep angle. The signal is output to the sweeping means, and the light emitting and receiving is performed based on the time interval from the time when the light emitting timing signal is output to the time when the light receiving timing signal obtained by the light receiving means is input. Control means for calculating the distance from the position to the detected object, the calculated distance to the detected object, and the relative position of the detected object based on the sweep angle of the laser light that is the basis for calculating the distance A relative position calculating means, a rearranging means for arranging the detected objects in a memory in a fixed order on the basis of the relative position calculated by the relative position calculating means, and the rearranging means. A reference object to be detected is determined according to the arranged fixed order, and based on the relative position of the reference object and the first object to be arrayed next, the two objects are detected. It is determined whether there is continuity in a predetermined direction, and when it is determined that there is continuity, the first detected object is defined as a new reference detected object, and the new reference detected object and its Next When it is determined that there is no continuity with the second detected object, the reference detected object is fixed and the second arranged object next to the first detected object is fixed. The continuity inspection of two detected objects is sequentially determined, such as moving to the inspection of the detected object continuity, and after one continuity inspection is completed for all detected objects. A grouping for grouping the detected objects by grouping the detected objects that have been determined to be non-contiguous by re-arranging the detected objects at the end of the array and repeating the continuity inspection for these detected objects. Means for each group formed by the grouping means, it is determined whether the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions. When there are a plurality of groups determined to be continuous targets by the elephant classification unit and the target determination unit, it is determined whether one continuous target and another continuous target are the same continuous target, When it is determined that there is one, the continuous target associating unit that combines the one continuous target and the other continuous target into one group, and the group that is determined to be a discrete target by the target classifying unit are determined to be preceding vehicles, A target discriminating apparatus comprising: a group that is determined to be a continuous target by the target classifying unit and a determination unit that determines a group combined by the continuous target associating unit as a road facility. 4. A light emitting means for emitting the laser light at a constant time interval in response to a given light emitting timing signal representing the time when the laser light is emitted, and the laser light from said light emitting means within a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angle interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting the sweeping angle of laser light by the sweeping means, and sweeping and projecting by the sweeping means Light receiving means for receiving the reflected light of the detected laser light from the object to be detected, and outputting a light receiving timing signal indicating the time when the reflected light is received, outputting the light emitting timing signal to the light emitting means, and controlling the sweep angle. The signal is output to the sweeping means, and the light emitting and receiving is performed based on the time interval from the time when the light emitting timing signal is output to the time when the light receiving timing signal obtained by the light receiving means is input. Control means for calculating the distance from the position to the detected object, and the relative position of the detected object is calculated based on the distance to the detected object and the sweep angle, and the detected object is detected in a predetermined direction. A target discriminating apparatus comprising: continuity determining means for extracting continuously detected objects. 5. The relative position for calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam that is the basis for calculating the distance. Based on the relative position calculated by the calculating unit and the relative position calculating unit, the rearranging unit that rearranges the detected objects in the memory in the order in which the relative position is closer to the light emitting and receiving position, and the rearrangement unit rearranges the detected objects. Therefore, according to the order, it is determined whether or not the two detected objects adjacent to each other have continuity in a predetermined direction based on their relative positions. Grouping means for grouping the detected objects based on the group, for each group formed by the grouping means, the total number of detected objects belonging to the group and their relative If there are a plurality of groups that are determined as continuous targets by the target classification unit that determines whether the group is a continuous target or a discrete target based on the position, and one group that is determined as a continuous target by the target determination unit, It is determined whether or not the target and another continuous target are the same continuous target, and when it is determined that they are the same, the continuous target associating means for collecting the one continuous target and the other continuous target into one group. The object discriminating apparatus according to claim 4, further comprising: 6. The relative position for calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam that is the basis for calculating the distance. The calculating means divides the measurement angle range into a plurality of areas, and the relative position of the detected object is set as the light emitting / receiving position on the memory based on the relative position calculated by the relative position calculating means for each area. The rearrangement means rearranges in the closer order, and the rearranged means rearranges the two detected objects adjacent to each other in a predetermined direction based on their relative positions. It is determined whether there is continuity, and based on the result of the continuity determination, grouping means for grouping the objects to be detected into the above-mentioned regions, each formed by the grouping means, For a group, based on the total number of detected objects belonging to the group and their relative positions,
When there are a plurality of target classification means for judging whether a group is a continuous object or a discrete object, and a plurality of groups judged to be continuous objects by the object judging means, one continuous object and another continuous object Is determined to be the same continuous object, and when it is determined that they are the same continuous object, the continuous object associating means for grouping the one continuous object and the other continuous object into one group is provided. The object discrimination device according to claim 4. 7. The relative position for calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser light which is the basis for calculating the distance. Calculating means, rearranging means for arranging the detected objects on a memory in a fixed order based on the relative position calculated by the relative position calculating means, and arranged by the rearranging means. In addition, a reference object to be detected is determined according to the predetermined order, and the two objects to be detected are determined based on the relative position between the reference object and the first object to be arranged next. It is determined whether or not there is continuity in the direction. When it is determined that there is continuity, the first detected object is defined as a new reference detected object, and the new reference detected object and then Arrayed second When it is determined that there is no continuity with the object to be detected and it is determined that there is no continuity, the reference object to be detected is fixed and the second object to be detected arranged next to the first object is arranged. 2 to move to the continuity check
The objects to be detected are judged to have no continuity after the inspection of the continuity of the two objects is judged in sequence, and after the inspection of the continuity is completed once for all the objects to be detected. For the grouping means for grouping the objects to be detected by repeating the inspection of continuity for these objects to be arrayed at the end of the above array, and each group formed by the grouping means,
A target classifying unit that determines whether the group is a continuous target or a discrete target based on the total number of detected objects belonging to the group and their relative positions, and that the target determining unit determines that the group is a continuous target When there are a plurality of groups, it is judged whether or not one continuous object and another continuous object are the same continuous object. When it is judged that they are the same, the one continuous object and the other continuous object are determined. The object discriminating apparatus according to claim 4, further comprising: continuous object associating means for grouping the objects into one group. 8. A group determined to be a discrete target by the target classification means is determined as a preceding vehicle, and one group is determined to be a continuous target by the target classification means and one group is determined by the continuous target association means. The object discriminating apparatus according to any one of claims 5 to 7, further comprising a determining unit that determines the groups summarized in 1 above as road facilities. 9. The rearranging means arranges the detected objects according to their size based on one of two coordinates representing the relative position of the detected object. When there are a plurality of objects to be detected having the same value, the objects to be detected are arranged in the ascending order of the difference between the previously arranged objects and other coordinates. The object discriminating apparatus according to any one of 1 and 7 above. 10. A vehicle equipped with the target object determination device according to any one of claims 1 to 9. 11. The laser light is emitted at a constant time interval in response to a given light emission timing signal representing the time when the laser light is emitted, and the emitted laser light is swept in a predetermined measurement angle range. It sweeps and emits light at regular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light from the detected object of the swept and projected laser light. , Outputting a light receiving timing signal indicating the light receiving time of the reflected light, outputting a light emitting timing signal, and outputting a sweep angle control signal, and from the time of outputting the light emitting timing signal to the time of inputting the light receiving timing signal. The distance from the light emitting / receiving position to the detected object is calculated based on the time interval of, and the calculated distance to the detected object and the sweep angle of the laser light that is the basis for calculating the distance The relative position of the object is calculated, and based on the calculated relative position, the detected object is rearranged in the memory in the order in which the relative position is close to the light emitting and receiving position, and in the rearranged order, two adjacent objects are arranged. For the detected object, based on their relative positions, determine whether the two detected objects have continuity in a predetermined direction,
The detected objects are divided into groups based on the determination result of the continuity, and for each formed group, whether the group is a continuous object or not based on the total number of detected objects belonging to the group and their relative positions. If there are multiple groups that are determined to be discrete objects and are determined to be continuous objects, it is determined whether one continuous object and another continuous object are the same continuous object, and When it is determined that there is one, the one continuous object and the other continuous objects are combined into one group, the group that is determined to be the discrete object is determined to be the preceding vehicle, and the group that is determined to be the continuous object and 1 Target discrimination method that judges the grouped together as road equipment. 12. The laser light is emitted at a fixed time interval in response to a given light emission timing signal indicating the time when the laser light is emitted, and the emitted laser light is swept at a given measurement angle range. It sweeps and emits light at regular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light from the detected object of the swept and projected laser light. , Outputting a light receiving timing signal indicating the light receiving time of the reflected light, outputting a light emitting timing signal, and outputting a sweep angle control signal, and from the time of outputting the light emitting timing signal to the time of inputting the light receiving timing signal. The distance from the light emitting / receiving position to the detected object is calculated based on the time interval of, and the calculated distance to the detected object and the sweep angle of the laser light that is the basis for calculating the distance The relative position of the object is calculated, the measurement angle range is divided into a plurality of regions, and the relative position of the detected object is close to the light emitting / receiving position on the memory based on the calculated relative position for each region. The objects are rearranged in order, and therefore, the two detected objects that are adjacent to each other are determined based on their relative positions to determine whether or not the two detected objects have continuity in a predetermined direction. , The detected objects are divided into groups according to the determination result of the continuity, and for each formed group, the groups are consecutive based on the total number of detected objects belonging to the group and their relative positions. If there are multiple groups that are determined to be continuous targets or discrete targets and are determined to be continuous targets, whether one continuous target and the other continuous target are the same continuous target When it is determined that they are the same, the one continuous target and the other continuous target are combined into one group, the group determined to be the discrete target is determined to be the preceding vehicle, and the continuous target is determined to be the continuous target. A method for determining an object in which the determined group and the grouped together are determined as road facilities. 13. A laser beam is emitted at a constant time interval in response to a given light emission timing signal that represents a time point at which the laser light is emitted, and the emitted laser light is swept at a given measurement angle range. It sweeps and emits light at regular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light from the detected object of the swept and projected laser light. , Outputting a light receiving timing signal indicating the light receiving time of the reflected light, outputting a light emitting timing signal, and outputting a sweep angle control signal, and from the time of outputting the light emitting timing signal to the time of inputting the light receiving timing signal. The distance from the light emitting / receiving position to the detected object is calculated based on the time interval of, and the calculated distance to the detected object and the sweep angle of the laser light that is the basis for calculating the distance The relative position of the object is calculated, and based on the calculated relative position, the detected objects are arranged in a fixed order on the memory according to the size of the relative position, and according to the fixed order, the reference is set. Then, based on the relative position of the reference detected object and the first detected object arranged next to the reference detected object, it is determined whether the two detected objects have continuity in a predetermined direction. When it is determined that there is continuity, the first detected object is defined as a new reference detected object, and the new reference detected object and the second detected objects arranged next to the new reference detected object. When it is determined that there is no continuity, the reference detected object is fixed, and the continuity of the second detected objects arranged next to the first detected object is fixed. The continuity of two detected objects can be detected by moving to inspection. Are sequentially determined, and after one continuity inspection is completed for all the detected objects, the detected objects determined to have no continuity with the reference detected object are arranged at the end of the above array. Then, by repeating the continuity inspection for these detected objects, the detected objects are divided into groups, and for each formed group, based on the total number of detected objects belonging to the group and their relative positions, If a group is a continuous target or a discrete target, and there are multiple groups that are determined to be continuous targets, is one continuous target and the other continuous target the same continuous target? If it is determined that they are the same, the one continuous object and the other continuous object are combined into one group,
A target discrimination method in which a group determined to be a discrete target is determined to be a preceding vehicle, and a group determined to be a continuous target and a group combined into one are determined to be road facilities. 14. The laser light is emitted at a constant time interval in response to a given light emission timing signal representing the time at which the laser light is emitted, and the emitted laser light is swept at a given measurement angle range. It sweeps and emits light at regular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light from the detected object of the swept and projected laser light. , Outputting a light receiving timing signal indicating the light receiving time of the reflected light, outputting a light emitting timing signal, and outputting a sweep angle control signal, and from the time of outputting the light emitting timing signal to the time of inputting the light receiving timing signal. The distance from the light emitting / receiving position to the detected object is calculated based on the time interval of, and the relative position of the detected object is calculated based on the distance to the detected object and the sweep angle. Extracting a continuous target object existing in a predetermined direction from the object determination method.