JP2001043499A - Vehicle detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continuously detect a preceding vehicle even if the absolute speed of the preceding vehicle drops by estimating the present position of an object based on the position of the detection object when the object detected as vehicle cannot be detected as the vehicle. SOLUTION: A vehicle judgment means 26 judges whether a mobile object positioned in front is a vehicle or not by using the absolute speed of the front object, which is detected by a front object absolute speed detection means 22. When it is judged to be the vehicle, the storage of the position of the front object and operated absolute speed is started with first alienation time and second alienation time, when time common to an object position storage means 30 and a speed information storage means 31 is set to be a reference, as variables. When the speed of the front vehicle drops and it becomes lower than prescribed absolute speed, the vehicle judgment means 26 does not judge it to be the vehicle. Then, an object position estimation means 27 and a second object absolute speed storage means 33 estimate the position of the front vehicle by using data stored in the object position storage means 30 and the speed information storage means 31.

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
The present invention relates to an apparatus for detecting a preceding vehicle to go. In particular,
When the speed falls below a certain speed, it is no longer detected as a vehicle.
Vehicle speed and the speed of the preceding vehicle
By continuously detecting vehicle and vehicle distance, past data
By estimating the speed and position of the preceding vehicle from the
It enables tracking of vehicles. Vehicle detection of the present invention
The device is used for an automatic traveling device that automatically follows the preceding vehicle.
It can be applied to a detection device for a preceding vehicle. [0002] 2. Description of the Related Art Conventionally, a preceding vehicle traveling in front of a host vehicle.
Detection of a moving object ahead of the vehicle
Absolute speed of the moving object ahead from the speed of the host vehicle and the anti-speed
Find the degree (speed with respect to the ground), and more than the specified absolute speed
Was detected as a preceding vehicle. This absolute speed
The reason for setting a threshold is that when the speed decreases,
This is because it is difficult to distinguish between the two and the stationary obstacle. [0003] Therefore, the speed of the preceding vehicle
When the speed decreases, the absolute speed decreases and is detected as a vehicle
I could not do it. Therefore, conventional vehicle detection devices
In automatic tracking systems,
Malfunction, or automatic operation is reset immediately.
And the need for automatic driving set many times
Had become. Also, the brake is automatically activated for safety
As a result, the speed of the host vehicle may suddenly decrease. Book
The present invention solves such a problem by
Even if the absolute speed decreases, the preceding vehicle can be detected continuously.
The purpose is to be. [0004] [MEANS FOR SOLVING THE PROBLEMS]
Ming detects the position of an object located in front of the vehicle
Before detecting the absolute speed of the object, with the forward object position detecting means
Object absolute velocity detecting means and absolute velocity of detected object
Vehicle that determines that the object is a vehicle if is faster than a predetermined speed
In the vehicle detection device comprising the determination means,
Is no longer detected as a vehicle
The current object based on the position of the detected object.
Object position estimating means for estimating the position of the body, and the estimated object
Outputs the body position as the current object position, and
The position of the detected object used for estimating the position
Output updating means. Estimated
The position of the object is used for the next position estimation.
The position of the body is used as the estimated position of the object.
To estimate the position of the next object, or
The position of the object that was
And the next position is estimated from the entire data sequence.
Means that Further, according to the second aspect of the present invention, a forward object
The body absolute speed detecting means is the own vehicle speed detecting means of the own vehicle.
Object relative speed detection means, and object relative speed detection
Object relative speed obtained by the means and the detected own vehicle
Absolute speed operation that calculates the absolute speed of the object using the speed of
It is characterized by comprising arithmetic means. The above-described forward object absolute speed detecting means is
The ground speed of an object located at
It may be a device for setting. For example, a car located ahead
The measured ground speeds are displayed behind the vehicle,
It is good to make it possible to detect from the car behind
No. Also detects the rotational speed of the wheels of the preceding vehicle from the rear vehicle
You may do it. Furthermore, the forward object absolute speed detection means
According to the second aspect of the present invention, the own vehicle speed detection of the own vehicle
Detection of vehicle speed and object relative speed obtained by means
Using the relative velocity of the object obtained by the means,
It is composed of absolute speed calculation means for calculating speed.
May be. Any method of detecting the absolute speed may be used.
Further, the object relative speed detecting means is, for example, directly
A radar device that detects the relative speed using the puller effect
Can be used. Besides, for example, when the laser is reflected
Depending on the distance, the position of the object ahead
Position (distance)), and from the time derivative of that position,
An apparatus for detecting the relative speed may be used. Also, for example,
Detects by also using the forward object position detecting means such as a laser device
Means for calculating the relative speed from the time change of the set position.
May be. In short, to find the absolute velocity of an object,
Any method may be used to determine the relative speed
Alternatively, it may be detected by calculating from the speed of the own vehicle. Further
In addition, the method of detecting the speed of the own vehicle also depends on the method.
No. In all claims, “detection” means
In addition to directly measuring physical quantities such as speed,
After measuring other physical quantities, for example, position,
For example, the case where the speed is obtained by calculation is also included. position
Similarly, the meaning of the detection with respect to other quantities, such as speed,
Measure acceleration directly and calculate from those values.
Including. Also, the meaning of absolute speed is relative to the ground.
It means speed. Further, according to the third aspect of the present invention,
The vehicle detection device detects an object once detected as a vehicle
If it is no longer detected as both, the estimated object
Relative velocity of the current object based on the amount of temporal change in
The first object that estimates the degree and estimates the absolute velocity of the current object
Means for estimating absolute body velocity, and the output updating means
Output absolute velocity as the current velocity of the object.
Sign. In other words, speed is estimated from the estimated position and output
It is characterized by a value. Further, according to the present invention, the vehicle inspection is performed.
When the object once detected as a vehicle is
If it is no longer detected, the detected absolute speed
(Relative speed based on time differential calculation of measured position and own vehicle
The speed obtained from both speeds and the directly measured relative
(Including the case of obtaining from the speed and the speed of the own vehicle)
Second object absolute velocity estimator for estimating the current absolute velocity
Step, and the output updating means further includes an estimated absolute speed.
Is output as the absolute velocity of the current object, and the next time
The detected absolute speed is used to estimate the absolute speed.
It is characterized by that. In other words, use the detected absolute speed
And the absolute speed is estimated and output as an output value.
You. Note that the estimated absolute speed of the object is used to estimate the next absolute speed.
The detected absolute velocity to determine
Using the estimated absolute velocity of the object, the next
Estimate the speed vs. the absolute value of this estimated object
Velocity as a data string to the absolute velocity of the object for the past fixed period
In addition, the next absolute velocity is estimated from the entire data sequence.
Means that. Further, according to the fifth aspect of the present invention,
The forward object position detecting means, based on a common time,
The position of the object is detected using the separation time of 1 as a variable,
The anti-velocity detecting means includes a second separation based on a common time.
The feature is to detect the absolute speed of the object using the time as a variable
And That is, the position of the detected object and the speed information
According to each device means based on a common time
The separated time is detected as a variable. As a result,
Information and speed information based on a common time
be able to. Further, according to the invention of claim 6, the vehicle inspection is performed.
The output device records the position of the object using the first separation time as a variable.
Further comprising an object position storage means for storing the object position
The stage is based on the location of the stored object,
The position is estimated, and the output updating means outputs the estimated position of the object.
Output to the object position storage means sequentially.
Sign. Further, according to the invention of claim 7, the vehicle inspection is performed.
The output device is the speed of the own vehicle, the relative speed of the object, or the
Speed information consisting of absolute speed is taken as the second separation time as a variable
Speed storage means for storing the second object absolute
The speed estimating means calculates the current speed based on the stored speed information.
Estimating the absolute velocity of the object,
Output speed information consisting of the absolute speed of the object
It is characterized in that the information is sequentially stored in the information storage means. That is, in the fifth, sixth and seventh aspects of the present invention,
In the invention, the first and second separation times based on a common time
Using the time as a variable, position information and speed information are detected, and
And the stored position information,
Estimation of the position and speed, which will be described later, using the
When performing, it is possible to associate from a common time
That is what we did. In addition, at the time of the second separation described here
The time is the time used by the means for detecting speed information
The interval is different depending on the device, but is common
The speed information and the interpolation
This is the time at which the position information can be associated. Further
In addition, the speed of the own vehicle, the relative speed of the object,
Or, the absolute velocity of the object is the second separation time
As a reference, measured or calculated, ie detected,
Each can be associated with other physical quantities at discrete time
Things. That is, the stored speed information is based on the own vehicle.
Speed, or the absolute speed of an object
Any speed information based on time variables based on intervals
No. In this case, the first and second separation based on a common time
The inter time may be exactly the same time. Or the same
Even if it is not a single time, a time variable based on a certain time
Then, for the interpolation calculation about the time variable to the position information
More common time axis to be associated with speed information
Any time variable can be used as the basis. Further, according to the eighth aspect of the present invention,
Output updating means, the estimated position of the object and the detected
Is the difference between the detected value and the estimated value at the position of the object
If the measurement error is smaller than the specified value,
And outputting a value based on the detected value. Sa
Further, according to the ninth aspect of the present invention, the output updating means performs the estimation.
Absolute velocity of the detected object and the absolute velocity of the detected object
The prediction error, which is the difference between the detected value and the estimated value,
If the value is smaller than the value of
It is characterized by outputting speed information consisting of a high value. Further, according to the invention of claim 10, the vehicle
The detection device may further include a method for determining whether the prediction error is smaller than a predetermined value.
The value based on the detected value in the case depends on the magnitude of the error from the estimated value.
The interpolated value between the same estimated value and the detected value.
You. [0015] Operation and effect of the present invention
If the absolute speed of the object located in front of the host vehicle is
If the speed is higher than the speed, the object is determined as a vehicle and detected as a vehicle
Detected by the vehicle detection device
The object is no longer detected as a vehicle due to reduced speed
If it becomes, the front object position detection means
Based on the position of the detected object,
The step allows the current position of the object to be estimated,
The position of the object estimated by the force updating means is
Output as position and use for next position estimation
The position of the detected object can be determined.
Therefore, the absolute speed of the object located ahead is
The detection information is continuously updated as a vehicle even if the
Will be able to This allows the vehicle ahead
This device is generally used even after the absolute speed of
Malfunction due to non-detection of the vehicle ahead in an automatic tracking device, etc.
You can prevent cropping. Further, according to the second aspect of the present invention, the forward object
The absolute speed detecting means detects the absolute speed of the object located ahead.
In addition to the direct detection device, the own vehicle speed detection means of the own vehicle
Object relative speed detecting means for the forward object, and object relative speed
The relative speed of the object obtained by the detection means and the vehicle detected
Absolute speed that calculates the absolute speed of the object using both speeds
It is composed of arithmetic means. Indirect absolute speed measurement detection
Becomes possible. Therefore, the absolute speed detection and measurement method
It is sufficient if the absolute velocity of the object is detected.
So that we can take various methods
Become. Further, according to the third aspect of the invention, vehicle inspection is performed.
When the object once detected as a vehicle is
If the object is no longer detected, the estimated position of the object
The relative velocity of the object is estimated based on the temporal change of
First object absolute velocity estimating means for determining the absolute velocity of an existing object
And the output updating means further calculates the estimated absolute speed.
Since it is output as the velocity of the current object, it is estimated
The speed can be estimated from the position, and the position
Not only the position but also the absolute speed can be output. Further, according to the invention of claim 4, the vehicle inspection
When the object once detected as a vehicle is
If it is no longer detected, the absolute speed
Second object absolute velocity for estimating the current absolute velocity based on
Estimating means is provided, and the output updating means further
Outputs the velocity against the current object as the absolute velocity,
The detected absolute speed to estimate the next absolute speed and
So that not only the position but also the absolute speed can be predicted.
Become like Further, according to the fifth aspect of the present invention,
The forward object position detecting means, based on a common time,
The position of the object is detected using the separation time of 1 as a variable,
The body absolute speed detecting means is configured to output a second absolute time based on a common time.
It is possible to detect the absolute velocity of an object using the separation time as a variable
The detected position and absolute speed.
Variable the first and second separation times according to the respective measurement means
As a common time.
Since it is the standard, it can be associated by interpolation calculation etc.
it can. Further, according to the invention of claim 6, vehicle inspection is performed.
The output device records the position of the object using the first separation time as a variable.
Further provided is an object position storage means for memorizing the object position.
The stage is based on the location of the stored object,
The position can be estimated, and the output updating means can estimate the position.
Output the position of the object
Next, it can be stored. Further, according to the invention of claim 7, vehicle inspection is performed.
The output device is the speed of the own vehicle, the relative speed of the object, or the object
Speed information comprising the absolute speed of the second
A speed storage means for storing as a number,
The body absolute speed estimation means is based on the stored speed information
To estimate the current absolute velocity of the object.
The force updating means calculates the speed based on the estimated absolute speed of the object.
Outputting information and storing it in speed information storage means sequentially
Will be able to Furthermore, according to the invention of claim 8, the vehicle inspection
In the output device, the output update means outputs the estimated position of the object.
Value and estimated value at the position of the detected object
Is smaller than a predetermined value,
A value based on the detected value is output instead of the estimated value. That is,
The prediction error, which is the difference between the measured value and the estimated value,
If it is large, it is determined that the measurement value contains an error,
The value is stored and the estimated value is used to estimate the vehicle position at the next time.
To make more accurate estimates.
It can be operated. Further, according to the ninth aspect of the present invention, the vehicle inspection
The output updating means of the output device outputs the estimated absolute speed of the object.
And the absolute value of the detected object
When the prediction error, which is the difference from the value, is smaller than a predetermined value
Is speed information consisting of values based on detected values instead of estimated values.
Report as output values. That is, the difference between the measured and estimated values
If the prediction error is larger than the specified value,
Judge that a difference is included and store speed information consisting of estimated values
Using the speed information consisting of the estimated values,
Speed estimation and more accurate
The estimation value can be calculated. Further, according to the tenth aspect of the present invention, the vehicle inspection
Output device, when the prediction error is smaller than a predetermined value.
The value based on the measured value depends on the magnitude of the error from the estimated value.
This is an interpolated value between the estimated value and the measured value. Thus, the estimate and
By using interpolated values with measured values, more accurate
A constant value can be calculated. [0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle detecting device according to the present invention will be described.
An embodiment will be described with reference to the drawings. FIG. 1 shows an embodiment of the present invention.
1 is a block diagram showing the overall configuration of a vehicle detection device. Book
The apparatus is a millimeter wave radar apparatus, which is
Storage device 29 for storing the data,
The control device 20 for executing and storing the calculated data
Output device 40. The storage device 29 stores R
It is composed of an AM memory and the like, and is included in the control device 20. The measuring device 10 is constituted by a millimeter wave radar device.
Time and the position of the object located ahead and the relative speed
Is a sensor that measures at every separation time interval with
You. Of the object located ahead obtained by the measuring device 10
The position information is obtained from the position by the front object position detecting means 21.
Is detected using the first separation time as a variable, and the object position is estimated.
To the object position storage means 30
It is memorized. The forward object absolute speed detecting means 22 includes
Own vehicle speed detection means 23 for detecting the speed of the vehicle,
Object relative speed detecting means 2 for detecting the relative speed of the moving object
4. The absolute velocity of the object located ahead is detected.
Calculated using the speed of the subject vehicle and the relative speed of the object.
The speed-computing means 25 is provided. I mentioned earlier
However, the relative speed of the object used here is
More directly, the object relative velocity detection means 24
2 is detected as a variable, but the measuring device 1
From the position information measured by 0, the amount of time change of the position
From the position, and the time derivative of the position.
Is also good. In this case, the object relative speed detecting means 24
An operation is performed. The relative velocity of the object obtained in this way
And the speed of the own vehicle, the absolute speed calculating means 25
The time obtained from the second separation time as a variable
The speed is calculated. This makes it possible to detect the absolute speed of the object ahead.
The output means 22 uses the second separation time as a variable to
Absolute speed is detected. The absolute velocity of the detected forward object is calculated by a second
The separation time is stored as a variable in the speed information storage means 31.
You. Here, the absolute speed of the forward object is calculated as the second separation time.
It is stored as a variable.
Calculation of the absolute velocity of the object located ahead in the end
The information on the speed at which the speed changes is based on the second separation time.
What is necessary is just to memorize by the number. Using the detected absolute speed, the vehicle
Step 26 determines whether the moving object located ahead is a vehicle.
Is determined. If the vehicle is determined to be a vehicle,
Based on a time common to the means 30 and the speed information storage means 31
The first separation time and the second separation time
The storage of the body position and the calculated absolute speed starts.
You. At this time, information within a predetermined time period from the current time
Are stored as the first separation time and the second separation time as a variable.
The information is updated every moment. Low vehicle ahead
The predetermined absolute speed (in the present embodiment, 30 key per hour).
), The vehicle determination means 26
Is no longer determined to be a vehicle. After this, the object position
Setting means 27 and second object absolute velocity estimating means 33
In the object position storage means 30 and the speed information storage means 31,
Using the stored data, the vehicle ahead
Estimate both positions and speeds. The estimated position and speed are
The output updating means 32 outputs the detection information as the output device 4
0, and the object position storage means 30, speed information
The information is sequentially stored in the information storage unit 31. Next, the processing procedure in the control device 20 will be described.
This will be described in detail with reference to the flowchart of FIG. Ma
First, in step 102, the own vehicle speed detecting means 23
The vehicle speed V can be calculated using the common time t (i) as a variable.₁(i)
Is detected. Similarly, in step 104, the measurement
The millimeter wave radar device, which is the device 10,
Relative velocity V of the object N_{N, 12}(i), the distance R which is the position_N(i)
Is determined. The absolute speed calculating means 25 proceeds to step 106
Where the absolute velocity V of the forward object N_NPerform (i) using equation (1)
Calculate. [Equation 1] V_N(i) = V_{N, 12}(i) + V₁(i)… (1) Hereinafter, the common time t (i) is set to t for simplicity._i
And the current time is t_n, The time when the memory is started₁
And t₁From t_nT is the time between_iExpressed in time
Time t_iIs the speed of v (i) and the acceleration that is the change in speed is a
(i), change in time is represented by Δt = t_{i + 1}-T_iThe previous speed
Expressed by v (i-1). In step 110, the object N is a vehicle
Whether the vehicle is present or not is determined by the vehicle
V_NIs the prescribed speed V_oIt is determined whether or not it is above. Absolute
V vs. speed_oThat is all, if it is determined that the vehicle is
If the vehicle drops, the vehicle will be
The tracking flag is turned on (step 112). Then output
The update means 32 outputs vehicle position and speed detection information.
It is output to the force device 40 (step 128). Thereafter, the vehicle tracking flag indicates the speed of the preceding vehicle.
If the vehicle falls further and exceeds the tracking limit, the vehicle detection
Flag reset is necessary when the device itself is reset.
Until it is determined that there is a request (step 130)
Tracking process as a vehicle, that is, storage of position and speed
And output of the position and the speed. Reset flag
If there is a request for the
The flag is reset, and the
Whether both detections are completed, that is, the detection device is turned off
Is determined. Step until it is determined that
Returning to step 102, the process is repeatedly executed at small time intervals.
You. Next, when it is determined that the vehicle is not a vehicle, the step is performed.
Step 114 determines whether the vehicle tracking flag is on.
If the vehicle is being tracked,
In order to estimate the information, the process proceeds to the next step 116.
Calculate body estimation information. First, the second object absolute velocity estimation
Means 33 is a least-squares approximation to estimate the absolute speed.
Using the method, the change in speed and the initial speed are estimated. General
Between the current speed, the previous speed, and the acceleration
Equation (2) holds. ## EQU2 ## v (i) =. DELTA.t.times.a (i) + v (i-1) (2) The acceleration during a predetermined period (1 ≦ i ≦ n) stored
Is constant, the acceleration is a, the speed at the start of storage (initial
Initial velocity) as b and the time variable as t (i), ## EQU3 ## v (i) = a.times.t (i) + b; 1≤i≤n (3) And is a linear function with time as a variable. Therefore, for any given time t (i),
Then, the velocity v (i) is calculated as follows: average a × t (i) + b,^TwoRegular
Assume that it follows a distribution. Given time variable t
Let P (v (i)) be the probability density function of velocity v (i) for the value of (i).
Then (Equation 4) P (v (i)) = (1 / (2πσ)^Two)^1/2) exp (− (1 / 2σ^Two) (v (i) −a × t (i) −b)^Two) 1 ≦ i ≦ n (4) And the time from the start of the memory to the present
The joint probability density function of velocity with the variable between (Equation 5) Π_iP (v (i)) = Π_i[(1 / (2πσ^Two)^1/2) exp (− (1 / 2σ^Two) (v (i) −a × t (i) −b )^Two)]           = (1 / (2πσ^Two)^1/2)ⁿexp [− (1 / 2σ^Two) Σ_i(v (i) −a × t (i) −b)^Two ]; 1 ≦ i ≦ n (5) It is. Here, the parameter that maximizes the probability density function
In other words, the change in speed and the initial speed are used as estimated values.
A and b can be estimated by applying the maximum likelihood method
Function F that estimates the change in speed_VNCan be defined
You. In other words, maximize the value of the term of exp with respect to a and b.
And Σ_i(v (i) −a × t (i) −b)^TwoTo minimize
It is. Therefore, since it is a function for a and b, (Equation 6) Q (a, b) = Σ_i(v (i) −a × t (i) −b)^Two    … (6) Then, for the value of a, b that minimizes Q (a, b), (Equation 7) ∂Q (a, b) / ∂a = 0, ∂Q (a, b) / ∂b = 0… (7) Therefore, if the left side is calculated and set to 0, (Equation 8)_i(v (i) −a × t (i) −b) = 0 (8) (Equation 9) -2Σ_it (i) (v (i) −a × t (i) −b) = 0 (9) So we divide these equations by -2, (Equation 10) Σ_i(v (i)) = nv ＾; v ＾ is the average of V (i), Σ_i(t (i)) = nt ＾; t ＾ is the average of t (i) (10) So that [Equation 11] nb + ant ＾ = nv ＾ (11) (Equation 12) bnt ＾ + aΣ_i(t (i))^Two= Σ_it (i) V (i) ... (12) Equations are obtained, and these two equations are added to a and b.
And solve for the target acceleration a and the initial
The speed b is obtained. (13) b = v ＝ −at ＾ (13) [Equation 14] a = [Σ_i(t (i) -t ＾) V (i)] / [Σ_i(t (i) -t ＾)^Two]   = F_VN                                          … (14) It is. The change in speed obtained in this way is
Using the speed a and the initial speed b, the speed is estimated by equation (3).
Make a decision. The prediction curve shown in FIG. 4 is obtained. in this case
Is a straight line because of the linear function. Similarly, for the position, step 118
, The object position estimating means 27 uses the time as a variable
And time t_iLet x (i) be the position and v (i) be the speed of
The degree is a (i) and the time change is Δt = t_{i + 1}-T_i, Immediately before
Expressing the speed by v (i-1), ## EQU15 ## v (i) =. DELTA.t.times.a (i) + v (i-1) (15) (Equation 16) x (i) = x (i-1) + Δtv (i) + (1 / 2Δt^Two) a (i)… (16) Therefore, the addition of (1 ≦ i ≦ n) between the stored predetermined times
Speed is constant, acceleration is a, memory start speed is b, and
Assuming that the storage start position is c and the time variable is t (i), [Equation 17] x (i) = (a × t (i) + b) × t (i) + c = A × (t (i))^Two+ B × t (i) + c (17) And is a quadratic function with time as a variable. When A = (a, b, c), find the optimal A
This means that the square error, or Σ _i(Measured value-estimated value)
^TwoIs to find A that calculates an estimated value that minimizes.
That is, if the square error is defined by the following equation, (Equation 18) F (a, b, c) = Σ_i[x (i)-(a × (t (i))^Two+ B × t (i) + c)]^Two… (18) A = (a, b, c) that minimizes
Is the gradient vector that minimizes F (A) is the gradient vector
To [Equation 19] ∇A = ∂F / ∂A = (∂F / ∂a, ∂F / ∂b, ∂F / ∂c) (19) Solves the simultaneous equations with each component as 0, and a, b,
Finding a solution for c. However, here, F
(A) shows that the acceleration is constant while memorizing.
And the position is either monotonically decreasing or monotonically increasing.
You. Therefore, for all t (i), the resulting value of x (i) is
If they are the same, they are excluded.
A method that gives an appropriate initial value and obtains it by the successive approximation method,
These may be used. Further, in Expressions (13) and (14),
Even if the calculation is simplified using a and b
good. Since the specific calculation is well known,
Omitted. By the above calculation, it is expressed by equation (17),
A quadratic function prediction curve as shown in FIG. 5 is obtained. The output updating means 32 determines in step 116 that
Using a, b, and c determined in step 118,
Therefore, according to step 120, according to equations (3) and (17),
, Speed and position are estimated and calculated.
And temporarily output it as estimated vehicle information.
Set the estimated values (Rcal, Vcal). Next, at step 124, the measured value is
Equations (20) and (2) are respectively within the allowable error range.
Check by 1). [Mathematical formula-see original document] r (i): predicted position allowable error range, Rcal_N(i):
Fixed value, R_N(i): measured value ｜ Rcal_N(i) -R_N(i) | <r (i) (20) [Mathematical formula-see original document] v (i): allowable error range of predicted speed, Vcal_N(i):
Constant value, V_N(i): measured value ｜ Vcal_N(i) -V_N(i) | <v (i)… (21) When the difference between the measured value and the estimated value is larger than the allowable error,
In this case, it is determined that there is a large
An estimated value is stored and output instead of the measured value. Then
When the measured value is within the allowable error range in step 126
Is, as shown in FIG. 6, the measured value calculated by the following equation and the estimated value.
The fixed value interpolation value is used as the output value. Αr (i) + βr (i) = 1 (22) (Equation 23)   Output value = αr (i) Rcal_N(i) + βr (i) R_N(i)… (23) Αv (i) + βv (i) = 1 (24) (Equation 25) Output value = αv (i) Vcal_N(i) + βv (i) V_N(i)… (25) The output value determined by the above method is
The output is updated by the object position storage means 30 and the speed information storage.
It is stored in the means 31. At this time,
The number is n sets, which are updated to the latest data every moment.
I have. In the above embodiment, the front position is set for simplicity.
Although the case where only one object is placed has been described,
Sometimes multiple objects are measured, detected as vehicles and stored
May be performed. Further, in this embodiment, the measured value is within the error range.
If, the interpolated value between the measured value and the estimated value
Although the output value is used, the measured value may be used as the output value. Further
In the case of taking interpolation values, the values of α and β
Even if it changes according to the size, even if it is a fixed fixed value
good. The function approximated by the least square is
In the embodiment, the acceleration is constant and the speed is a linear function of time,
The position was a quadratic function of time, but this function
May be used. Further, in the above embodiment, the speed or
Is stored to find the estimation function of the change in position
The least squares approximation method using information is used, but the
As a method of obtaining the parameters,
Kalman filter to reflect and estimate information sequentially, α,
A β filter may be used. That is, Kalman filter
Or, using α, β filters, many past values, or
Using the previous value to predict the next value
good. Further, in the above embodiment, the millimeter wave
Measure the position and relative speed of the object using
However, using a laser radar, the first separation time interval
The position of the object is measured at
The relative velocity using the second separation time interval as a variable
You may make it. As described above, the first separation time interval,
The second separation time interval must be different
No, determined according to each detection device, means and method
May be exactly the same at different time intervals. Further, in the above embodiment, the position of the object and the
And store the absolute speed as speed information to estimate the position and speed.
Was described, for example, the Kalman filter
When using it, it is not always necessary to
It is not necessary to memorize the position or speed and estimate with the stored information
There is no. In such cases, the meaning of storing multiple data
May be omitted from the configuration. However, Cal
The last various values used for the prediction calculation by the Mann filter are
It needs to be remembered, so remember to remember this value
The device 29 may be used. In addition, about the speed information
Is the final information even if it is information about speed other than absolute speed.
Is a physical quantity that makes it possible to calculate the absolute velocity of an object
I just want it. Further, in the above embodiment, the absolute speed is reduced.
The object cannot be determined as a vehicle
Is estimating the position, but the speed drops below the specified speed.
May be used to make an estimate or
May be performed.
The accuracy of the estimation means may be improved. In addition, the location
As described in the example of detecting and estimating by combining the speed and the speed
However, of course, only the position may be estimated, and the speed alone may be estimated.
good. Further, in the embodiment shown in FIG.
The information stored in the object absolute velocity estimating means 33 is used.
And the absolute speed is estimated. Another configuration shown in FIG.
The least squares approximation of the detected absolute speed
Constant or estimation using Kalman filter,
(1) The object position estimating means is
Using the position of the object estimated by step 27,
By calculating the temporal change of the estimated position of the object,
May be estimated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention. FIG. 2 is a flowchart showing a processing procedure of the present invention. FIG. 3 is a flowchart continued from FIG. 2; FIG. 4 is an explanatory diagram of a prediction curve for estimating a speed. FIG. 5 is an explanatory diagram of a prediction curve for estimating a position. FIG. 6 is an explanatory diagram of a relationship between a prediction curve, a measured value, an estimated value, and an interpolated value. FIG. 7 is a block diagram showing a configuration of another embodiment of the present invention. [Description of Signs] 10 measuring device 20 control device 21 front object position detecting means 22 front object absolute speed detecting means 23 own vehicle speed detecting means 24 object relative speed detecting means 25 absolute speed calculating means 26 Vehicle determining means 27 Object position estimating means 28 First object absolute speed estimating means 29 Storage device 30 Object position storing means 31 Speed information storing means 32 Output updating means 33 Second object absolute speed estimating means 40 Output device

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Takeo Kato             Aichi-gun Aichi-gun Nagakute-machi             地 の １ Toyota Central Research Laboratory Co., Ltd. F term (reference) 3D044 AA25 AB01 AC26 AC55 AE03                       AE04 AE07 AE14 AE15                 5H180 AA01 CC03 CC12 CC14 LL01                       LL04 LL09

Claims (1)

Claims: 1. A front object position detecting means for detecting a position of an object located in front of a host vehicle, a front object absolute speed detecting means for detecting an absolute speed of the object, A vehicle determination unit that determines the object as a vehicle when the absolute speed of the detected object is higher than a predetermined speed. If the object once detected as a vehicle is no longer detected as a vehicle, Object position estimating means for estimating a current position of the object based on the detected position of the object; and outputting the estimated position of the object as a current object position, and estimating a next position. Output updating means for setting the position of the detected object to be used for a vehicle. 2. The front object absolute speed detecting means, the own vehicle speed detecting means of the own vehicle, the object relative speed detecting means of the object, the object relative speed obtained by the object relative speed detecting means, 2. The vehicle detection device according to claim 1, further comprising absolute speed calculation means for calculating an absolute speed of the object using the detected speed of the own vehicle. 3. The vehicle detection device according to claim 1, wherein, if the object once detected as a vehicle is no longer detected as a vehicle, based on the estimated temporal change in the position of the object,
It has a first object absolute speed estimating means for estimating the current relative speed of the object and estimating the current absolute speed of the object, and the output updating means further calculates the estimated absolute speed of the current object. The vehicle detection device according to claim 1, wherein the vehicle detection device outputs the speed. 4. The vehicle detection device according to claim 2, wherein, if the object once detected as a vehicle is no longer detected as a vehicle, a second vehicle speed estimation device estimates a current absolute speed based on the detected absolute speed. The apparatus further includes an object absolute speed estimating unit, wherein the output updating unit further outputs the estimated absolute speed as a current absolute speed of the object, and further detects the detected absolute speed for estimating a next absolute speed. The vehicle detection device according to claim 1 or 2, wherein 5. The front object position detecting means detects the position of the object using a first separation time based on a common time as a variable, and the front object absolute speed detecting means uses the common time as a reference. The vehicle detection device according to any one of claims 1 to 4, wherein the absolute speed of the object is detected using the second separation time as a variable. 6. The vehicle detection device further includes an object position storage unit that stores the position of the object using a first separation time as a variable, wherein the object position estimation unit stores the position of the stored object. The current position of the object is estimated based on the position of the object, and the output updating unit outputs the estimated position of the object and sequentially stores the position in the object position storage unit. 5. The vehicle detection device according to 4. 7. The vehicle detecting device further comprises speed storage means for storing speed information comprising the speed of the host vehicle, the relative speed of the object, or the absolute speed of the object, using a second separation time as a variable. The second object absolute velocity estimating means estimates the current absolute velocity of the object based on the stored velocity information, and the output updating means comprises the estimated absolute velocity of the object. 5. The vehicle detecting device according to claim 4, wherein the speed information is output and sequentially stored in the speed information storage means. 8. The output updating means, wherein, at the position of the estimated object and the position of the detected object, a prediction error that is a difference between a detected value and an estimated value is:
The vehicle detection device according to any one of claims 1 to 7, wherein a value based on a detected value is output instead of the estimated value when the value is smaller than a predetermined value. 9. The output updating means, wherein a prediction error, which is a difference between a detected value and an estimated value, between the estimated absolute speed of the object and the absolute speed of the detected object is smaller than a predetermined value. In that case, instead of an estimate,
The vehicle detection device according to any one of claims 4 to 8, wherein speed information including a value based on the detected value is output. 10. A value based on a detected value when the prediction error is smaller than a predetermined value is an interpolated value between the estimated value and the detected value according to the magnitude of the error from the estimated value. The vehicle detection device according to claim 8.