JP2001216596A - Road detector and automatic vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that miss-search can occur since because of receiving influence from a vehicle observing device of low detecting ration due to bad weather, etc., conventionally. SOLUTION: This detector is provided with the first vehicle observing device 1 which irradiates radio to receive the reflected wave from a vehicle traveling on a road and detects the position and the velocity of the vehicle, the second vehicle observing device 2 which receives infrared rays radiated from the vehicle to detect the position and the velocity of the vehicle, and a road-side processor which weights vehicle information outputted from the first and second vehicle observing devices based on environment information inputted from outside, to calculate an average, calculates the tracking data of the vehicle based on this calculated average and the past tracking data of a tracking vehicle and decides the event of the vehicle based on this calculated tracking data of the vehicle. Thus, it is possible to surely track the vehicle in spite of fog or snowstorm without regard to the day and night.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting and analyzing radio waves reflected from an object on a road, and infrared and visible light emitted from the object by installing the apparatus on a roadside, on a road, or on a vehicle. A road detecting device that uses a plurality of road observing devices that obtain information on an object and detects the object based on information from the plurality of road observing devices, and an automatic vehicle that is controlled by a detection result of the road detecting device It is about.

[0002]

2. Description of the Related Art Road traffic by car greatly contributes to the development of socio-economics and plays an important role in today's social system. However, on the other hand, the number of traffic accidents has not decreased, and the annual number of fatalities has remained at more than 10,000. In addition, traffic congestion has become even more serious, and serious problems have recently emerged in terms of safety and transportation efficiency, such as very severe actual traffic conditions in recent years, and solutions to these problems are strongly demanded.

[0003] Against the background of these social demands, the interest in safe driving of automobiles has been increasing recently, and an intelligent transportation system (ITS: Int) for providing safe driving support and the like has been recently developed.
elligent Transport Systems) is being actively promoted.

In this intelligent transportation system, AHS
(Advance cruise assist Highway Systems) Driving support road systems use a sensor installed as a road infrastructure facility to sense the obstacles ahead and the status of the running vehicle, etc., and provide information provision services such as alerting the vehicle and danger warnings. Development is being pursued to improve safety, improve efficiency and the environment by providing control support services and automatic driving services, such as safety and vehicle-to-vehicle maintenance.

[0005] Regarding the above-mentioned sensors, it is necessary to reliably detect the situation of the traveling vehicle and obstacles regardless of day or night and in all weather, and it may be necessary to use a plurality of sensors.

A conventional vehicle detection device using a plurality of vehicle observation devices is described in, for example, “4th World Congress on I
TS Oct 1997 `` COLLISION AVOIDANCE SYSTEM BASED ON A
MULTISENSOR SET-UP ”].

A conventional road detector will be described with reference to the drawings. 7 and 8 are a plan view and a block diagram showing the outline and configuration of a conventional vehicle detection device. FIG. 8 is a block diagram of what is shown in FIG.

In FIGS. 7 and 8, reference numeral 1 denotes a first vehicle observation device, 2 denotes a second vehicle observation device, and 3 denotes a first vehicle tracking device provided corresponding to the first vehicle observation device 1. Reference numeral 4 denotes a second vehicle tracking device provided corresponding to the second vehicle observation device 2, and reference numeral 5 denotes a vehicle tracking result of the first and second vehicle tracking devices 3 and 4 as an input. A tracking specification correlator for performing correlation processing, 6 is a detection coverage of the first vehicle observation device 1, 7 is a detection coverage of the second vehicle observation device 2, T1 is a first tracking vehicle, and T2 is a second tracking vehicle. Is a pursuit vehicle.

The conventional on-road detection device comprises a plurality of tracked vehicles T1,
T2,..., And clutter such as structures around the road are detected.

[0010]

In the above-described conventional road detector, the tracking specification correlator 5 uses the vehicle tracking result input from the first vehicle tracking device 3 and the second vehicle tracking device. It has been determined whether all combinations of the vehicle tracking results input from No. 4 have been obtained from the same vehicle.

Therefore, the detection result of the vehicle detection device is the vehicle tracking result of the first and second vehicle tracking devices 3 and 4 provided corresponding to the first and second vehicle observation devices 1 and 2, ie, The performance depends on the observation accuracy, resolution, detection probability, erroneous detection, and the like, and is affected by the result of vehicle tracking with the poorer performance. Therefore, there is a problem in that the vehicle may be affected by a vehicle observation device having a low detection rate due to bad weather or the like, which may cause loss of sight.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a first object of the present invention is to input environmental information such as visibility information, weather information, and illuminance information from the outside, and It is an object of the present invention to obtain a road detection device which has high reliability by weighting the output of the road observation device according to environmental information and which can reliably track a target even in bad weather.

A second object of the present invention is to provide a highly safe automatic vehicle capable of preventing a collision accident or the like by controlling a traveling speed and a traveling direction based on the detection result of the on-road detection device. With the goal.

[0014]

According to a first aspect of the present invention, there is provided a road detecting apparatus which has characteristics different from each other with respect to environmental conditions, and detects an object on a road and outputs observation information. And second roadside observation device, and environmental information on the road are input, and the observation information output from the first and second roadway observation devices is weighted based on the environment information and combined. And a processing device for determining the state of the object.

According to a second aspect of the present invention, there is provided a first road observation device for irradiating radio waves to receive a reflected wave from an object on a road and detecting a position and a speed of the object. A second roadside observation device that receives infrared rays emitted from the object and detects the position and speed of the object;
The first and the second based on environmental information input from outside
Calculate the average value by weighting the observation information output from the on-road observation device, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, A processing device for determining an event of the object based on the calculated tracking data of the object.

According to a third aspect of the present invention, there is provided a road observation device for irradiating radio waves to receive a reflected wave from an object on a road and detecting a position and a speed of the object, A second road observation device that receives visible light reflected from the object and detects the position and speed of the object,
The first and the second based on environmental information input from outside
Calculate the average value by weighting the observation information output from the on-road observation device, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, A processing device for determining an event of the object based on the calculated tracking data of the object.

According to a fourth aspect of the present invention, there is provided a road detecting apparatus for receiving an infrared ray emitted from an object and detecting a position and a speed of the object, and a visible light reflected from the object. A second road observation device that receives light and detects a position and a velocity of the object, and weights observation information output from the first and second road observation devices based on environmental information input from outside. To calculate the average value, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, based on the calculated tracking parameters of the object. A processing device for determining an event of the object.

According to a fifth aspect of the present invention, there is provided a roadside detecting device for irradiating a radio wave to receive a reflected wave from an object on a road and detecting a position and a speed of the object, A second roadside observation device that receives infrared rays emitted from the object and detects the position and speed of the object;
A third road observation device that receives visible light reflected from the object and detects the position and speed of the object, and the first, second, and third road observations based on environmental information input from outside The observation information output from the apparatus is weighted to calculate an average value, and the tracking parameters of the object are calculated based on the calculated average value and the past tracking parameters of the object. A processing device for determining an event of the object based on the tracking data of the object.

According to a sixth aspect of the present invention, in the motor vehicle, at least one of the speed control means for controlling the traveling speed and the steering means for controlling the traveling direction is provided in any one of the first to fifth aspects. The control is performed based on the determination result of the road detecting device.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A road detecting device according to a first embodiment of the present invention will be described with reference to the drawings, taking a vehicle detecting device for detecting a vehicle on a road as an example. FIGS. 1 and 2 are a schematic diagram and a block diagram showing a configuration of a road detection device according to Embodiment 1 of the present invention. In the drawings, the same reference numerals indicate the same or corresponding parts.

In FIG. 1, reference numeral 1 denotes a first vehicle observation device (road observation device) installed on a roadside pillar, and 2 denotes a second vehicle observation device (road observation device) installed on a roadside pillar. ,
11 is a roadside processing device (processing device) installed on a pillar on the roadside, 12 is the detection coverage of the second vehicle observation device 2, 13 is the detection coverage of the first vehicle observation device 1, and T1 and T2 are It is a tracking vehicle.

In FIG. 2, the first vehicle observation device 1 is
This is a millimeter-wave radar device, and includes an antenna 14, an antenna transmitting / receiving unit 15, and a radar signal processing unit 16.
The second vehicle observation device 2 is an infrared image sensor, and includes an infrared camera 17 and an image processing unit 18.

In FIG. 2, the roadside processing device 11
Is obtained by inputting environmental information such as visibility information 19 or weather information 20 from the outside and weighting the vehicle information which is the observation information output from the first and second vehicle observation devices 1 and 2 with the environmental information. A detection information composite device 8 that averages and outputs detection information, and a target tracking device that calculates and tracks the tracking data of the tracked vehicle based on the calculated detection information and the past tracking data of the tracked vehicle. The system includes a tracking device 9 and an event determination device 10 that determines an event such as abnormal running or a stopped vehicle from the running locus of the tracking data. In addition, as a method of inputting environmental information such as visibility information 19 and weather information 20 to the detection information multifunction device 8, a visibility meter or the like for measuring visibility is provided in the on-road detection device as visibility information supply means.
The meteorological information supply means may receive the meteorological information from the Meteorological Agency or the like by radio or the like, and take in the detected information combined device 8.

Next, the operation of the road detecting apparatus according to the first embodiment will be described with reference to the drawings.

As the millimeter wave radar device used for the first vehicle observation device 1, an FM-CW system, a pulse system, an SS system, and the like can be considered. As an example, in the FM-CW method,
The transmission frequency is frequency-modulated by the antenna transmission / reception unit 15 and the antenna 14, the transmission is performed, the reflected waves from the tracking vehicles T1 and T2 are received, and the beat frequency with the transmission signal is obtained.

The radar signal processor 16 detects the distance, speed, and azimuth from the beat frequency to the tracking vehicles T1 and T2 by performing a fast Fourier transform process or the like.

The millimeter-wave radar device (vehicle observation device 1) is less affected by weather such as snow and fog, and can detect a distance of several hundred meters. However, the azimuth angle resolution is
Has a disadvantage that it is difficult to identify the size and the size of the vehicle because it depends on the beam width.

Further, the infrared image sensor used in the second vehicle observation device 2 receives infrared rays emitted from the tracked vehicle by the infrared camera 17. The image processing unit 18 detects the size and position of the vehicle by a vehicle edge extraction method as a vehicle extraction method, a background difference method of detecting a change area from a difference from a background image acquired in advance, or the like. The speed is calculated from the change.

The infrared image sensor (vehicle observation device 2) has a better azimuth angle resolution because it uses an image composed of a larger number of pixels than a millimeter wave radar device.
Excellent in recognition of size. In addition, the infrared image sensor has excellent detection performance at night as well as during the day. further,
Since the viewing angle can be widened by the lens of the infrared camera 17 used, it is possible to detect the installation position from the nearest. However, compared with the millimeter wave radar device, it has disadvantages that the influence of the weather such as snow and fog is great, and the accuracy of detecting distance and speed is low.

Next, the detection information composite device 8 in the roadside processing device 11 sends the detected distance, direction and direction of the vehicle from the radar signal processing unit 16 of the millimeter wave radar device (vehicle observation device 1).
The information on the speed and the information on the detected position, size, and speed of the vehicle are input from time to time from the image processing unit 18 of the infrared image sensor (vehicle observation device 2).

The detection information composite device 8 converts the distance and azimuth information from the millimeter wave radar device 1 into a position on the road of the vehicle, and sets it based on the vehicle position detected by the infrared image sensor 2 and environmental information. The position information with high accuracy is obtained by combining with the given weight.

For example, when the weather is fine, since the resolution of the infrared image sensor 2 is higher than that of the millimeter wave radar device 1, the weight of the data of the infrared image sensor 2 is increased and the average value of both data is calculated. When the reliability of the data of the infrared image sensor 2 is low, the weight of the data of the millimeter wave radar device 1 is increased to calculate the average value.

In an extreme example, when the weather is so bad that the data of the infrared image sensor 2 cannot be obtained, 100% of the data of the millimeter wave radar device 1 is used.

Further, the detection information composite device 8 calculates the average value with a higher weight than the data of the infrared image sensor 2 because the millimeter wave radar device 1 has a slightly higher detection accuracy for the speed data. I do. The size information is additional information when the infrared image sensor 2 can be used.

Next, the vehicle tracking device 9 in the roadside processing device 11 inputs the vehicle position, speed, and size data calculated by the preceding detection information composite device 8 every moment, and the vehicle tracking device 9 at the next time. By estimating the position and speed, variations in input data that fluctuate due to noise and the like are smoothed, and an estimated value of the vehicle position and speed closer to the true value is obtained. This is what is commonly called a prediction filter.

Next, the event determination device 10 in the roadside processing device 11 monitors the position and speed of the vehicle output from the preceding vehicle tracking device 9 and determines whether the vehicle is stopped or runs at low speed. The state of the vehicle such as whether the vehicle is running is determined.

The event determination device 10 determines that a low-speed vehicle is present, for example, when the tracked vehicle is traveling at a speed of xx km or less. If a large number of such vehicles have occurred, it is determined that there is congestion. Further, for example, when the tracked vehicle is stopped at the same position for XX seconds or more, it is determined that there is a stopped vehicle or a failed vehicle.

The above determination information is displayed on a road signboard or reported to a higher-level system, and is used as various road traffic information.

According to this configuration, it is possible to perform high-accuracy tracking by combining information of the vehicle observation devices 1 and 2 according to the environment.

That is, according to the first embodiment, the vehicle observation devices 1 and 2 are constituted by the millimeter wave radar device and the infrared image sensor having different detection characteristics from each other with respect to environmental conditions such as visibility and weather conditions. Visibility information from outside 19,
A detection information composite device 8 for inputting environmental information such as the weather information 20 and weighing the observation information of each of the vehicle observation devices 1 and 2 with the environmental information to calculate averaged detection information is provided. A vehicle tracking device 9 that calculates and tracks the tracking parameters of the tracked vehicle based on the past tracking parameters of the tracked vehicle 9
And the event determination device 10 that determines an event such as an abnormal running or a stopped vehicle based on the tracking specifications, so that the observation information of each of the vehicle observation devices 1 and 2 can be effectively used according to environmental conditions. This makes it possible to reliably track the vehicle even in bad weather such as fog or snowstorm regardless of day or night.

Embodiment 2 Embodiment 2 A road detector according to Embodiment 2 of the present invention will be described with reference to the drawings. FIG. 3 is a block diagram showing a configuration of a road detection device according to Embodiment 2 of the present invention.

In FIG. 3, a millimeter wave radar device is used as the first vehicle observation device 1 as in the first embodiment, and a visible camera 2 is used as the second vehicle observation device 2.
2 and a visible image sensor composed of an image processing unit 23. In addition, 21 is illuminance information.

Next, the operation of the road detecting apparatus according to the second embodiment will be described with reference to the drawings.

The basic operation is the same as in the first embodiment. The visible image sensor has more pixels in the image than the infrared image sensor, and has better azimuth angle resolution. However, when compared with an infrared image sensor, it has disadvantages that it cannot be detected at night without illumination, there is a shadow with a large change in brightness, and it is affected by night light, so that visibility information 19 and weather The detection accuracy can be improved by combining the information 20 and the illuminance information 21 with the observation information of the millimeter wave radar device 1.

That is, according to the second embodiment, since the vehicle observation devices 1 and 2 are constituted by the millimeter wave radar device and the visible image sensor, the vehicle can be reliably tracked even in bad weather such as fog or snowstorm. There are effects that can be.

Embodiment 3 Embodiment 3 A road detector according to Embodiment 3 of the present invention will be described with reference to the drawings. FIG. 4 is a block diagram showing a configuration of a road detection device according to Embodiment 3 of the present invention.

In FIG. 4, an infrared image sensor is used as the first vehicle observation device 1, and a visible image sensor is used as the second vehicle observation device 2. Also in this case, visibility information 19,
The detection accuracy can be improved by combining the observation information of each of the vehicle observation devices 1 and 2 based on the weather information 20 and the illuminance information 21.

According to the third embodiment, since the vehicle observation devices 1 and 2 are constituted by the infrared image sensor and the visible image sensor, the vehicle size detection accuracy and angle measurement accuracy are excellent regardless of day and night. There is an effect that the detected information can be reflected on the tracking accuracy.

Embodiment 4 Embodiment 4 A road detector according to Embodiment 4 of the present invention will be described with reference to the drawings. FIG. 5 is a block diagram showing a configuration of a road detection device according to Embodiment 4 of the present invention.

In FIG. 5, a millimeter wave radar device is used as the first vehicle observation device 1, an infrared image sensor is used as the second vehicle observation device 2, and a third vehicle observation device (road observation device) 24 is used. A visible image sensor is used.

According to the fourth embodiment, the vehicle observation devices 1, 2, and 24 are composed of the millimeter wave radar device, the infrared image sensor, and the visible image sensor, so that the vehicle observation device can be used regardless of day or night under all weather conditions. There is an effect that tracking can be performed reliably.

Embodiment 5 FIG. In the first to fourth embodiments, the case has been described where the first to third vehicle observation devices 1, 2, and 24 detect the following vehicles T1 and T2 on the road. In the fifth embodiment, as shown in FIG. 6, objects on the road other than the vehicle, for example, pedestrians T1, falling objects T2 on the road, clutters on the road, and the like are detected by exactly the same configuration. Exactly the same effects as the above embodiments can be obtained.

In each of the first to fifth embodiments, the first to third vehicle observation devices 1,
Although the example in which the vehicles 2 and 24 are installed on the pillars on the road side is shown, the vehicle observation device may be mounted on the vehicle, and the output from the vehicle observation device does not collide with the tracking vehicles T1 and T2. By controlling the speed control means such as the engine control device and the brake device or the steering device of the vehicle, a collision accident can be prevented.

In the first to fifth embodiments, examples in which a millimeter wave radar device, an infrared image sensor, or a visible image sensor is used as the first to third vehicle observation devices have been described. In addition, various types of observation devices such as a laser telemeter device that measures the shape, size, speed, and distance to an object on a road may be used, and weighting according to the detection characteristics of each observation device may be set. By doing so, a shoulder-like effect can be achieved.

[0055]

As described above, the road detecting device according to the first aspect of the present invention has characteristics different from each other with respect to environmental conditions, and detects an object on a road and outputs observation information. And a second road observation device, and environmental information on the road are input, and the observation information output from the first and second road observation devices is weighted based on the environmental information. By doing so, since the processing device for determining the state of the object is provided, it is possible to reliably detect and track the object on the road regardless of day or night or weather.

As described above, the road detecting apparatus according to the second aspect of the present invention irradiates a radio wave to receive a reflected wave from an object on a road, and detects the position and speed of the object. A second on-road observation device for receiving infrared light emitted from the object and detecting the position and speed of the object;
And a mean value is calculated by weighting the observation information output from the first and second road observation devices based on environmental information input from the outside, and the calculated average value and A processing device that calculates the tracking parameters of the object based on the past tracking parameters of the object and determines an event of the object based on the calculated tracking parameters of the object. There is an effect that the vehicle can be reliably tracked in bad weather such as fog or snowstorm regardless of the interval.

As described above, the road detecting device according to the third aspect of the present invention irradiates a radio wave to receive a reflected wave from an object on a road, and detects the position and speed of the object. A second on-road observation device for receiving visible light reflected from the object and detecting the position and speed of the object;
And a mean value is calculated by weighting the observation information output from the first and second road observation devices based on environmental information input from the outside, and the calculated average value and A processing device that calculates tracking parameters of the object based on past tracking parameters of the object and determines an event of the object based on the calculated tracking parameters of the object. It is possible to reliably track the vehicle even in bad weather such as snowstorm or snowstorm.

As described above, the road detecting apparatus according to the fourth aspect of the present invention comprises: a first road observation apparatus for receiving infrared rays emitted from an object and detecting a position and a speed of the object; Receiving the visible light reflected from the
A second road observation device for detecting the position and velocity of the object, and an average value obtained by weighting observation information output from the first and second road observation devices based on environmental information input from the outside. Calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, and calculate the event of the object based on the calculated tracking parameters of the object. Since the determination device is provided, there is an effect that the vehicle can be reliably tracked regardless of day or night.

As described above, the road detecting apparatus according to the fifth aspect of the present invention irradiates a radio wave to receive a reflected wave from an object on a road, and detects the position and speed of the object. A second on-road observation device for receiving infrared light emitted from the object and detecting the position and speed of the object;
A road observation device, a third road observation device that receives visible light reflected from the object and detects the position and speed of the object, and the first and second based on environment information input from the outside. And weighting the observation information output from the third road observation device to calculate an average value, and based on the calculated average value and the past tracking data of the object, calculate the tracking data of the object. And a processing device for determining an event of the object based on the calculated specification of the object, so that the vehicle can be reliably tracked under all weather conditions, day or night. It works.

According to a sixth aspect of the present invention, as described above, at least one of the speed control means for controlling the traveling speed and the steering means for controlling the traveling direction is provided in any one of the first to fifth aspects. Since the control is performed based on the determination result of the on-road detection device described above, it is possible to avoid a collision between the vehicle and an object on the road regardless of day or night or weather, thereby improving safety. It works.

[Brief description of the drawings]

FIG. 1 is a diagram showing an outline of a road detection device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a road detection device according to Embodiment 1 of the present invention.

FIG. 3 is a block diagram illustrating a configuration of a road detection device according to a second embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a road detection device according to a third embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a road detection device according to a fourth embodiment of the present invention.

FIG. 6 is a diagram showing an outline of a road detection device according to a fifth embodiment of the present invention.

FIG. 7 is a diagram showing an outline of a conventional road detector.

FIG. 8 is a block diagram illustrating a configuration of a conventional on-road detection device.

[Explanation of symbols]

1 first vehicle observation device (first road observation device), 2
Second vehicle observation device (second road observation device), 8 detection information composite device, 9 vehicle tracking device, 10 event determination device, 11 roadside processing device (processing device), 14 antennas, 15 antenna transmission / reception unit, 16 -Digital signal processor, 17 infrared camera, 18 image processor, 19 visibility information, 20 weather information, 21 illuminance information, 22 visible camera, 23 image processor, 24 third vehicle observation device (third road observation device ).

Claims (6)

[Claims] 1. A first and a second on-road observation device having different characteristics with respect to environmental conditions, detecting an object on a road and outputting observation information, and inputting the environmental information on the road. A processing device that determines the state of the object by combining the observation information output from the first and second road observation devices with a weight set based on the environment information. A road detecting device characterized by the above-mentioned. 2. A first on-road observation device for irradiating a radio wave to receive a reflected wave from an object on a road, detecting a position and a speed of the object, and receiving an infrared ray radiated from the object, A second road observation device for detecting the position and velocity of the object, and the first and second observation devices based on environmental information input from outside.
Calculate the average value by weighting the observation information output from the on-road observation device, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, A processing device for determining an event of the object based on the calculated tracking data of the object. 3. A first on-road observation device for irradiating a radio wave to receive a reflected wave from an object on a road and detecting a position and a speed of the object, and receiving visible light reflected from the object. A second on-road observation device for detecting the position and speed of the object, and the first and second devices based on environmental information input from outside.
Calculate the average value by weighting the observation information output from the on-road observation device, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, A processing device for determining an event of the object based on the calculated tracking data of the object. 4. A first roadside observation device that receives infrared light emitted from an object and detects the position and speed of the object, and receives visible light reflected from the object and receives the position and speed of the object. A second road observation device for detecting the first and second road observation devices based on environmental information input from outside.
Calculate the average value by weighting the observation information output from the on-road observation device, calculate the tracking parameters of the object based on the calculated average value and the past tracking parameters of the object, A processing device for determining an event of the object based on the calculated tracking data of the object. 5. A first on-road observation device that irradiates radio waves to receive a reflected wave from an object on a road, detects a position and a speed of the object, and receives an infrared ray emitted from the object, A second road observation device that detects the position and speed of the object, a third road observation device that receives visible light reflected from the object, and detects the position and speed of the object, An average value is calculated by weighting the observation information output from the first, second, and third road observation devices based on the environment information, and the calculated average value and the past tracking data of the object are calculated. And a processing device for calculating a tracking specification of the object based on the element and determining an event of the object based on the calculated tracking specification of the object. 6. A control device according to claim 1, wherein at least one of a speed control means for controlling a traveling speed and a steering means for controlling a traveling direction is controlled based on a determination result of said road detecting device according to claim 1. Motor vehicle characterized by being performed.