JP2002031686A - Vehicle velocity detector and object detector for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the velocity of self-vehicle based only on the detection results of an object detection means without using the velocity of the self-vehicle detected with a vehicle velocity sensor and detect a moving object and the moving direction. SOLUTION: Based on the detection result of the object detection means 5, a relative velocity calculation means M1 calculates the relative velocities between the self vehicle and objects and based on the detection results of the object detection means 5, and the relative velocity, a stop object judging means M2 judges a stopping object among the objects. Since a self-vehicle velocity estimating means M3 estimates the self-vehicle velocity based on the relative velocity of the to the stopping object, the self-vehicle velocity can be estimated only from the detection results of the object detection means 5 without using the self-vehicle velocity detected with the vehicle velocity sensor. Also, since a moving object judging means M4 judges the moving objects and the moving directions among the objects based on the detection results of the object detection means 5 and the relative velocity, the moving objects and the moving directions can be detected only from the detection results of the object detection means 5 without using the self-vehicle velocity detected with the vehicle velocity sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed detecting device for detecting the speed of an own vehicle by detecting an object in a vehicle traveling direction by an object detecting means, and detecting an object in a vehicle traveling direction by the object detecting means. The moving object is determined by
The present invention relates to a vehicular object detection device that determines a moving direction of the moving object with respect to the own vehicle or a stationary object.

[0002]

2. Description of the Related Art An inter-vehicle distance from a preceding vehicle traveling in front of an own vehicle is detected by a radar device, and when the inter-vehicle distance becomes shorter than a set inter-vehicle distance, a warning is issued to a driver to urge an avoidance operation. A running safety device for a vehicle that performs automatic braking or automatic braking is known from Japanese Patent Application Laid-Open Nos. 9-142172 and 11-23705.

In order to detect the inter-vehicle distance between a host vehicle and a preceding vehicle, a stationary object such as a cat's eye disposed on a road surface or a delineator disposed on a road side and an oncoming vehicle are excluded from the objects detected by the radar device. It is necessary to detect only the preceding vehicle. In order to distinguish the preceding vehicle from the stationary object and the oncoming vehicle, the relative speed of the detected object with respect to the own vehicle is compared with the own vehicle speed, and the object in which the value obtained by adding the own vehicle speed to the relative speed becomes 0 is the stationary object. It is only necessary to determine that the object whose positive value is obtained by adding the vehicle speed to the relative speed is the preceding vehicle.

[0004]

The own vehicle speed can be obtained by using a signal from a vehicle speed sensor, but a harness is required to connect the vehicle speed sensor to the driving safety device, and the harness is retrofitted. When doing so, not only is the handling troublesome, but also the appearance is impaired.
In order to solve such a problem, if an attempt is made to identify the preceding vehicle only from the detection result of the radar device without using the own vehicle speed detected by the vehicle speed sensor, it is impossible to distinguish between a stationary object and the preceding vehicle,
Unnecessary warnings and automatic braking are executed, and the driver may feel uncomfortable.

The present invention has been made in view of the above circumstances, and provides a vehicle speed detecting device capable of accurately detecting the own vehicle speed based on the detection result of an object detecting means without using the own vehicle speed detected by a vehicle speed sensor. The purpose is to do. Another object of the present invention is to provide a vehicular object detection device that can accurately detect a moving object and its moving direction based on the detection result of an object detection unit without using the vehicle speed detected by a vehicle speed sensor. .

[0006]

In order to achieve the above object, according to the first aspect of the present invention, an object detecting means for detecting an object in a traveling direction of a vehicle and a detection result of the object detecting means. Relative speed calculating means for calculating the relative speed of the vehicle and the object, and stationary object determining means for determining a stationary object from the objects based on the detection result of the object detecting means and the relative speed calculated by the relative speed calculating means. There is proposed a vehicle speed detecting device comprising: a vehicle speed estimating means for estimating the vehicle speed based on the relative speed calculated by the relative speed calculating means for the stationary object determined by the stationary object determining means.

According to the above arrangement, the relative speed of the vehicle and the object is calculated based on the detection result of the object detecting means, and a stationary object is determined from the objects based on the detection result of the object detecting means and the relative speed. Since the own vehicle speed is estimated based on the relative speed of the stationary object, the own vehicle speed can be estimated only from the detection result of the object detecting means without the need for the vehicle speed sensor.

According to the invention described in claim 2,
In addition to the configuration of claim 1, the stationary object determining unit determines the stationary object based on the relative position of the object with respect to the own vehicle detected by the object detecting unit and the relative speed calculated by the relative speed calculating unit. A vehicle speed detection device is proposed.

According to the above configuration, since the stationary object is determined based on the relative position and the relative speed of the object, it is possible to determine the cat's eye or the delineator that is separated to the left and right as the stationary object.

According to the third aspect of the present invention,
Object detection means for detecting an object in the traveling direction of the vehicle, relative speed calculation means for calculating a relative speed between the own vehicle and the object based on the detection result of the object detection means, calculation of the detection result of the object detection means and the relative speed calculation means A stationary object determining unit that determines a stationary object from the objects based on the relative speed, and a moving object from the objects based on the detection result of the object detecting unit and the relative speed calculated by the relative speed calculating unit. In addition, there is proposed a vehicle object detection device including a moving object determination unit that determines a moving direction of the moving object with respect to the own vehicle or a stationary object.

According to the above configuration, the relative speed of the vehicle and the object is calculated based on the detection result of the object detection means, and the moving object and the moving object are selected from the objects based on the detection result of the object detection means and the relative speed. Since the direction is determined, the moving object and the moving direction can be detected only from the detection result of the object detecting means without using the own vehicle speed detected by the vehicle speed sensor.

According to the invention described in claim 4,
4. An object for a vehicle, further comprising an own vehicle speed estimating means for estimating the own vehicle speed based on the relative speed calculated by the relative speed calculating means with respect to the stationary object determined by the stationary object determining means. A sensing device is proposed.

According to the above arrangement, a stationary object is determined from the objects based on the detection result of the object detecting means and the relative speed, and the own vehicle speed is estimated based on the relative speed of the stationary object. The self-vehicle speed can be estimated from only the detection result of the object detection means without requiring.

According to the fifth aspect of the present invention,
In addition to the configuration of claim 3 or 4, the stop object determining means includes:
A vehicular object detection device is proposed in which a stationary object is determined based on the relative position of the object with respect to the vehicle detected by the object detection means and the relative speed calculated by the relative speed calculation means.

According to the above configuration, since the stationary object is determined based on the relative position and the relative speed of the object, it is possible to determine the cat's eye or the delineator that is left and right apart as the stationary object.

Further, according to the invention described in claim 6,
In addition to the configuration of any one of claims 3 to 5, the moving object determination unit determines a relative speed of the stationary object determined by the stationary object determination unit,
By comparing with the relative speed of a moving object that is not determined as a stationary object,
A vehicular object detection device is proposed in which a moving direction of the moving object with respect to the own vehicle or a stationary object is determined.

According to the above configuration, since the relative speed of the moving object is compared with the relative speed of the stationary object, the moving direction of the moving object with reference to the own vehicle or the stationary object can be reliably determined. .

Further, according to the invention described in claim 7,
7. The vehicle object detection method according to claim 6, wherein the stationary object determining means determines an object having a relative speed difference between the determined relative speed of the stationary object and the relative speed within a predetermined value as a stationary object. An apparatus is proposed.

According to the above arrangement, an object whose relative speed difference from the relative speed of the stationary object determined by the stationary object determining means is within a predetermined value is determined to be a stationary object. It can be reliably determined whether or not another object is a stationary object on the basis of.

The predetermined value is 10 km in the embodiment.
/ H, but is not limited to this.

According to the invention described in claim 8,
In addition to the configuration according to any one of claims 3 to 7, the moving object determining means is configured to detect the object when the relative speed of the object is equal to or greater than a minimum value of the relative speed of the same direction vehicle calculated by the relative speed calculating means. Is determined to be a vehicle in the same direction.

According to the above configuration, based on the relative speed of the object being equal to or greater than the minimum value of the relative speed of the same direction vehicle, it is possible to reliably determine that the object is the same direction vehicle.

According to the ninth aspect of the present invention,
In addition to the configuration according to any one of claims 3 to 8, the moving object determination unit determines the object when the relative speed of the object is equal to or less than the maximum value of the relative speed of the oncoming vehicle calculated by the relative speed calculation unit. A vehicular object detection device characterized by determining an oncoming vehicle is proposed.

According to the above configuration, it is possible to reliably determine that the object is an oncoming vehicle based on the fact that the relative speed of the object is equal to or less than the maximum value of the relative speed of the oncoming vehicle.

According to the tenth aspect of the present invention, in addition to the constitution of any one of the fourth to ninth aspects, the relative speed and the position of the object determined to be the same direction vehicle by the moving object determining means. Further, there is proposed a vehicle object detection device including a contact possibility determining means for determining a possibility of the own vehicle coming into contact with an object based on the own vehicle speed estimated by the own vehicle speed estimating means.

According to the above configuration, it is possible to accurately determine the possibility that the own vehicle will come into contact with the object based on the relative speed and position of the object determined to be the same direction vehicle and the estimated own vehicle speed.

According to the eleventh aspect of the present invention, in addition to the configuration of any one of the fourth to tenth aspects, the stationary object determining means may determine that the relative speed difference from the own vehicle speed is within a predetermined value. An object detection device for a vehicle is proposed, wherein an object is determined, and when the number of determined objects is equal to or more than a predetermined number, the object is determined to be a stationary object.

According to the above configuration, when the number of objects whose relative speed difference from the own vehicle speed is within a predetermined value is equal to or more than a predetermined number, the object is determined to be a stationary object. A stationary object can be determined with high accuracy.

The predetermined value is 20 km in the embodiment.
/ H, and the predetermined number is set to 7 in the embodiment, but is not limited thereto.

According to a twelfth aspect of the present invention, in addition to the configuration of any of the fourth to eleventh aspects, the stationary object determining means detects an object whose relative speed difference from the own vehicle speed is within a predetermined value. A vehicular object detection device is proposed in which the object is determined to be a stationary object when the distance between the determined object in the traveling direction and the vehicle width direction is equal to or longer than a predetermined distance.

According to the above configuration, when the relative speed difference from the own vehicle speed is within a predetermined value and the distance between the moving direction and the vehicle width direction of the object is more than a predetermined distance, the object is determined to be a stationary object. A stationary object such as a cat's eye or a delineator can be determined with high accuracy.

The predetermined value is 20 km in the embodiment.
/ H, and the predetermined distance is set to 3 m in the embodiment, but is not limited thereto.

According to a thirteenth aspect of the present invention, in addition to the configuration of any one of the fourth to twelfth aspects, the stationary object determining means may determine that the relative speed difference from the own vehicle speed is within a predetermined value. An object detection device for a vehicle has been proposed, in which an object is determined, and the object is determined to be a stationary object when an interval in the traveling direction of the determined object is equal to or more than a predetermined multiple of an interval in the vehicle width direction. You.

According to the above arrangement, the object is determined to be a stationary object when the relative speed difference from the own vehicle speed is within a predetermined value and the interval in the traveling direction of the object is equal to or more than the predetermined interval in the vehicle width direction. Therefore, a stationary object such as a cat's eye or a delineator can be determined with high accuracy.

The predetermined value is 20 km in the embodiment.
/ H, and the predetermined multiple is twice as large in the embodiment,
The value is set to double or eight times, but is not limited thereto.

According to the fourteenth aspect of the present invention, in addition to the configuration of any one of the fourth to thirteenth aspects, the stationary object determining means includes a plurality of objects which are determined to be stationary objects. As a result of comparing the speeds, a vehicular object detection device is proposed in which an object having a relative speed that is farthest away is excluded from a stationary object.

According to the above configuration, the object having the greatest relative speed is excluded from the plurality of objects determined to be stationary, so that low-precision data can be excluded to improve the accuracy of determining stationary objects. it can.

According to the invention described in claim 15, in addition to the constitution of any one of claims 4 to 14, the stop object determining means may determine that the total number of objects determined to be a stop object is a predetermined number. A vehicle object detection device is proposed in which the object is excluded from stationary objects when the number is equal to or less than the number.

According to the above configuration, when the total number of objects determined to be stationary is equal to or less than a predetermined number, the objects are excluded from the stationary objects, so that erroneous determination can be prevented with a small amount of data. .

The predetermined number is set to two in the embodiment, but is not limited to two.

According to a sixteenth aspect of the present invention, there is provided an object detecting device for a vehicle, comprising a solar panel as a power source in addition to the configuration of any of the fourth to fifteenth aspects. Suggested.

According to the above configuration, since the solar panel is provided as a power supply, a harness for connecting to an external power supply such as a battery is not required, so that the mounting position of the vehicle object detecting device can be increased in degree of freedom and the attaching / detaching operation can be easily performed. Becomes possible.

According to the seventeenth aspect of the present invention, in addition to the configuration of the sixteenth aspect, an inter-vehicle distance display unit for displaying the inter-vehicle distance between the own vehicle and the same direction vehicle can be contacted with the same direction vehicle. An object detection device for a vehicle, comprising: a warning generation unit that warns the driver of the driver's performance.

According to the above configuration, the inter-vehicle distance display unit and the alarm generation unit are provided, so that the inter-vehicle distance to the same direction vehicle is notified to the driver, and the possibility of contact with the same direction vehicle is alerted to the driver. Can prompt a voluntary avoidance operation.

[0045]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIGS. 1 to 19 show an embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of an inter-vehicle distance alarm, FIG. 2 is a perspective view of the inter-vehicle alarm, and FIG. FIG. 4 is a flowchart of a main routine, FIG. 5 is a flowchart of a radar processing unit of the main routine, FIG. 6 is a first partial diagram of a subroutine of an attribute identification module, and FIG. Second part of the module subroutine flowchart
FIG. 8 is a first diagram of a subroutine of the new attribute identification module, FIG. 9 is a second diagram of a subroutine of the new attribute identification module, and FIG.
0 is the third subsection of the subroutine of the new attribute identification module, FIG. 11 is the fourth subsection of the subroutine of the new attribute identification module, FIG. 12 is the fifth subsection of the subroutine of the new attribute identification module, 13 is a diagram for explaining the operation of various buffers, FIG. 14 is a diagram for explaining step S230, FIG. 15 is a diagram for explaining step S231, FIG. 16 is a diagram for explaining step S232, FIG. 17 is a diagram for explaining step S233, and FIG. Is an explanatory diagram of step S234, and FIG. 19 is a diagram illustrating the definition of the relative speed between the own vehicle and the target.

As shown in FIG. 1, the inter-vehicle distance warning device includes a radar processing unit 1 using a laser radar, and a same-direction vehicle (preceding vehicle) traveling ahead of the own vehicle based on the detection result of the radar processing unit 1. And an alarm determination processing unit 2 that outputs an alarm for avoiding a collision with (1). Radar processing unit 1
Is composed of a radar transmission unit 3, a radar reception unit 4, a radar detection unit 5, and a target attribute identification unit 6. The alarm determination processing unit 2 connected to the target attribute identification unit 6 includes an inter-vehicle distance display unit 7 for displaying an inter-vehicle distance between the own vehicle and the same direction vehicle, and alarm means such as a buzzer, a chime, and a lamp. The alarm generator 8 connected to the vehicle, a power switch 9 for turning on / off the operation of the inter-vehicle distance display unit 7 and the alarm generator 8 and a yaw rate sensor 10 for estimating the movement locus of the vehicle are connected.

The power supply to the inter-vehicle distance warning device is performed by the
The operation is not performed from the 2V battery, but from the solar panel 11 provided integrally with the inter-vehicle distance alarm device. Also, the own vehicle speed required for judging a collision with the same direction vehicle is not input from an external vehicle speed sensor, but is calculated by the target attribute identification unit 6 in the radar processing unit 1. Therefore, the inter-vehicle distance alarm device can be easily mounted without being connected to a battery or a vehicle speed sensor using a harness simply by being placed on a dashboard in a vehicle compartment, sandwiched between sun visors, or adsorbed to a windshield. It is easy to change the mounting location and remove it.

As shown in FIG. 2, the radar transmitting unit 3
A light transmitting mirror 13 for reflecting a laser output from a laser diode 12 integrally provided with a light transmitting lens, and a motor 15 for reciprocatingly rotating the light transmitting mirror 13 about a vertical axis 14.
And The light beam emitted from the light-sending mirror 13 has an elongated pattern in the vertical direction with a limited left-right width, and it reciprocates in the left-right direction at a predetermined cycle to scan the target. The radar receiver 4 includes a light receiving lens 16, a photodiode 17 that receives the reflected wave converged by the light receiving lens 16 and converts the reflected wave into an electric signal, and a light receiving mirror that reflects the reflected wave from the target and guides the reflected wave to the photodiode 17. And a motor 20 for reciprocating the light receiving mirror 18 about a left-right axis 19. The light receiving area having an elongated pattern in the left and right direction with a limited vertical width is the light receiving mirror 1.
8, the target is scanned by reciprocating up and down in a predetermined cycle.

Thus, a portion where the vertically elongated light transmitting beam intersects the horizontally elongated light receiving area becomes an instantaneous detection area, and this instantaneous detection area corresponds to the horizontal scanning width of the transmitted light beam. The whole area of the detection area having the same horizontal width and the same vertical width as the vertical scanning width of the light receiving area is moved in zigzag to scan the target. Then, the distance to the target is detected based on the time from when the light transmission beam is transmitted until the reflected wave reflected by the target is received, and the instantaneous detection area at that time is detected. The direction of the target is detected based on the direction, and the speed of the target is detected from the time rate of change of the distance.

As shown in FIG. 3, the target attribute identification unit 6 in the radar processing unit 1 includes a relative speed calculation unit M1, a stationary object determination unit M2, a vehicle speed estimation unit M3, and a moving object determination unit M4. And a contact possibility determining means M5.

The relative speed calculating means M1 calculates the relative speed of the target with respect to the own vehicle based on the detection result by the object detecting means (radar detecting unit) 5. Stopping object determination means M2
Determines a stationary object such as a cat's eye or a delineator stopped on the road surface based on the target detected by the object detecting means 5 and the relative speed of the target calculated by the relative speed calculating means M1. . Own vehicle speed estimation means M3
Estimates the own vehicle speed based on the relative speed of the target determined to be a stationary object by the stationary object determining means M2. The moving object determination unit M4 includes: a target detected by the object detection unit 5;
Based on the relative speed of the target calculated by the relative speed calculation means M1, a moving object such as a same-direction vehicle or an oncoming vehicle moving on the road surface is determined. Contact possibility determination means M
5 determines the possibility of the own vehicle coming into contact with the same direction vehicle based on the same-direction vehicle determined by the moving object determination means M4 and the own vehicle speed estimated by the own vehicle speed estimation means M3.

The inter-vehicle distance display section 7 displays the inter-vehicle distance with a vehicle in the same direction that has been determined to have a possibility of contact with the own vehicle. When it is determined that there is a possibility of contact with the car, the warning generation unit 8 issues a warning to the driver to urge the driver to avoid contact by deceleration or steering.

Next, the definition of the relative speed between the own vehicle and the target will be described with reference to FIG.

In this embodiment, targets when the own vehicle moves forward are classified into same-direction vehicles (vehicles moving in the same direction as the own vehicle), stationary objects, and oncoming vehicles. When the target is a stationary object, for example, the relative speed when the own vehicle is traveling at 60 km / h is -60 km / h. The same direction car is 40k
When the vehicle is traveling at 60 km / h while traveling at m / h, the relative speed is -20 km / h. When the oncoming vehicle is traveling at 40 km / h, the own vehicle is 60 km / h.
h, the relative speed is -100 km / h.
When the same vehicle is traveling at 80 km / h and the own vehicle is traveling at 60 km / h, the relative speed is 20 km / h.
It is. That is, when the inter-vehicle distance between the own vehicle and the same direction vehicle is decreasing (when the own vehicle speed is faster than the same direction vehicle speed), the relative speed becomes “negative value” and the own vehicle When the inter-vehicle distance with the same direction vehicle is increasing (when the vehicle speed of the own vehicle is lower than the vehicle speed of the same direction vehicle), the relative speed becomes “positive value”. When the target is a stationary object or an oncoming vehicle, the own vehicle approaches the target, so that the relative speed always becomes a “negative value”.

In this embodiment, a stationary object is determined based on the following principle, and the own vehicle speed is detected based on the relative speed between the stationary object and the own vehicle.

In order to display an inter-vehicle distance or to warn of an abnormal approach with the inter-vehicle distance alarm device, it is necessary to first know the own vehicle speed. To detect the vehicle speed from the output of the radar device without using the output of the vehicle speed sensor that detects the vehicle speed from the wheel speed, etc., determine a stationary object from the target and determine the relative speed between the stationary object and the vehicle. The vehicle speed can be used.

At first, there is no distinction between a stationary object, a vehicle in the same direction and an oncoming vehicle in the target detected by the radar apparatus, and only the detected relative speed is different. The major stationary objects are fixed objects that exist on the left and right sides of the lane, and reflective objects such as cat's eyes and delineators. Cat's eyes are reflectors arranged at predetermined intervals at lane boundaries, and delineators are reflectors arranged at predetermined intervals on guardrails. These stops can be distinguished from oncoming or oncoming vehicles by the following features. The relative speeds of the stationary objects are all the same.
m or more are separated by a large number of cat's eyes and delinators are arranged vertically in a narrow horizontal space. If a stationary object is judged based on these characteristics, all targets are classified based on the following principle. be able to.

Oncoming vehicle relative speed ≤ maximum oncoming vehicle relative speed ≤ stationary object relative speed ≤ minimum same-direction vehicle relative speed ≤ same-direction vehicle relative speed In this way, the target can be distinguished into a stationary object, a same-directional vehicle and an oncoming vehicle. If the vehicle speed and the distance between the vehicle and the same direction vehicle are known, the distance between vehicles and the warning of the abnormal approach can be accurately executed.

Next, the operation of the embodiment of the present invention will be described based on a flowchart.

In the main routine of FIG. 4, in step S1, all targets in the detection area are detected by the radar device, and in step S2, the attributes of the detected targets (stops, same-direction vehicles, oncoming vehicles) are identified. S3
Transmits the target data and the own vehicle speed of the same direction vehicle to the alarm determination processing unit 2. These steps S1 to S3 are executed in the radar processing unit 1. In the subsequent step S4, if there is a target to be warned, the process proceeds to step S4.
In step S5, the inter-vehicle distance of the target to be warned is output to the inter-vehicle distance display unit 7. If it is determined in step S6 that there is a danger of collision, step S7 is performed to prompt the driver to avoid collision by deceleration or steering. To activate the alarm generator 8 to output an alarm. These steps S4 to S7 are executed in the alarm determination processing unit 2.

In determining the possibility of a collision in step S6, the direction of the same-direction vehicle and the own-vehicle speed are considered in addition to the inter-vehicle distance between the own vehicle and the same-direction vehicle. The reason is that it is difficult to avoid a collision when the same direction vehicle is in front of the own vehicle, and it is difficult to avoid a collision when the own vehicle speed is high.

FIG. 5 shows details of the operation of the radar processing unit 1. First, in step S11, all targets in the detection area are detected, and the target data is stored in the target memory of the current frame. Then, in step S12, the target memory of the previous frame and the target memory of the current frame are compared and referenced, and the same The target takes over its target attributes (stops, same-way vehicles, oncoming vehicles). In this way, when the previously detected target is also detected this time, by inheriting the attribute, useless calculation processing can be reduced.

FIG. 13 shows a state in which the radar processing unit 1 has detected a target in front of the vehicle to explain the contents of steps S11 and S12. The radar processing unit 1 scans the detection area in the direction of the arrow at a detection cycle of, for example, 100 msec, and detects the targets (1) to (4) from the left to the right in numerical order. Here, a delinator which is a stationary object, a cat's eye which is a stationary object, and a reflector of the same direction vehicle which is a moving object,
, And are detected.

[0065]

[Table 1]

The left column of Table 1 shows the previous frame memory in which the previous scanning result is stored.
1, the left / right position (the left side is a negative value and the right side is a positive value based on the front of the own vehicle), the front-rear distance, the front-rear relative speed (FIG. 1)
9) and attributes (stops, same-direction vehicles, oncoming vehicles) are stored in the order of detection. The right column of Table 1 shows the current frame memory in which the current scanning result is stored, and the data of the targets 1 to 3 are stored in the order of detection as in the previous frame memory. The previous frame memory and the current frame memory are alternately used every 100 msec which is the detection cycle.

For example, the vehicle and the target,.
If the relative speed is -80 km / h, one detection cycle 10
The front-rear distance is reduced by about 2 m during 0 msec. The left and right positions and the relative speed hardly change. As described above, the correspondence between the target stored in the previous frame memory and the target stored in the current frame memory is checked, and the attribute stored in the previous frame memory is inherited by the current frame memory, so that the attribute can be determined. Necessary arithmetic processing can be reduced.

In the subsequent step S13, the attribute identification module identifies the attribute of the target whose attribute is not yet determined. Details of step S13 will be described later with reference to FIGS.

After the attributes of the target are determined in step S13, if a stationary object target exists in step S14 and the stationary object target approaches the own vehicle in step S15, the stationary object target is determined in step S16. The absolute value of the relative speed is defined as the own vehicle speed. And step S
If the own vehicle speed is equal to or higher than 20 km / h at 17, the target data of the same direction vehicle attribute and the own vehicle speed are sent to the alarm determination processing unit 2 at step S18.

If there is no stop target in step S14, only target data having the same direction vehicle attribute is sent to the alarm determination processing unit 2 in step S19. In this case, since the own vehicle speed cannot be detected, the possibility of collision is determined based on only the same direction vehicle attribute target data without using the own vehicle speed. If the stationary object target is not approaching the own vehicle in step S15, that is, if the own vehicle is moving backward, the target data is not transmitted because there is no possibility of collision. If the vehicle speed is less than 20 km / h in step S17, the target data is not transmitted because the possibility of collision is low.

Next, the subroutine of step S13 (attribute identification module) will be described with reference to the flowcharts of FIGS.

First, the target data of the current frame is read in step S101, and if there is no target attribute (stop, same-direction vehicle, oncoming vehicle) in step S102, the target data is stored in an unattributed buffer in step S103 (see Table 2). Are stored in ascending order of relative speed (fastest approaching speed to the own vehicle). If the target has taken over the stationary object target attribute of the previous frame in step S104, the target data is stored in the stationary object buffer (see Table 3) in step S105 in order of the relative speed being small (the approaching speed to the own vehicle is fast). Remember. Step S1
In 04, if the target attribute is not a stationary object target and has inherited the moving object target attribute of the previous frame,
In step S106, the target data is stored in the moving object buffer (see Table 4) in order of relative speed (lower approach speed to the own vehicle). And the steps S101 to S101
S106 is repeated until all target data is read in step S107.

[0073]

[Table 2]

[0074]

[Table 3]

[0075]

[Table 4]

If there is target data in the stationary object buffer in the subsequent step S108, the difference between the minimum value and the maximum value is 20 km / h or less in order to evaluate the reliability of the target data in the stationary object buffer in step S109. If the difference is equal to or less than 20 km / h and the reliability of the target data in the stationary object buffer is high, the average value of the relative speed of the target data in the stationary object buffer is determined in step S110. The calculated relative values of all target relative speeds of the current frame having the stationary object target attribute and the relative speed of the stationary object buffer are rewritten to the average value.

In step S109, the difference between the minimum value and the maximum value of the target data in the stopped object buffer is 20k.
m / h, and in step S111, the number of target data in the stationary object buffer is two or less (here, it is impossible that the number of target data is one or zero), and the reliability is high. If the property is low, the target attribute of the current frame and the target attribute in the stationary object buffer are cleared in step S112, and the target data in the stationary object buffer is moved to the non-attribute buffer.
Then, further processing is performed by the new attribute identification module in step S114 in order to determine a stopped object. This step S
Details of 114 will be described later with reference to FIGS. Even if there is no target data in the stoppage buffer in step S108, further processing is performed by the new attribute identification module in step S114 to determine the stoppage.

If there are three or more target data in the stopped object buffer in step S111,
When the difference between the minimum value and the maximum value of the target data or more exceeds 20 km / h, it means that data with low reliability is included. Therefore, in step S113, a target having a larger speed difference from other targets having the smallest speed difference is selected from the target having the largest relative speed and the target having the smallest relative speed, and the selected target is selected. The target attribute of the current frame and the target attribute of the stationary object buffer are cleared, and the target of the stationary object buffer is moved to the non-attribute buffer. Then, steps S109 and S
111, S113, whether the stop target disappears,
This operation is repeated until the relative speed difference between all the stationary target is 20 km / h or less.

The contents of step S113 will be specifically described with reference to the stop object buffer shown in Table 3 as an example. The target with the highest relative speed among the targets
On the other hand, the speed difference between the target having the smallest speed difference is 1 km / h, and the speed difference between the target having the smallest relative speed and the target having the smallest speed difference is 2 km / h. Therefore, the larger 2k
It is determined that the target having the m / h speed difference has the lowest reliability, and this target is selected and moved from the stationary buffer to the non-attribute buffer.

In the following step S115, target data in the moving object buffer is read, and in step S116, the relative speed difference between the moving object target and the average value of the stationary object target obtained in step S110 is ± 10 km / h or more, If the moving object target is approaching the own vehicle faster than the stationary object target in step S117, it is determined that the moving object is an oncoming vehicle in step S118, and the target attribute of the current frame and the attribute of the moving object buffer are determined. Is the oncoming vehicle. In step S116, the relative speed difference between the moving object target and the stationary object target is ± 10 km.
If it is less than / h, it is determined in step S119 that the target is a stationary object, the target attribute of the current frame and the attribute of the moving object buffer are set to a stationary object, and the target of the moving object buffer is moved to the stationary object buffer. If the moving object target approaches the moving object target more slowly than the stationary object target in step S117, it is determined in step S120 that the moving object is the same direction vehicle, and the target attribute of the current frame and the attribute of the moving object buffer are determined. Are the same direction vehicles. Steps S115 to S118 are repeated until target data in all moving object buffers is read in step S121.

In step S122, target data in the non-attribute buffer is read. In step S123, the relative speed difference between the target in the non-attribute buffer and the average value of the stationary target obtained in step S110 is ± 10.
km / h or more, and if the target in the non-attribute buffer approaches the own vehicle faster than the stationary object target in step S124, it is determined that the target is an oncoming vehicle in step S125, and The target attribute and the attribute of the non-attribute buffer are set to the oncoming vehicle, and the target of the non-attribute buffer is moved to the moving object buffer. If the relative speed difference between the target in the non-attribute buffer and the stationary object target is less than ± 10 km / h in step S123, it is determined in step S126 that the target is a stationary object, and the target attribute of the current frame is determined. The attribute of the non-attribute buffer is regarded as a stop object, and the target of the non-attribute buffer is moved to the stop object buffer. Step S124
If the target in the non-attribute buffer is approaching more slowly than the stationary object target in step S127, it is determined in step S127 that the target is the same direction vehicle, and the target attribute of the current frame and the attribute of the non-attribute buffer are matched. The direction vehicle is set, and the target of the non-attribute buffer is moved to the moving object buffer. Then, until the target data in all the non-attribute buffers is read in step S128,
When 122 to S125 are repeated and the target data in all the non-attribute buffers is read, the process proceeds to step S14 in the flowchart of FIG.

Next, the details of the new attribute identification module in step S114 will be described with reference to the flowcharts of FIGS. The new attribute identification module is executed when the number of target data in the stopped object buffer is 0 and the stopped object cannot be determined (step S10).
8, S111).

First, in step S201, target data in the moving object buffer is read. In step S202, if the read target is a target having the same-direction vehicle attribute and if there is data in the minimum same-direction vehicle relative speed buffer in step S203. In step S204, the relative speed of the target is compared with the relative speed of the minimum same-direction vehicle relative speed buffer, and the smaller one is put into the minimum same-direction vehicle relative speed buffer. If there is no data in the minimum same-direction vehicle relative speed buffer in step S203, the read target data is stored in the minimum same-direction vehicle relative speed buffer in step S205.

Subsequent step S206 If the read target is an oncoming vehicle attribute target, and if there is data in the maximum oncoming vehicle relative speed buffer in step S207, the relative speed of the target is stored in the maximum oncoming vehicle relative speed buffer in step S208. , The larger one is put into the maximum oncoming vehicle relative speed buffer. Step S20
If there is no data in the maximum same direction vehicle relative speed buffer at 7,
In step S209, the read target data is stored in a maximum oncoming vehicle relative speed buffer. And step S
Steps S201 to S209 are repeated until the targets of all the moving object buffers are read in 210.

[0085]

[Table 5]

At step S211 there is data in both the maximum oncoming vehicle relative speed buffer and the minimum same-direction vehicle relative speed buffer, and at step S212 the relative speed of the maximum oncoming vehicle relative speed buffer ≦ the minimum same-direction vehicle relative speed buffer. If the relative speed is not established, that is, if the relative speeds of both buffers are reversed, the relative speed of the maximum oncoming vehicle relative speed buffer is rewritten to the relative speed of the minimum same-direction vehicle relative speed buffer in step S213. In the next step S214, target data in the moving object buffer is read. If the relative speed of the minimum same-direction vehicle relative speed buffer> the relative speed of the target does not hold in step S215, it is determined in step S216 that the target is a same-direction vehicle. Then, the target attribute of the current frame and the attribute of the moving object buffer are the same direction vehicle. Steps S214 to S216 are repeated until all targets are read in step S217.

In the following step S218, target data in the non-attribute buffer is read. In step S219, data is present in the minimum same-direction vehicle relative speed buffer.
At 20, it is confirmed that the relative speed of the minimum same-direction vehicle relative speed buffer> the relative speed of the target is established. If there is data in the maximum oncoming vehicle relative speed buffer in step S221, it is confirmed in step S222 that the relative speed of the maximum oncoming vehicle relative speed buffer <the relative speed of the target is satisfied. If the relative speed of the minimum same-direction vehicle relative speed buffer> target relative speed does not hold in step S220, the target of the non-attribute buffer is determined to be the same direction vehicle in step S223 based on the rule of FIG. The target attribute of the frame and the attribute of the moving object buffer are the same direction vehicle. If the relative speed of the maximum oncoming vehicle relative speed buffer <the relative speed of the target is not established in step S222, the target of the non-attribute buffer is determined to be the oncoming vehicle in step S224 based on the rule of FIG. The target attribute and the attribute of the moving object buffer are oncoming vehicles. Steps S218 to S224 are repeated until all targets are read in step S225.

If the non-attribute buffer becomes empty in the following step S226, the flow shifts to step S14 in the flowchart of FIG. 5, and if the non-attribute buffer is not empty, step S227 is executed.
The target data is read from the non-attribute buffer at step S228, and at step S228 the relative speed of the read target +
Read other target data up to 20 km / h.
This is + 20k considering the error of the radar processing unit 1 and the like.
This is because the range of m / h may be a candidate for a target of a stationary object. In a succeeding step S229, the relative speed is increased by +20.
If there is a target up to km / h, step S230
At 234, it is determined whether or not the stop target candidate is actually a stop based on various conditions.

First, in step S230, if the total number of the candidate for a stationary object having the same relative speed is 7 or more, it is determined that the object is a stationary object, and if it is 6 or less, the determination is suspended and the process proceeds to the next step S231. . The reason is that when three same-direction vehicles having the same relative speed are arranged in the horizontal direction, six reflectors are targeted, and four or more same-direction vehicles are rarely arranged in the horizontal direction. FIG. 14 shows a case where there are a total of eight stops including two delineators 1, 8 and six cat's eyes 2 to 7.

In the following step S231, if there are two or more stop target candidates whose front-rear distance and left-right distance to the next stop target candidate are both larger than 3 m, it is determined that the object is a stop. And the process moves to the next step S232. The reason for this is that the combination of the candidate for a stationary object whose front-rear spacing and left-right spacing are both larger than 3 m is hardly generated by the reflector of the vehicle, and is easily generated by the cat's eye or the delineator. FIG. 15 shows a case where there are two cat's eyes 2, 5 whose front-to-rear distance and left-right distance to an adjacent stop are both larger than 3 m.

In the following steps S232 to S234, a stationary object is determined on the basis of a combination of the longitudinal and lateral intervals of the stationary object target candidates. The principle is based on the fact that a cat's eye or a delineator is detected in an arrangement with a large front-rear spacing and a small left-right spacing. However, since the front and rear intervals of the cat's eye and the delineator are different depending on the road, the criteria for determining a stationary object is changed depending on the front and rear intervals. That is, if the front-back distance between the cat's eye and the delineator is small, the ratio between the left-right space and the front-back direction space is small, but if the front-back space is large, the ratio between the left-right space and the front-back space is large. Therefore, the condition of the ratio of the left-right space and the front-back space and the number of combinations is determined in three stages.

First, in step S232, if there are three or more combinations of the left and right intervals to the next stop target candidate that are smaller than the front and rear intervals to the next stop target candidate, the combination is determined to be a stop. If it is less than or equal to the set, the determination is suspended and the process moves to the next step S233. FIG. 16 shows an example in which there are five combinations that satisfy the conditions.

In the following step S233, if four or more combinations of the left and right intervals to the adjacent candidate for a stationary object are smaller than the front and rear intervals to the adjacent candidate for a stationary object, two or more combinations are determined to be a stationary object. If it is less than or equal to the set, the determination is suspended, and the routine goes to the next step S234. FIG. 17 shows an example in which there are three combinations that satisfy the conditions.

In the following step S234, if there is a combination in which the right and left interval to the next stop target candidate is eight times smaller than the front and rear interval to the next stop target candidate, it is determined that there is a stop. Step S
Move to 235. FIG. 18 shows an example in which two combinations satisfying the condition exist. And step S235
Step S22 until all targets are read in
7 to S234 are repeated, and when all targets have been read, the process proceeds to step S236.

In step S236, the targets of all the non-attribute buffers are determined to be the same direction vehicles, the target attribute of the current frame and the attribute of the non-attribute buffers are set to the same direction vehicles, and the targets of the non-attribute buffers are moved. After the transfer to the object buffer, step S14 in the flowchart of FIG.
Move to

If the answer to any of steps S230 to S234 is NO, it is determined in step S237 that all the stationary object target candidates are stationary objects, and the target attribute of the current frame and the attribute of the non-attribute buffer are stopped. The target of the non-attribute buffer is moved to the stop object buffer. In the following step S238, the average value of the relative speeds in the stationary object buffer is calculated, and the relative speeds of all targets in the current frame having the stationary object attribute and the relative speeds of the stationary object buffer are rewritten to the average value.

In the following step S239, target data in the moving object buffer is read, and in step S240, if the relative speed difference with the stationary object target is ± 10 km / h or more, and in step S241, the moving object is approaching faster than the stationary object target. In step S242, it is determined that the vehicle is an oncoming vehicle, and the target attribute of the current frame and the attribute of the moving object buffer are regarded as oncoming vehicles. On the other hand, if the relative speed difference with the stationary object target is not ± 10 km / h or more in step S240, it is determined as a stationary object in step S243, and the target attribute of the current frame and the attribute of the moving object buffer are regarded as stationary objects. Move the target of the moving object buffer to the stationary object buffer. If it is determined in step S241 that the vehicle is not approaching faster than the stationary object target, it is determined in step S244 that the vehicle is the same direction vehicle, and the target attribute of the current frame and the attribute of the moving object buffer are set to the same direction vehicle. And step S24
Steps S239 to S244 are repeated until all targets in the moving object buffer are read in Step 5.

In the following step S246, the target data of the non-attribute buffer is read, and if it is approaching faster than the stop target in step S247, the process proceeds to step S24.
At 8, the target attribute of the current frame and the attribute of the non-attribute buffer are determined as the oncoming vehicle, and the target of the non-attribute buffer is moved to the moving object buffer. On the other hand, if it is determined in step S247 that the vehicle is not approaching faster than the stationary object target, it is determined in step S249 that the vehicle is the same-direction vehicle, and the target attribute of the current frame and the attribute of the non-attribute buffer are set to the same direction vehicle. To the moving object buffer. Then, until all targets in all the non-attribute buffers are read in step S250,
246 to S249 are repeated, and the process proceeds to step S14 in the flowchart of FIG.

Although the embodiments of the present invention have been described in detail, various design changes can be made without departing from the gist of the present invention.

For example, although the radar processing unit 1 of the embodiment uses a laser radar, a millimeter-wave radar can be used. In the embodiment, the moving direction of the moving object is determined based on the own vehicle. However, the moving direction of the moving object may be determined based on the stationary object.

[0101]

As described above, according to the first aspect of the present invention, the relative speed of the vehicle and the object is calculated based on the detection result of the object detection means, and the detection result of the object detection means and the relative speed are calculated. A stop object is determined from the objects based on the vehicle speed, and the own vehicle speed is estimated based on the relative speed of the stop object.Therefore, it is possible to estimate the own vehicle speed only from the detection result of the object detection means without the need for a vehicle speed sensor. it can.

According to the second aspect of the present invention,
Since the stationary object is determined based on the relative position and the relative speed of the object, it is possible to determine the cat's eye or the delineator that is separated to the left and right as the stationary object.

According to the third aspect of the present invention,
The relative speed of the vehicle and the object is calculated based on the detection result of the object detection unit, and the moving object and the moving direction are determined from among the objects based on the detection result of the object detection unit and the relative speed. The moving object and the moving direction can be detected only from the detection result of the object detecting means without using the detected vehicle speed.

According to the fourth aspect of the present invention,
A stationary object is determined from the objects based on the detection result of the object detecting unit and the relative speed, and the own vehicle speed is estimated based on the relative speed of the stationary object. The vehicle speed can be estimated from the result alone.

According to the fifth aspect of the present invention,
Since the stationary object is determined based on the relative position and the relative speed of the object, it is possible to determine the cat's eye or the delineator that is separated to the left and right as the stationary object.

According to the invention described in claim 6,
Since the relative speed of the moving object is compared with the relative speed of the stationary object, the moving direction of the moving object with reference to the own vehicle or the stationary object can be reliably determined.

According to the invention described in claim 7,
Since an object whose relative speed difference from the relative speed of the stationary object determined by the stationary object determining means is within a predetermined value is determined to be a stationary object, another object is determined as a stationary object based on the object confirmed to be a stationary object. Can be reliably determined.

According to the eighth aspect of the present invention,
Based on the fact that the relative speed of the object is equal to or greater than the minimum value of the relative speed of the same direction vehicle, it can be reliably determined that the object is the same direction vehicle.

According to the ninth aspect of the present invention,
Based on the fact that the relative speed of the object is equal to or less than the maximum value of the relative speed of the oncoming vehicle, it is possible to reliably determine that the object is an oncoming vehicle.

According to the tenth aspect of the present invention, the possibility that the own vehicle will come into contact with the object is accurately determined based on the relative speed and position of the object determined to be the same direction vehicle and the estimated own vehicle speed. Can be determined.

According to the eleventh aspect, when the number of objects whose relative speed difference from the own vehicle speed is within a predetermined value is equal to or more than a predetermined number, the object is determined to be a stationary object. A stationary object such as a cat's eye or a delineator can be determined with high accuracy.

According to the twelfth aspect of the present invention, when the distance between the object and the vehicle in the traveling direction and the vehicle width direction is within a predetermined distance, the object is stopped. Therefore, a stationary object such as a cat's eye or a delineator can be determined with high accuracy.

According to the thirteenth aspect of the present invention, when the distance in the traveling direction of the object whose relative speed difference from the own vehicle speed is within a predetermined value is equal to or more than the predetermined time interval in the vehicle width direction, Is determined to be a stationary object, so that a stationary object such as a cat's eye or a delineator can be determined with high accuracy.

According to the fourteenth aspect of the present invention, the object whose relative speed is farthest away from the plurality of objects determined to be stationary is excluded. Can be improved.

According to the invention described in claim 15, when the total number of objects determined to be a stationary object is less than a predetermined number, the object is excluded from the stationary objects, so that an erroneous determination is made with a small amount of data. Can be prevented.

Further, according to the present invention, since the solar panel is provided as a power source, a harness for connecting to an external power source such as a battery is not required.
It is possible to increase the degree of freedom of the mounting position of the vehicle object detection device and to facilitate the attachment / detachment work.

According to the seventeenth aspect of the present invention, the provision of the inter-vehicle distance display section and the alarm generation section informs the driver of the inter-vehicle distance to the same direction vehicle, and makes contact with the same direction vehicle. The driver is alerted of the possibility and can be prompted to perform a voluntary avoidance operation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an inter-vehicle distance alarm device.

FIG. 2 is a perspective view of an inter-vehicle distance alarm device.

FIG. 3 is a diagram showing a circuit configuration of a target attribute identification unit.

FIG. 4 is a flowchart of a main routine.

FIG. 5 is a flowchart of a radar processing unit of a main routine.

FIG. 6 is a first partial diagram of a flowchart of a subroutine of the attribute identification module.

FIG. 7 is a second partial diagram of a flowchart of a subroutine of the attribute identification module.

FIG. 8 is a first partial diagram of a flowchart of a subroutine of the new attribute identification module.

FIG. 9 is a second partial diagram of a flowchart of a subroutine of the new attribute identification module.

FIG. 10 is a third partial view of the flowchart of the subroutine of the new attribute identification module.

FIG. 11 is a fourth partial diagram of a flowchart of a subroutine of the new attribute identification module.

FIG. 12 is a fifth partial diagram of a flowchart of a subroutine of the new attribute identification module.

FIG. 13 is a diagram illustrating the operation of various buffers.

FIG. 14 is an explanatory diagram of step S230.

FIG. 15 is an explanatory diagram of step S231.

FIG. 16 is an explanatory diagram of step S232.

FIG. 17 is an explanatory diagram of step S233.

FIG. 18 is an explanatory diagram of step S234.

FIG. 19 is a view for explaining the definition of the relative speed between the own vehicle and the target.

[Explanation of symbols]

 Reference Signs List 5 Radar detection unit (object detection unit) 7 Inter-vehicle distance display unit 8 Alarm generation unit 11 Solar panel M1 Relative speed calculation unit M2 Stop object judgment unit M3 Own vehicle speed estimation unit M4 Moving object judgment unit M5 Contact possibility judgment unit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 626 G01S 7/48 A G01S 7/48 G08G 1/16 C G08G 1/16 G01S 17/88 A

Claims (17)

[Claims] 1. An object detecting means (5) for detecting an object in a traveling direction of a vehicle, a relative speed calculating means (M1) for calculating a relative speed between the host vehicle and the object based on a detection result of the object detecting means (5). A stationary object determining unit (M2) for determining a stationary object among the objects based on the detection result of the object detecting unit (5) and the relative speed calculated by the relative speed calculating unit (M1); A vehicle speed estimating means (M3) for estimating the vehicle speed based on the relative speed calculated by the relative speed calculating means (M1) for the stationary object determined in M2). 2. A stationary object determining means (M2) determines a stationary object based on the relative position of the object with respect to the vehicle detected by the object detecting means (5) and the relative speed calculated by the relative speed calculating means (M1). The vehicle speed detecting device according to claim 1, wherein: 3. An object detecting means (5) for detecting an object in a vehicle traveling direction; a relative speed calculating means (M1) for calculating a relative speed between the vehicle and the object based on a detection result of the object detecting means (5). A stationary object determining means (M2) for determining a stationary object among the objects based on the detection result of the object detecting means (5) and the relative speed calculated by the relative speed calculating means (M1); A) determining a moving object from among the objects based on the detection result of (i) and the relative speed calculated by the relative speed calculating means (M1), and determining a moving direction of the moving object with respect to the own vehicle or a stationary object. Means (M
4) An object detection device for a vehicle, comprising: 4. A vehicle speed estimating means (M3) for estimating the vehicle speed based on the relative speed calculated by the relative speed calculating means (M1) for the stationary object determined by the stationary object determining means (M2). The vehicle object detection device according to claim 3, wherein: 5. A stationary object determining means (M2) determines a stationary object based on the relative position of the object with respect to the own vehicle detected by the object detecting means (5) and the relative speed calculated by the relative speed calculating means (M1). The object detection device for a vehicle according to claim 3 or 4, wherein: 6. The moving object determining means (M4) compares the relative speed of the stationary object determined by the stationary object determining means (M2) with the relative speed of the moving object not determined as the stationary object. The object detection device for a vehicle according to any one of claims 3 to 5, wherein a moving direction with respect to the own vehicle or a stationary object is determined. 7. The stopped object determining means (M2) determines that an object whose relative speed difference from the determined relative speed of the stopped object is within a predetermined value is a stopped object. The object detection device for a vehicle according to claim. 8. A moving object judging means (M4) sets the object as a co-directional vehicle when the relative speed of the object is equal to or greater than the minimum value of the relative speed of the same-directional vehicle calculated by the relative speed calculating means (M1). The object detection device for a vehicle according to any one of claims 3 to 7, wherein the determination is performed. 9. A moving object determining means (M4) determines that the object is an oncoming vehicle when the relative speed of the object is equal to or less than the maximum value of the relative speed of the oncoming vehicle calculated by the relative speed calculating means (M1). The vehicle object detection device according to any one of claims 3 to 8, wherein: 10. The own vehicle comes into contact with the object based on the relative speed and position of the object determined by the moving object determining means (M4) to be the same direction vehicle and the own vehicle speed estimated by the own vehicle speed estimating means (M3). The vehicle object detection device according to any one of claims 4 to 9, further comprising a contact possibility determination unit (M5) for determining a possibility. 11. A stationary object determining means (M2) determines an object whose relative speed difference from the own vehicle speed is within a predetermined value, and determines that the object is a stationary object when the number of determined objects is equal to or more than a predetermined number. The vehicle object detection device according to any one of claims 4 to 10, wherein: 12. A stationary object determining means (M2) for determining an object whose relative speed difference from the own vehicle speed is within a predetermined value, and when an interval of the determined object in a traveling direction and a vehicle width direction is a predetermined distance or more. Determining that the object is a stationary object,
The vehicle object detection device according to any one of claims 4 to 11. 13. A stationary object determining means (M2) determines an object whose relative speed difference from the own vehicle speed is within a predetermined value, and determines that an interval in the traveling direction of the determined object is at least a predetermined multiple of an interval in the vehicle width direction. The object detection device for a vehicle according to any one of claims 4 to 12, wherein the object is determined to be a stationary object at a certain time. 14. A stationary object determining means (M2), as a result of comparing the relative speeds of a plurality of objects determined to be stationary objects, excluding an object having the greatest relative speed from the stationary objects. The vehicle object detection device according to any one of claims 4 to 13, which performs the operation. 15. The stopped object determining means (M2) excludes the object from the stopped objects when the total number of the objects determined as the stopped object is equal to or less than a predetermined number.
15. The vehicle object detection device according to any one of 14. 16. The vehicle object detection device according to claim 4, further comprising a solar panel as a power source. 17. An inter-vehicle distance display unit (7) for displaying the inter-vehicle distance between the own vehicle and the same direction vehicle, and an alarm generation unit (8) for warning a driver of a possibility of contact with the same direction vehicle. The vehicle object detection device according to claim 16, wherein: