JP2002228734A - Peripheral object confirming device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the accurate driving operation by accurately detecting position of an object existing in the periphery of the own-vehicle, and displaying a map to a driver when parking. SOLUTION: Distance and direction to the object existing in the periphery of the own-vehicle obtained by a distance measuring device 4 such as a laser radar is stored in a distance data memory unit 5 in order as a data point sequence with position of the own-vehicle obtained by an own-vehicle position detecting device 1. An object position judging unit 8 judges the positional condition of the peripheral object on the basis of a residual line segment, which is obtained by eliminating a line segment out of the nearly horizontal or nearly vertical angle relation in relation to the reference direction obtained by a reference direction computing unit 3 when the own-vehicle straightly travels, from the line segment, which is obtained by computing a linear approximation in a linear approximation unit 6 on the basis of the data point sequence, in a noise eliminating unit 7. Arrangement of the peripheral object is displayed in a display unit 10 by a map generating unit 9.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for displaying the position of an object around a host vehicle in a garage or a parking lot in a manner that is easy for the driver to understand. The present invention relates to a surrounding object recognition device capable of performing an accurate driving operation.

[0002]

2. Description of the Related Art Such a surrounding object recognition device includes:
There is one described in JP-A-7-248382. The peripheral object recognition device described in this publication uses the distance data obtained by measuring the relative distance from the host vehicle to the object with a distance measuring device such as a laser radar to correspond to the position data of the host vehicle at the time of the distance measurement. The data point sequence is accumulated as a sequence of data points, and the data point sequence is approximated by a straight line or a curve to display the position state of the object.

[0003]

In the above-mentioned conventional peripheral object recognition apparatus, the distance and direction to the object are measured by a laser radar or the like. However, a laser signal coming from another radar is picked up or a road surface is detected. It is inevitable that an error is included in the distance measurement data point sequence due to a change in the direction of the radar together with the vehicle body due to unevenness.

For example, as shown in FIG. 8, three other vehicles 14, 15, 16 are parked along a wall 13, and the other vehicles 14, 15, 16 are parked.
When the data point sequence acquired while entering the parking lot with a space between the other vehicle 15 and the wall 13 in parallel is illustrated,
For example, as shown in FIG. In FIG. 9, the dot sequence 14A
Is the outer peripheral portion of the other vehicle 14, the dot sequence 15A is the outer peripheral portion of the other vehicle 15, the dot sequence 16A is the outer peripheral portion of the other vehicle 16, and the plot 13A of the data point sequence is the wall 13 seen between the spaces between the other vehicles 14 and 15. Corresponds to each part. As can be seen from the figure, data points that become noise due to errors (for the sake of simplicity, noise is represented by thick dots in the figure) are mixed in the data.

[0005] Therefore, when this data point sequence is directly represented as a straight line to represent the position status of the object, and a map of the arrangement status of the surrounding objects is created, as shown in FIG.
The actual position of the surrounding object shown in FIG. In FIG. 10, the line segment 13B is the wall 13,
The line segment 14B corresponds to the other vehicle 14, the line segment 15B corresponds to the other vehicle 15, and the line segment 16B corresponds to the outer peripheral portion of the other vehicle 16B. As described above, in the conventional apparatus, if an error is mixed in the data, the error becomes noise and the recognition accuracy of the position of the surrounding object may deteriorate.

Accordingly, the present invention provides a surrounding object recognizing apparatus capable of accurately recognizing the position of a surrounding object by eliminating the influence of noise caused by an error in the distance measurement data. Aim.

[0007]

According to a first aspect of the present invention, there is provided an own-vehicle position detecting device for detecting a position of an own-vehicle, and a predetermined traveling direction of the own vehicle based on a change in the position of the own vehicle. A reference direction setting means for setting the direction, a distance measuring device installed in the own vehicle and capable of measuring a distance and an azimuth to an object existing around the own vehicle, and a distance measuring device to the object detected by the distance measuring device. A distance data storage unit that stores a set of a distance and an azimuth and the position of the host vehicle detected by the host vehicle position detection device at the time of detecting the object as a data point sequence, and a data point sequence stored in the distance data storage unit A line segment extracting means for extracting a line segment corresponding to an object from a line, and a line satisfying a predetermined angle relationship with respect to a reference direction obtained by a reference direction setting means from among the line segments extracted by the line segment extracting means. Noise removal to extract only minutes And parts, and to have the object position determination unit for determining the position of an object existing around the vehicle based on the line segment extracted by the noise removing unit.

According to a second aspect of the present invention, the reference direction setting means includes:
The vehicle includes a straight traveling determination unit that determines when the vehicle is traveling straight, and a reference direction calculation unit that outputs the traveling direction of the own vehicle when the straight traveling determination unit determines that the vehicle is traveling straight as a reference direction.

According to a third aspect of the present invention, the own vehicle position detecting device detects a traveling distance and a traveling direction as a position of the own vehicle, and a straight traveling judging section obtains a traveling locus from the traveling distance and the traveling direction. Is a straight line, it is determined that the vehicle is traveling straight.

According to a fourth aspect of the present invention, the line segment extracting means extracts a line segment corresponding to the object from the data point sequence as a straight line.

According to a fifth aspect of the present invention, the predetermined angular relationship is a relationship that is substantially parallel or substantially perpendicular to the reference direction. The invention according to claim 6, wherein the predetermined angle relationship is such that the angle formed by the line segment having the maximum length among the line segments extracted by the line segment extraction means with respect to the reference direction is a reference angle, Is substantially parallel or substantially perpendicular to.

Further, according to a seventh aspect of the present invention, the predetermined angular relationship is such that the number of the line segments extracted by the line segment extracting means which have substantially the same angle with respect to the reference direction is the largest. Is a reference angle, and the relationship is substantially parallel or substantially perpendicular to the reference angle.

The invention according to claim 8 is provided with a map generation unit for creating a map representing the position of an object existing around the vehicle obtained by the object position determination unit. Claim 9
The invention further has a display unit for displaying the map created by the map generation unit.

[0014]

According to the first aspect of the present invention, the distance measuring device and the distance and azimuth data to the surrounding object are sequentially collected from the data point sequence as a set together with the own vehicle position data obtained by the own vehicle position detecting device. While extracting the line segment by the line segment extraction means,
With the traveling direction when the straight traveling determination unit determines that the vehicle is traveling straight as the reference direction, the noise elimination unit excludes from the line segments extracted by the line segment extraction unit those other than those having a predetermined angle relationship with the reference direction. Can be accurately determined.

According to the second aspect of the present invention, since the traveling direction of the own vehicle when the straight traveling judgment unit judges that the vehicle is traveling straight is set as the reference direction, the vehicle travels along a line of other vehicles parked in a parking lot, for example. This makes it possible to represent the noise state, and the noise error can be easily identified.

According to the third aspect of the present invention, since the straight traveling judgment unit judges that the traveling locus obtained from the traveling distance and the traveling direction is a straight line, it is the time of straight traveling, it is easy to determine the straight traveling.

According to a fourth aspect of the present invention, since the line segment extracting means extracts a line segment corresponding to the object from the data point sequence as a simple straight line, the extraction process is simple and the processing load is small. It is possible to correspond to the contours of the vehicles lined up in the parking lot without lowering the accuracy.

According to the fifth aspect of the present invention, since the predetermined angle relationship is substantially parallel or substantially perpendicular to the reference direction, by eliminating a line segment which does not correspond to this, the other vehicle can move in the straight traveling direction of the own vehicle. On the other hand, it is possible to accurately recognize the position of a surrounding object in a parking lot or the like that is parked vertically.

Further, according to the present invention, the angle formed by the line segment having the maximum length among the extracted line segments with respect to the reference direction is set as the reference angle, and the predetermined angular relationship is substantially equal to the reference angle. Since the vehicle is parallel or substantially vertical, it is possible to accurately recognize the position of a surrounding object even in a parking lot where another vehicle is parked in an oblique direction with respect to the straight traveling direction of the own vehicle.

Further, according to a seventh aspect of the present invention, an angle of a line segment having the largest number of the extracted line segments having substantially the same angle with respect to the reference direction is set as a reference angle, and a predetermined angle relationship is set as a reference angle. Since it is substantially parallel or substantially perpendicular to the angle, the position of surrounding objects can be accurately recognized even in a parking lot where another vehicle is parked in an oblique direction with respect to the straight traveling direction of the own vehicle. be able to.

According to the eighth aspect of the present invention, a map representing the position of an object existing around the vehicle is created by the map generation unit. For example, a parking position of the own vehicle is set based on the map, and automatic vehicle control is performed. Can be used. According to the ninth aspect of the present invention, a map representing the position of an object existing around the vehicle is displayed on the display unit, so that the driver can easily grasp the position of the surrounding object easily. .

[0022]

Embodiments of the present invention will be described below with reference to examples. FIG. 1 shows the configuration of the surrounding object recognition device according to the first embodiment. The surrounding object recognition device includes an own vehicle position detecting device 1 that sequentially detects the position of the own vehicle in order to grasp the situation of the own vehicle, and the own vehicle travels straight based on a detection signal from the own vehicle position detecting device 1. The vehicle includes a straight traveling determination unit 2 that determines whether or not the vehicle is running, and a reference direction calculation unit 3 that calculates the traveling direction of the own vehicle when the straight traveling determination unit 2 determines that the vehicle is traveling straight.

The surrounding object recognizing device further includes a distance measuring device 4 for detecting a distance to the surrounding object and an azimuth of the object, and an object detected by the distance measuring device 4 together with the own vehicle position detected by the own vehicle position detecting device 1. Distance data storage unit 5 for storing the distance of the object and the azimuth of the object as a data point sequence, a linear approximation unit 6 for linearly approximating the data point sequence stored in the distance data storage unit 5 as a line segment, and a linear approximation unit 6, a noise removing unit 7 for removing a line segment that becomes a noise based on the traveling direction of the own vehicle obtained by the reference direction calculating unit 3 from the line segments obtained by the reference direction calculating unit 3;
An object position determining unit 8 that determines the position of the object based on the line segment excluding the noise component, a map generating unit 9 that generates the arrangement status determined by the object position determining unit 8 as a map, and a map generating unit And a display device 10 for displaying the layout map of the objects generated in 9 to the driver.

The self-vehicle position detecting device 1 includes, for example, Ackerman-type steering based on detection signals detected from a wheel speed sensor provided on each of left and right rear wheels and a steering angle sensor provided on a steering device. A dead reckoning method for estimating the traveling distance and traveling direction of the host vehicle by applying the relationship in the mechanism is used. In addition, since the vehicle speed is low at the time of parking, the error is small even if the above-mentioned Ackerman relation is applied.

The straight traveling judgment section 2 judges whether or not the vehicle is substantially traveling straight based on the own vehicle position signal detected by the own vehicle position detecting device 1. That is, the traveling locus of the host vehicle is calculated from the traveling distance and the traveling direction, and when the traveling locus is substantially straight, it is determined that the vehicle is traveling straight.

The reference direction calculation section 3 is configured to output the traveling direction of the straight traveling to the noise removing section 7 as a reference direction when the straight traveling determining section 2 determines that the vehicle is traveling substantially straight. It is. The traveling direction at this time, that is, the reference direction, is used to eliminate noise components from the line segments indicating the arrangement state of the object based on the data detected by the distance measuring device 4 and the like. The straight traveling judgment unit 2 and the reference direction calculation unit 3 constitute a reference direction setting means of the present invention.

As the distance measuring device 4, laser radars 11 a and 11 b installed at both rear ends of the body of the vehicle 100 as shown in FIG. 8 are used. These beams 12
Each of a and 12b is directed outward in the width direction of the vehicle. The laser radars 11a and 11b capture the reflected waves that return when the laser beams 12a and 12b emitted from the laser beams hit the object, and measure the time between them to detect the distance to the object. Each laser radar 11a,
In 11b, the directionality of the beams 12a and 12b is set strong, the detection angle is set narrow, and the direction is fixed so that the direction of the target object can be easily specified.

The distance data storage unit 5 stores data on the distance and azimuth to the object detected by the laser radars 11a and 11b as the distance measuring device 4 and the time when the object is detected by the own vehicle position detecting device 1. And the data of the position of the own vehicle in the set are sequentially stored as a data point sequence for the number of detected objects.

The straight line approximation unit 6 as a line segment extraction unit extracts a line segment from the data point sequence stored in the distance data storage unit 5 by performing a line approximation using Hough transform or the like. The line segment obtained by this straight-line approximation can be considered for the time being to indicate the position of a surrounding object such as another vehicle adjacent to the own vehicle or the wall of a parking lot. Since erroneous detection data and the like may be mixed in, these line segments may include line segments that are greatly deviated from the actual object position.

The noise elimination unit 7 is configured to generate a signal corresponding to the reference direction obtained by the reference direction calculation unit 3, that is, the traveling direction of the vehicle 100 traveling straight ahead, of the line segments obtained by the straight line approximation unit 6. Only parallel or substantially vertical line segments are extracted, and other line segments are removed as noise. The object position determining unit 8 determines the arrangement of the object around the vehicle based on the line segment from which the noise has been removed by the noise removing unit 7, determines the distance to each part of the object, and stores the data.

The reason for determining the traveling direction when traveling straight ahead as the reference direction is as follows. In other words, in the parking lot, the approach path for parking is narrow and the vehicle must travel substantially straight until it arrives at the parking space, and other vehicles are aligned along this straight traveling direction and are perpendicular to the reference direction or This is because the vehicle is normally parked in an oblique direction, so that the position of another vehicle or the like can be determined based on the straight traveling direction. here,
As shown in FIG. 8, the other vehicles 14 to 16
In this case, attention is paid to a case where the vehicle is parked in a direction perpendicular to the straight traveling direction (reference direction) 0. In this case, the wall 13 of the parking lot is substantially parallel to the reference direction, and the other vehicles 14 to 16
, That is, the line segments representing these are substantially perpendicular or substantially parallel to the reference direction.

The map generator 9 generates a map indicating the arrangement of objects existing around the host vehicle determined by the object position determiner 8. The display unit 10 includes a liquid crystal display device that displays a map generated by the map generation unit 9 to a driver.

Next, the operation of the surrounding object recognizing device having the above configuration will be described. Here, a case where the vehicle is parked in the parking lot shown in FIG. 8 will be described. That is, in the parking lot, FIG.
A wall 13 extending in the middle and horizontal directions is provided, and three other vehicles 14, 15 and 16 are parked in order from the left side in the figure in a state perpendicular to the wall 13. Other vehicles 14
There is a space between the other vehicle 15 and the own vehicle 100,
You approach from the right in the figure and try to park in this space.

In this case, the own vehicle 100 is connected to the other vehicles 14 to
The vehicle travels straight ahead in the horizontal direction from right to left in the figure (the running locus is indicated by 17a), turns the steering wheel to the right near the space, and moves the vehicle 10 in the upper left direction in the figure. After the traveling locus is indicated by 17b), the vehicle is switched from the forward traveling to the reversing traveling, and while turning the steering wheel further to the left, the vehicle body is rotated clockwise around its center of gravity to retreat (this traveling locus is indicated by 17c). The vehicle recedes straight back into the space between the other vehicles 14 and 15 in the direction parallel to the other vehicle (vertical direction in the figure) and stops before the wall 13.

During the parking operation described above, the host vehicle position detecting device 1 of the host vehicle 100 outputs left and right rear wheel speed signals from left and right rear wheel speed sensors and a steering angle sensor (not shown).
Upon receiving the steering angle signals, the travel distance and traveling direction of the vehicle are obtained by calculating the movement amount of each wheel and the rotation angle of the vehicle from these signals, and the own vehicle position is sequentially detected. The specific method of calculating the own vehicle position is disclosed in Japanese Patent Application Laid-Open No. 7-2483 of the present applicant.
Since it is described in Japanese Patent Laid-Open No. 2 (Kokai) No. 2, detailed description thereof is omitted here.

The own vehicle position detected by the own vehicle position detecting device 1 in this manner, that is, the data signal of the traveling distance and the moving direction of the vehicle is sent to the straight traveling judging section 2 and the distance data accumulating section 5. The straight traveling determination unit 2 calculates the traveling locus of the vehicle 100 based on these signals, and determines whether or not the traveling locus is a substantially straight line. When the straight traveling determining unit 2 determines that the vehicle is traveling straight, a signal indicating that the vehicle is traveling straight is sent to the reference direction calculating unit 3. The reference direction calculation unit 3 outputs the traveling direction of the straight running at that time to the noise removal unit 7 as a reference direction.

On the other hand, the laser radars 11a and 11b installed at the rear side edges of the host vehicle 100 receive reflected waves that are returned from the beams 12a and 12b emitted from these to the outside in the vehicle width direction and hit surrounding objects. The distance and direction to an object around the vehicle are sequentially detected. The detection data of the distance and the azimuth to the object is sent to the distance data storage unit 5 and together with the data on the own vehicle position at the time of the object detection sent from the own vehicle position detecting device 1,
As a set of data, a number of data points is stored and accumulated as many as the number of detected objects. Here, the two data are stored as a data set because the distance and the azimuth to the object depend on the position of the host vehicle detected at that time.

It is assumed that the above data point sequence is shown in FIG. If this data point sequence is used as it is,
Thus, in this embodiment, the data point sequence stored in the distance data storage unit 5 is linearly approximated by a straight line approximation unit 6 by a method such as Hough transform. After obtaining a plurality of line segments as shown in FIG. 2, the noise removing unit 7 removes a line segment that becomes a noise.

That is, in many parking lots, FIG.
As shown in FIG.
Since the outer surface of a surrounding object such as 16 or the wall 13 is almost in a substantially horizontal direction or a substantially vertical direction, a line segment having a slope other than these is likely to be noise. Therefore, the noise removing unit 7 receives the signal of the reference direction (the traveling direction of the straight traveling) 18 from the reference direction calculation unit 3 and receives the signal of the line segment shown in FIG. Only line segments in a direction substantially parallel (substantially horizontal) or substantially vertical are extracted, and the others are removed as noise components.

The remaining line segment from which the noise component has been removed by the noise removing unit 7 is a line segment that matches well with the contour representing the outer peripheral portion of the surrounding object, as shown in FIG. That is, line segment 1
3C is the wall 13 in FIG. 8, the line segment 14C is the other vehicle 14,
Line 15C corresponds to the other vehicle 15 and line 16C corresponds to the outer peripheral portion of the other vehicle 16. The object position judging unit 8 judges the arrangement of the surrounding objects based on the line segment (straight line group) after the noise removal processing, and determines the distance to the object. The data is temporarily stored and output to the map generation unit 9 and, if necessary, can be output to a control device (not shown) or the like as information for driving support control. In addition, as an example of driving assistance, a warning may be issued, a brake may be automatically applied, or a steering angle or a vehicle speed may be controlled.

The map generator 9 uses the data from the object position determiner 8 to generate a map representing the position of the object. This map is displayed on the screen of the display unit 10 so that the driver can easily recognize the position situation of an object existing around the host vehicle 100. By referring to this information, the driver can perform a proper driving operation such as a steering wheel operation.

Next, a second embodiment will be described. In the first embodiment, as shown in FIG. 8, the other vehicles 14 to 16 are targeted for a parking lot parked in a direction perpendicular to the straight approach direction of the own vehicle 100, but this embodiment is as shown in FIG. 4. In this case, the vehicle can cope with a parking lot where other vehicles 14 to 16 are parked obliquely with respect to the straight approach direction of the vehicle 100. This embodiment is the same as the configuration of the first embodiment except that the noise removing method in the noise removing unit 7 is different.

The operation until the straight line approximation unit 6 obtains a line segment corresponding to the detected portion of the surrounding object and the operation in which the reference direction calculation unit 3 calculates the straight traveling direction of the vehicle 100, that is, the reference direction, are as follows. This is the same as the embodiment. However, since the other vehicles 14 to 16 are parked in a direction inclined with respect to the wall 13 or the straight traveling direction of the host vehicle 100, the result of the data point sequence stored in the distance data storage unit 5 is shown in FIG. It becomes as shown in. Note that, also in the figure, noise is drawn by thick dots for easy understanding.
Point sequence 13D is wall 13, point sequence 14D is another vehicle 14, point sequence 1
5D corresponds to the other vehicle 15 and the point sequence 16D corresponds to the outer peripheral portion of the other vehicle 16, respectively.

In the noise removing section 7, first, as shown in FIG. 6, for each line segment obtained by the straight line approximating section 6, the angle at which these are inclined with respect to the reference direction obtained by the reference direction calculating section 3 is calculated. Calculate each. Further, the length of each of the line segments is calculated, a line segment having the maximum length is extracted from these line segments, and the angle θ7 formed by the line segment with the maximum length with respect to the reference direction is defined as a reference angle. And

Next, the reference angle θ among the above line segments
A line segment approximately equal to 7 (a line segment approximately parallel to the maximum length line segment),
Alternatively, only the line segment that is substantially perpendicular to the line segment having the maximum length having the reference angle is extracted, and the other line segments are removed as noise. The result is shown in FIG. In the figure, a line segment 14E is another vehicle 14, and a line segment 15E is another vehicle 15.
E and the line segment 16E are in good agreement with the outer peripheral portion of the other vehicle 16.

Based on the line segments 14E to 16E extracted by the noise removing unit 7 in this manner, the map generating unit 8 generates a map in which the detected parts of the surrounding objects are drawn by the line segments. This map is displayed to the driver on the display unit 9 to facilitate recognition of objects surrounding the driver.

Next, a third embodiment of the present invention will be described. The present embodiment differs from the second embodiment in the method of determining the reference angle in the noise elimination device, and the other configuration is the same as that of the second embodiment. The noise elimination device 7 determines, for each line segment obtained by the straight line approximation unit 6, the angle θ at which these are inclined with respect to the reference direction obtained by the reference direction calculation unit 3.
1 to θ8 are calculated in the same manner as shown in FIG.

Then, line segments having the largest number of line segments having substantially the same angle with respect to the reference direction are extracted, and the angles of these line segments are set as reference angles. Next, of the above-described line segments, only a line segment substantially equal to the reference angle (that is, a parallel line segment) or a line segment substantially perpendicular to the line segment having the reference angle is extracted, and other line segments are extracted. Remove as noise. Other operations are the same as those of the second embodiment. Also in this case, similarly to the case shown in FIG. 7, the position situation of the surrounding object that well matches the outer peripheral contour of the other vehicle can be obtained.

Further, as the distance measuring device 1, a so-called one-dimensional sensor for measuring the distance to the object one-dimensionally while fixing the direction of the laser radar is configured. A two-dimensional sensor that can measure both may be used, or a three-dimensional sensor that can measure the distance, height, and orientation to an object may be used. In particular, when a three-dimensional sensor is used, it is possible to grasp a surrounding object as a surface. Therefore, in the present invention, a line segment includes a wide surface. On the other hand, as a specific configuration of the sensor, any means such as a microwave radar, a millimeter wave radar, an ultrasonic sensor, and a stereo image processing device can be used instead of the radar radar. In particular, a stereo image processing device is suitable for measuring both distance and azimuth.

Further, in the embodiment, the own vehicle position detecting device 1
As an example, the traveling distance and the traveling direction are estimated using the wheel speed sensor and the steering angle sensor, but a gyro may be used instead of the steering angle sensor, or the GPS may be used instead of the dead reckoning method. (Global positioning system) or the like can be used.

The straight traveling judgment unit 2 judges that the vehicle is traveling straight when the traveling locus calculated from the traveling distance and the traveling direction is substantially a straight line. The traveling direction of the vehicle may be stored in chronological order, and if the change is substantially zero, it may be determined that the vehicle is traveling straight. This method is particularly effective when a gyro or the like that can directly detect the azimuth of the vehicle is used as the host vehicle position detection device 1.

Further, in the embodiment, the map generated by the map generation unit 9 is displayed on the display unit 10. In addition, based on the generated map, a part where an object does not exist is determined by the parking position of the host vehicle. May be set, a traveling locus from the detected own vehicle position to the set parking position may be calculated, and the steering angle may be controlled to travel along the traveling locus.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment according to the present invention.

FIG. 2 is a diagram showing a line segment obtained by linearly approximating the data point sequence of FIG. 9;

FIG. 3 is a diagram illustrating a line segment after a noise removal process.

FIG. 4 is a diagram illustrating a parking lot in which another vehicle according to the second embodiment is parked in an oblique direction along a wall.

FIG. 5 is a diagram showing a data point sequence measured in the parking lot of FIG. 4;

FIG. 6 is a diagram showing a state of calculating an angle of a line segment obtained by linearly approximating the data point sequence of FIG. 5;

FIG. 7 is a diagram illustrating a line segment after noise removal processing.

FIG. 8 is a diagram showing a parking lot in which another vehicle is parked in a vertical state along a wall.

9 is a diagram showing a data point sequence measured in the parking lot shown in FIG. 8;

FIG. 10 is a diagram showing a state in which the arrangement of surrounding objects is obtained based on the data point sequence of FIG. 9 by the conventional device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 own vehicle position detection device 2 straight traveling judgment unit 3 reference direction calculation unit 4 distance measurement device 5 distance data storage unit 6 straight line approximation unit (line segment extraction means) 7 noise removal unit 8 object position judgment unit 9 map generation unit 10 display Part 100 Own vehicle 11a, 11b Laser radar (ranging device) 13 Wall of parking lot (surrounding object) 14-16 Other vehicle (surrounding object)

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) // G01S 13/93 G01S 17/88 A F term (Reference) 5J062 BB01 CC07 CC11 HH05 5J070 AB24 AC02 AC13 AE01 AF03 AK22 AK28 5J084 AA05 AA10 AB01 AC02 EA01 EA04

Claims (9)

[Claims] 1. An own-vehicle position detecting device for detecting a position of an own-vehicle; reference direction setting means for setting a predetermined traveling direction of the own vehicle based on a change in the position of the own vehicle as a reference direction;
A distance measuring device installed in the own vehicle and capable of measuring a distance and an azimuth to an object existing around the own vehicle, a distance and an azimuth to the object detected by the distance measuring device, and A distance data storage unit that stores a set of the position of the host vehicle detected by the host vehicle position detection device as a data point sequence, and a line segment corresponding to an object from the data point sequence stored in the distance data storage unit. A line segment extracting means for extracting, and a noise for extracting only a line segment satisfying a predetermined angle relationship with respect to the reference direction obtained by the reference direction setting means from the line segments extracted by the line segment extracting means. A removing unit;
An object position determining unit that determines a position of an object existing around the vehicle based on the line segment extracted by the noise removing unit. 2. The vehicle according to claim 1, wherein the reference direction setting unit determines a straight traveling direction of the own vehicle when the vehicle is traveling straight, and sets a reference direction to the traveling direction of the own vehicle when the straight traveling determining unit determines that the vehicle is traveling straight. The surrounding object recognition device according to claim 1, further comprising a reference direction calculation unit that outputs the reference direction. 3. The own vehicle position detecting device detects a travel distance and a traveling direction as a position of the own vehicle, and the straight traveling determination unit obtains a traveling locus from the traveling distance and the traveling direction. 3. The surrounding object recognition device according to claim 2, wherein when it is determined that the vehicle is traveling straight ahead. 4. The peripheral object recognition device according to claim 1, wherein the line segment extracting unit extracts a line segment corresponding to the object from the data point sequence as a straight line. 5. The peripheral object recognition device according to claim 1, wherein the predetermined angular relationship is a relationship that is substantially parallel or substantially perpendicular to the reference direction. 6. The predetermined angle relation is defined as an angle formed by a line segment having a maximum length among the line segments extracted by the line segment extraction unit with respect to the reference direction, and 5. The surrounding object recognition device according to claim 1, wherein the relationship is substantially parallel or substantially perpendicular to the object. 7. The predetermined angle relationship is defined as a line segment extracted by the line segment extraction unit, the line segment having substantially the same number of angles with respect to the reference direction as the reference angle. 5. The peripheral object recognition device according to claim 1, wherein the relationship is substantially parallel or substantially perpendicular to the reference angle. 8. The surroundings according to claim 1, further comprising a map generating unit that creates a map that represents a position of an object existing around the vehicle obtained by the object position determining unit. Object recognition device. 9. The surrounding object recognition device according to claim 8, further comprising a display unit for displaying a map created by said map generation unit.