JP2002228741A - On-vehicle target detecting device and microwave detecting unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a target existing on a road, on which a vehicle travels, or near there and giving an influence to the traveling vehicle on the basis of the real position information. SOLUTION: This on-vehicle target detecting device is provided with a GPS receiver unit 3 for obtaining the GPS information, a position memory unit 4a for storing the position information of the target, a location direction memory unit 4b for storing a location direction (monitor direction) of the target, a distance detecting unit 5 for obtaining a distance to the target on the basis of real position detected by the GPS receiver unit 3 and the position information of the target existing in the periphery and stored in the position memory unit, and a direction determining unit 6 for obtaining a traveling direction of the vehicle. A target detecting unit 7 determines the target as a normal target requiring the generation of alarm when an angle formed by the traveling direction of the vehicle and the direction angle of the target exists within a constant angle range, and operates an alarm 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle target detecting device and a microwave detector.

[0002]

2. Description of the Related Art In recent years, a number of automatic speed control devices for controlling speeding offenders have been installed around roads and the like. As an example of an automatic speed control device, a microwave in a predetermined frequency band is emitted toward a vehicle, and the reflected wave is received to measure the traveling speed of the vehicle.

On the other hand, in order to detect the presence of such an automatic speed control device, a microwave detector configured to detect a microwave emitted from the automatic speed control device and output an alarm has been known. ing.

The frequency of the microwave emitted from the automatic speed control device is in the same frequency band as the microwave output from the human body detection sensor in the automatic door. Therefore, if the microwave detector is operated when traveling in the city, a false alarm may be output in response to the microwave output from the human body detection sensor.

When such false alarms are output frequently,
It may be harsh or, on the contrary, the driver may become accustomed to the alarm, and even if the alarm is issued based on the microwaves from the automatic speed control device to be detected, it may be determined to be a false alarm.

[0006] Even automatic speed control devices to be detected by the microwave detector include a type that is easy to detect and a type that is difficult to detect. Therefore, for example, when the sensitivity of the microwave detector is set to high sensitivity, microwaves emitted from a device of a type that is easily detected are detected from a position far from the transmission source and an alarm is issued, so that it is annoying. In some cases, if the presence of the automatic speed control device in front of the device cannot be confirmed, it may be mistaken as a false alarm.

Conversely, when the sensitivity of the microwave detector is set to low sensitivity, microwaves emitted from a device of a type which is difficult to detect are detected only when they arrive immediately before the transmission source and an alarm is issued. May be useless.

Further, even with the same device, the detectable distance varies depending on the installation location. That is, when there is no obstacle on a straight road, the detection distance becomes long, and when the road is curved or there is an obstacle, the detection distance becomes short.

Furthermore, some automatic speed enforcement devices cannot be detected by conventional microwave detectors. As an example, there is a type in which a loop-shaped coil is buried in the ground to detect a vehicle passing over the coil and determine the vehicle speed, as called a loop type. There is also one that detects the speed of a vehicle using light other than microwaves.

Therefore, the present applicant has developed an apparatus for controlling the operation of a microwave detector using GPS information in order to suppress occurrence of the above-mentioned problem. That is, the installation position of a detection target such as an automatic speed control device or another device for monitoring a vehicle is stored. Thus, for example, an alarm can be issued regardless of the presence or absence of microwave detection.

Although the position can be detected on the basis of the GPS information, it is not provided with map information (road information) and is not wired due to cost restrictions. Also have no. Therefore, the distance between the current position detected based on the GPS information and the target is calculated, and when the distance approaches a certain distance, the alarm operation is controlled.

However, such an algorithm has the following problem. That is, for example, when there are a plurality of roads such as a highway and a general road provided in parallel with the highway, for example, if an automatic speed control device is installed on the highway, the vehicle travels on the general road. Although the vehicle does not need to generate an alarm, the above-described algorithm will generate an alarm when approaching within a certain distance, even with an automatic enforcement device installed on a highway. This is not limited to expressways and general roads, but also occurs between general roads, and malfunctions occur even when the roads are not necessarily arranged in parallel.

Further, even if the target is installed on only one side of the up lane and the down lane even on the same road, the vehicle traveling on the lane on which the target is not installed has the position information. Although it is not necessary to perform control based on the above, malfunction occurs when approaching within a certain distance.

SUMMARY OF THE INVENTION The present invention has been made in view of the above background, and an object of the present invention is to solve the above-mentioned problems and to reduce the above problem on a road on which a vehicle travels without using map information or complicated wiring. It is an object of the present invention to provide an on-vehicle target detecting device and a microwave detector which can detect a target existing in proximity to the vehicle and affecting the traveling vehicle based on current position information.

[0015]

In order to achieve the above object, an on-vehicle target detecting apparatus according to the present invention comprises: a position detecting means; a position storing means for storing position information of a target;
Installation direction storage means for storing the installation direction of the target,
Direction determining means for determining the traveling direction of the vehicle based on the output of the position detecting means; current position information detected by the position detecting means; and position information of the target stored in the position storing means. Detecting means for outputting a detection signal when a distance to a target to be detected is within a predetermined range,
It is assumed that an on-vehicle target detection device includes an alarm unit that outputs an alarm based on a detection signal from the detection unit. Then, the detection means determines whether or not the vehicle is a legitimate target to issue an alarm based on the traveling direction of the vehicle detected by the direction determination means and the installation direction of the target stored in the installation direction storage means. The function to judge is provided.

As a specific example, the installation direction storage means stores an azimuth angle based on a predetermined azimuth, and the detection means stores the azimuth of the vehicle detected by the direction determination means. And a function of determining whether or not the target is a legitimate target to be warned based on the angle between the target and the azimuth stored in the installation direction storage means. The present invention is realized by the first embodiment.

Further, as a specific example, the detecting means may be provided within a predetermined angle range based on the traveling direction of the vehicle.
When the target stored in the position storage means is present and the vehicle is present within a predetermined angle range based on the direction of the target stored in the installation direction storage means, an alarm should be issued when the vehicle is present. Is provided with a function of determining the target. This is realized by the fourth embodiment.

As still another concrete example, the installation direction storage means stores lane information where a target is installed, and includes lane determination means for determining a lane in which a vehicle travels. The detecting unit determines that the lane determined by the lane determining unit and the lane information of the target stored in the installation direction storage unit match the lane information of the target to be a legitimate target to be warned. The function is to provide As the lane determining means, for example, a certain reference point is set, and the determination can be made based on whether the vehicle is approaching or moving away from the reference point.

Further, as another solution means, there are a position detecting means, a position storing means for storing position information of a target, a current position information detected by the position detecting means, and a position storing means. Based on the location information of the target
An on-vehicle target detection device including: a detection unit that outputs a detection signal when a distance to a target to be detected is within a predetermined range; and an alarm unit that outputs an alarm based on the detection signal from the detection unit. Is assumed. The detecting means has a function of determining that the target is a legitimate target to be warned when the target stored in the position storage means exists within a predetermined angle range based on the traveling direction of the vehicle. I did it.

As still another solution means, a position detection means, a position storage means for storing position information of a target, an installation direction storage means for storing an installation direction of the target, and a position detection means for detecting the position of the target. Detecting means for outputting a detection signal when a distance to a target to be detected is within a predetermined range based on the detected current position information and the position information of the target stored in the position storage means; It is assumed that an on-vehicle target detection device includes an alarm unit that outputs an alarm based on a detection signal from the unit. And the detecting means,
A function is provided for determining that the vehicle is a legitimate target to be alerted when a vehicle exists within a predetermined angle range based on the installation direction of the target stored in the installation direction storage means. As the information stored in the installation direction storage means, the installation direction of the target object itself may be stored, or a predetermined range may be stored.

In any of the above cases, it is assumed that the distance to the target is within a predetermined distance. In each of the inventions, unnecessary judgment is made not only based on the current position and the distance to the target object but also by considering various conditions such as an installation direction and a traveling direction of the vehicle. It is possible to detect and warn the presence of a legitimate target that should eliminate a target and generate an alarm.

In determining whether the object is a target,
When using a predetermined angle range, the angle range is preferably determined based on the distance between the vehicle and the target. Thus, for example, even in a situation where the road near the target is curving, it can be reliably detected within the predetermined angle range.

As a microwave detector according to the present invention,
A microwave detector body for detecting a desired microwave,
A microwave detector provided with alarm means for giving an alarm when a microwave is detected by the microwave detector main body is provided with the above-described on-vehicle target detecting device of each invention described above.

In this case, the alarm means operating based on the detection signal of the microwave detector main body and the alarm means of the on-vehicle target detecting device may be shared or separately provided. In any case, it is preferable that the type of the alarm that is issued when the microwave is detected and the type of the alarm that is issued when the on-vehicle target object detection device detects the target object are different. Of course, an alarm can be issued without distinguishing the two. Here, the term "differential" means that the type of the alarm can be changed, for example, one appeals for hearing such as a buzzer or voice, and the other appeals for visual such as LED. The present invention is not limited to this, and various modes such as changing the content of a buzzer (alarm) or changing the buzzer and sound can be used. The point is that it is only necessary to be able to distinguish between an alarm based on microwave detection and an alarm based on detection of a target.

[0025]

FIG. 1 is a block circuit diagram showing a configuration of a main part of a microwave detector 1 incorporating a vehicle-mounted target detecting device according to a first embodiment of the present invention. As shown in the figure, a microwave detector 1 detects a microwave in a predetermined frequency band based on set operation setting conditions, and outputs a control signal for outputting an alarm, and a microwave detector main body 2. A GPS receiving unit 3 serving as position detecting means for acquiring GPS information, a position storage unit 4a for storing position information of a target (a detection target), and an installation direction storage unit 4b for storing an installation direction of the target. A distance detecting unit 5 for obtaining a distance to a target based on the current position detected by the GPS receiving unit 3 and position information of a target present in the surroundings stored in the position storage unit 4a; A direction determining unit 6 for determining the traveling direction of the vehicle based on the detected current position, and a target existing within a certain range from the current vehicle position based on the outputs of the direction determining unit 6 and the distance detecting unit 5. Alerts To a target detecting unit 7 determines whether a target of normal, and a warning device 8 which emits an alarm based on the output of the target detection unit 7 and a microwave detector body 2.

The microwave detector main body 2 detects a microwave having a desired frequency based on the microwave captured through the horn antenna 2a, and determines whether or not the target microwave has been received based on the detected output signal. Judge. And
When it is received, it sends a detection signal to the alarm device 8 and outputs a predetermined alarm. For example, the alarm may be a buzzer or a sound, or various alarms such as a light, a lamp such as an LED, or a display.

The GPS receiving section 3 receives a GPS signal emitted from a global positioning satellite and measures the current position of the vehicle. Specifically, the receiving antennas 3a, GP
The S receiver 3b receives GPS signals emitted from a plurality of satellites and gives the reception to the position detection unit 3c, where the current position (longitude, longitude,
Latitude information).

The GPS receiver 3 preferably operates continuously in terms of detection accuracy. On the other hand, from the viewpoint of suppressing power consumption, it is preferable to perform intermittent driving. Therefore, for example, when power is taken from a cigar socket or the like, the operation is continuously performed, and in the case of a solar battery + secondary battery, intermittent driving is performed. Furthermore, in the case of intermittent driving, it is preferable to control so as to adjust the stop time based on the distance to the target, the moving speed of the vehicle, and the like.

In the position storage unit 4a, the latitude and longitude of the place where the target is installed are registered as position information of the target to be stored. The target to be registered is a device for monitoring a vehicle, such as an automatic speed control device or a number reading device called an N system. Therefore, the type of the target may be registered in association with the position information. In this case, by changing the alarm at the time of detection according to the type of the target, more accurate information can be transmitted to the driver.

Further, since the apparatus monitors a vehicle as described above, there is a monitoring direction (direction). That is, even if the vehicle is installed at the same position on the same road, there are cases where a vehicle traveling in the up lane is monitored and a vehicle traveling in the down lane is monitored. In this case, in the case of a device that monitors the up lane, it is not necessary for the vehicle traveling on the down lane to sound an alarm even if the vehicle approaches the installation position. Furthermore, when the vehicle is not traveling on the road on which the monitoring device is installed in the first place, even if the vehicle approaches the monitoring device, the monitoring device does not detect the vehicle. That is, it is necessary to accurately detect whether or not the target is on the same road where the vehicle travels.

Therefore, in this embodiment, in addition to the position of the target (device for monitoring the vehicle), the monitoring direction is stored in association with the position. Specifically, as shown in FIG.
The azimuth θ based on a predetermined azimuth (for example, “north”) is stored. Then, it is stored in association with the position of the target. Although the position storage unit 4a and the installation direction storage unit 4b are described separately for convenience of description, for example, they may be stored as one table.

For the registration of the above-mentioned information, for example, the position of the automatic speed control device, which is the target, can be registered in advance by using an input operation unit (not shown). For this input operation, the latitude, longitude, azimuth, and the like may be input by operating an operation panel, input buttons, and the like provided on the microwave detector, or a ROM or various storage media may be set. To receive it,
The user can register or store some information at the time of factory shipment.

The distance detector 5 determines each target based on the current position (latitude, longitude) obtained by the position detector 3c and the position (latitude, longitude) of the target stored in the position storage 4a. Is calculated. Then, the distance for each target is given to the target detector 7. At this time, the calculation result may not be given to the target detection unit 7 for the objects separated by a certain distance or more. Contrary to the above, on the basis of the current position, a target existing within a radius Xm (for example, 500 m) is detected, and information (such as a code number) for specifying the detected target is detected by the target detector 7. You can also give to.

The direction judging section 6 obtains the moving direction of the vehicle. For example, the direction judging section 6 can obtain the moving direction by obtaining the moving vector from the position information at a certain time and the position information after a predetermined time. When the direction of movement is determined, for example, two memories are prepared, one of which stores the position information at the measurement time, and the other stores the position information after a fixed time (for example, 2 seconds) from the measurement time. Is stored, the vehicle speed and the traveling direction of the vehicle can be determined from the two pieces of position information.

Then, as shown in FIG. 2A, the obtained traveling direction can be represented by an azimuth θ1 with respect to a reference azimuth (for example, “north”). Then, as shown in the figure,
When the vehicle is traveling on the monitored lane, the azimuth angle θ of the target and the azimuth angle θ1 of the traveling direction of the vehicle differ by 180 degrees. In this case, the target is a target to be detected.

In FIG. 2A, the reference azimuth is the same as that used for obtaining the azimuth of the target.
The present invention is not limited to this. For example, as shown in FIG. In this manner, when the vehicle is traveling on the monitored lane, the azimuth angle θ of the target becomes equal to the azimuth angle θ1 in the traveling direction of the vehicle.

The determination of the traveling direction does not use the position information obtained by the position detection unit 3c as described above, but uses, for example, a gyro, a compass, or an acceleration sensor (a plurality of directions can be obtained). It can also be obtained by a sensor or a plurality of sensors if the detection direction is one direction.

The target detection unit 7 determines whether the distance to the target is within a predetermined range, the traveling direction of the vehicle detected by the direction determination unit 6 and the target stored in the installation direction storage unit 4b. Based on the angle between the azimuth and the azimuth, it is determined whether or not the target is a legitimate target for which a warning should be issued. That is, the azimuth angle θ of the target existing within a certain distance range from the current position and the azimuth angle θ1 of the traveling direction are sequentially compared to obtain an angle to be formed, and the target angle is determined to be within the predetermined angle range. It is determined whether an object exists.

That is, as shown in FIG. 3 (a), when the traveling direction of the vehicle and the installation direction (monitoring direction) of the target are opposite (the angle formed is 180 degrees), the traveling direction of the vehicle is changed. It can be determined that there is a target to be detected, such as a speed control device, in front of the vehicle, and if it proceeds as it is, it can be determined that it will enter the monitoring area of the target. In such a case, the target detection unit 7 outputs a detection signal. On the other hand, as shown in FIG. 3B, when the angle between the traveling direction of the vehicle and the installation direction (monitoring direction) of the target is 0 degree, whether the vehicle is traveling in the opposite direction to the target, Even when the vehicle is traveling toward the target, the monitoring direction is different, so that it is determined that the target is not a target for which an alarm should be issued, and no detection signal is output.

Therefore, in the example shown in FIG. 3, if the angle is within a range of ± a predetermined angle (for example, ± 90 degrees) around 180 degrees, it is determined that the target is a legitimate target for which an alarm should be issued.
Of course, the angle range is not limited to 90 degrees and can be set arbitrarily. In this embodiment, since each direction is specified by an azimuth based on the reference azimuth, when a common reference azimuth is used, the azimuth difference (θ1−θ) is obtained as described above.
Is 90 to 270 degrees, it is determined to be the target. As shown in FIG. 2B, when the reference azimuth is different, the angle range (for example, ± 90
Degree) is the target. In the above example, the predetermined angle range is ± 90, but the present invention is not limited to this, and the range may be widened or narrowed.

If it exists, a detection signal is sent to the alarm device 8 to output an alarm. This alarm may be the same as or different from the alarm issued when microwaves are detected by the microwave detector main body 2. Furthermore, when the type of the target is also stored, if a target that meets the conditions is detected, the type of the target is recognized, and an alarm corresponding to the type is output. Is also good.

Next, a specific operation will be described. First, an example of the relationship between the traveling direction of the vehicle and the azimuth of the target is shown in FIG. As shown in the figure, the circle represents a predetermined distance range centered on the vehicle when the vehicle is present at the position a, and b, c, and d indicate the target object within the range. Indicates the position where. Arrows attached to the respective symbols indicate the monitoring direction (installation direction) of the target and the traveling direction of the vehicle.

It is assumed that the vehicle at the point a is traveling clockwise in the direction of 130 degrees with reference to the north, and the target at the point b is also monitoring the direction of 300 degrees. For easy understanding, when both vectors are viewed at the same position as shown in FIG.
It can be seen that there is a monitoring direction at a position of 70 degrees. Similarly, FIG. 5 shows the relationship between each position and the monitoring direction based on the traveling direction of the vehicle.

As can be seen from the figure, the angle between the monitoring direction (azimuth angle) and the traveling direction (azimuth angle) of the vehicle is within a predetermined angle range (90 to 270 degrees). To generate an alarm. On the other hand, the relative angle of the direction of the target with respect to the azimuth of the vehicle is, for example, 90 degrees to 27 degrees.
If it is determined that the traveling directions are coincident with each other within the range of 0 degrees, the traveling directions of b ', c', and d 'do not coincide, and no alarm is issued.

FIG. 6 shows a second embodiment of the present invention. As shown in the figure, in the present embodiment, the installation direction storage unit 4b is not provided in the first embodiment. Accordingly, the judgment function in the target detection unit 7 is changed. That is, the distance to the target is within a predetermined range, and a predetermined angle range (for example, ± 3) based on the traveling direction of the vehicle obtained by the direction determination unit 6 as a reference (center).
(0 degree), when the target stored in the position storage unit 4a is present, it is determined that the target is a legitimate target to be warned.

The principle of this detection is as follows. First
In the embodiment of the present invention, the target installed at the point d in the example shown in FIG. 4 is determined to be a legitimate target to be detected and issues an alarm even though the vehicle has already passed by. . In order to solve this problem, the warning is permitted only when the target is within a predetermined angle with respect to the traveling direction of the vehicle. By adopting such a determination algorithm, only the target located on the front side of the vehicle is to be detected, so that the target located behind and behind the vehicle, such as point d shown in FIG. 4, is not detected. .
Note that the other configuration and operation and effect are the same as those of the above-described first embodiment, and therefore, corresponding members are denoted by the same reference numerals and detailed description thereof will be omitted.

Further, by doing so, even if the target is located in front of the vehicle, the target installed on the road on which the vehicle is traveling can be correctly detected and the target located on a different road can be detected for the following reason. The probability that the installed target is not detected increases.

That is, as shown in FIG. 7, it is assumed that there are two targets (A) and (B) installed on different roads, and the monitoring direction is the same in the west (left direction in the figure). Then
Regardless of the position and direction of the vehicle, the angle between the traveling direction of the vehicle and the monitoring direction (installation direction) of each of the targets (A) and (B) is always equal. When the vehicle S exists at the illustrated position, the distances to the two targets (A) and (B) are also assumed to be equal.

Therefore, ±±
Assuming that only a target within a range of 30 degrees and 60 degrees is set as an alarm target, the target (A) exists within the angle range and can be detected as a normal target to be detected, and the target (B) is detected.
Is out of the range, so that malfunction due to the presence of the target (B) can be prevented.

FIG. 8 shows a third embodiment of the present invention. In the present embodiment, contrary to the second embodiment, when a vehicle exists within a predetermined angle range when viewed from the target, the target is determined to be a legitimate one that should issue an alarm. ing. That is, the apparatus configuration is such that the direction determining unit that determines the traveling direction of the vehicle based on the first embodiment is eliminated. The installation direction storage unit 4b
May be an azimuth angle as in the first embodiment, or an angle range serving as a detection range may be defined in advance such as ± a predetermined angle based on the azimuth angle. good. In the latter case, the azimuth itself indicating the installation direction need not be particularly stored.

The target detecting section 7 determines that the distance to the target is within a predetermined range and the vehicle is within a predetermined angle range (for example, ± 30 degrees) with respect to the installation direction of the target. It is determined that the target is a legitimate target when a warning should be issued.

If only the azimuth indicating the direction in which the target is facing is stored, the target detection unit 7 adds ± a predetermined angle to the acquired azimuth to perform the determination process. You will find the range. On the other hand, when storing a predetermined angle range in association with each target, the target detection unit 7 reads the angle information and determines whether a vehicle exists within the read angle range. Just do it.

Therefore, if there is sufficient storage capacity,
It is preferable to store information for specifying the latter predetermined angle range because high-speed processing can be performed. Moreover, if the angle range is set for each target in such a manner, for each target,
You can change the angle of the azimuth to swing plus or minus.

That is, for example, when the road on which the target is installed is a relatively long straight road, the angle range is narrowed, and vehicles traveling on other roads may exist within the angle range of the target. As much as possible, and to suppress false alarms. Conversely, in the case of an exit near a sharp curve, for example, the angle range is set wide so that the target can be reliably detected.

In addition, instead of setting based on the situation around the installation position of each road, the angle range can be determined according to the type of road and the surrounding environment. For example, on an expressway, the angle range is narrower than that of a general road because there are many curves or many gentle roads even if there are curves. On the other hand, in a mountainous area or the like, there are few straight roads and many sharp curves, so that a wide angle range can be adopted.

The detection principle of this embodiment is as follows. In the first embodiment, the target installed at point d in the example shown in FIG. 4 is determined to be a legitimate target to be detected even though the vehicle has already passed, and an alarm is issued. Would. In order to solve this problem, the warning is permitted only when the vehicle is within a predetermined angle with respect to the installation direction (monitoring direction) of the target, as shown at point d in FIG. A target located behind the vehicle is not detected. Note that the other configuration and operation and effect are the same as those of the above-described first embodiment, and therefore, corresponding members are denoted by the same reference numerals and detailed description thereof will be omitted.

Further, by doing so, even if the target is located in front of the vehicle, the target installed on the traveling road can be correctly detected for the following reason, and the target located on a different road can be detected. The probability that the installed target is not detected increases.

That is, as shown in FIG.
1 and a vehicle S traveling on a second road R2.
When 1 exists at the points (A) and (B), respectively, the distance to the target (C) is the same, and the angle between the traveling direction of the vehicle and the monitoring direction of the target is the same. However, the vehicle S
Since 1 is not within the predetermined angle range with respect to the monitoring direction, it does not become an alarm target and can prevent occurrence of false alarm.

FIG. 10 is a diagram for explaining a fourth embodiment of the present invention. This embodiment is a combination of the above-described second embodiment and the third embodiment. That is, if the device configuration is shown in a block diagram, it is the same as FIG. The difference is that the determination algorithm of the target detection unit 7 determines that the distance to the target is within a predetermined range, the target exists within a predetermined angle range based on the traveling direction of the vehicle, and the installation direction storage unit 4b is determined to be a legitimate target to be warned when a vehicle exists within a predetermined angle range based on the direction of the target stored in 4b.

What is stored in the installation direction storage section 4b is that the angle range is set based on the azimuth indicating the installation direction of the target. As described in the third embodiment, when the angle range is obtained on the target detection unit 7 side, the azimuth angle is obtained, which is the same as in the first embodiment.

As the distance from the reference increases, the area specified by the angle range becomes wider, and the possibility of erroneous detection increases.
Therefore, by setting a predetermined angle range from both,
As the distance increases, the range is unnecessarily widened, and a false alarm can be suppressed as much as possible. That is, as shown in FIG. 10, according to the present embodiment, the vehicle S traveling on the first road R1 determines that only the target (C) is a legitimate target that should issue a warning, and sets the second road R2 as the target. The traveling vehicle S1 can determine that only the target (D) is a legitimate target to issue an alarm. On the other hand, according to the second embodiment, although the vehicle S can be correctly detected, the vehicle S1 determines that both the targets (C) and (D) are legitimate targets that should issue an alarm. I will. According to the third embodiment,
Although the vehicle S1 can be correctly detected, the vehicle S
Both the targets (C) and (D) are determined to be legitimate targets for which a warning should be issued.

Of course, the second and third embodiments are also useful in that the target to be detected has been detected. Note that the other configuration and operation and effect are the same as those of the above-described embodiments, and therefore, corresponding members are denoted by the same reference numerals and detailed description thereof will be omitted.

In the second to fourth embodiments described above,
In each case, the predetermined angle is fixed. In other words, taking as an example the case from the traveling direction of the vehicle, as shown in FIG. 11, the angle of the target with respect to the traveling direction of the vehicle S is calculated at point a, and the target (C) is set within the range of the angle α. If there is, it is determined that the target (C) exists on the same road. However, when the distance between the vehicle S and the target (C) is large, a wide range of targets can be detected. However, when the predetermined angle α is fixed, the detection is performed as the vehicle approaches the target. The range becomes narrow, and it becomes difficult to detect the target.

That is, when the angle is 0 degree with respect to the target (C), this angle may be constant regardless of the distance to the target, but as shown in FIG. When the distance is not a degree, the target approaches the distance c at point a within the range of the angle α at the distance L at the point a and cannot be detected within the range of the angle α at the distance L ′ at the point b. Therefore, when the vehicle reaches the point b, it is erroneously determined that the target is not on the same road.

Therefore, as shown in FIG. 12, the target α can be detected by widening the angle α at the distance L at the point a to the angle α ′ (> α) at the distance L ′ at the point b. . By increasing the range angle of the angle α by approaching the distance in this manner, it is possible to prevent the capture range of the target from narrowing each time the distance to the target is reduced,
More accurate alarm control can be realized. 11 and FIG.
Although the method 2 focuses on the traveling direction of the vehicle, the present invention can be applied to a case where the vehicle is viewed from a monitoring direction of a target.

The actual apparatus has, for example, a table of the distance to the target and the angle range.
Acquires an angle range from the table based on the distance given by the distance detection unit 5, acquires the center of the traveling direction given by the direction determination unit 6, sets an area of the angle range, and sets the region within the range. It is determined whether or not the target exists. When the target is set as a reference, an angle range at that position is obtained based on the distance obtained by the distance detection unit 5, and the obtained angle range is set based on the azimuth stored in the installation direction storage unit 4b. We can respond by asking.

FIG. 13 shows a fifth embodiment of the present invention. In the present embodiment, unlike the above-described embodiments, a lane determining unit 9 that determines the lane in which the vehicle travels is provided. The installation direction storage unit 4b stores information for specifying the lane in which the target is installed (monitored).

The target detecting section 7 determines that the distance to the target is within a predetermined range, the lane determined by the lane determining section 9 and the lane of the target stored in the installation direction storage section 4b. When the information matches, it is determined that the target is a legitimate target to be warned. In this case, the coincidence of directions means that when the vehicle is traveling in the up lane, the target is installed in the direction to monitor the up lane, and the vehicle is to be monitored. Note that the other configuration and operation and effect are the same as those of the above-described embodiments, and therefore, corresponding members are denoted by the same reference numerals and detailed description thereof will be omitted.

In the lane determination algorithm in the lane determination section 9, the reference point X is set in advance using the latitude and longitude as shown in FIG. Then, based on the position information of the vehicle, the lane determination is performed based on the direction approaching or leaving the reference point X. That is, the reference point X is set to, for example, “Nihonbashi” in Tokyo, which is the starting point of the road. Then, basically, it can be determined that the vehicle approaches the Nihonbashi as an up lane and the vehicle approaching it as a down lane. The specific calculation is based on two points (Y, Z) at which a moving vehicle exists at a certain time.
The distance between the reference point X from each of the positions is determined, and it can be said that the shorter the distance is, the closer the vehicle is approaching. Conversely, if the distance is long, it can be determined that the vehicle is in a down lane. In the illustrated example, it can be determined that the vehicle moving from Y to Z is traveling on the up lane.

Further, in each of the above-described embodiments, an example is shown in which the microwave detector is integrated with the microwave detector. However, the present invention is not limited to this, and may be formed independently.

[0071]

As described above, according to the present invention, a target object existing on or near a road on which a vehicle travels and affecting the traveling vehicle can be determined without using map information or complicated wiring. It can be detected based on the current position information.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram illustrating an azimuth angle and a relationship between a traveling direction of a vehicle and an installation direction of a target.

FIG. 3 is a diagram illustrating an azimuth angle and a relationship between a traveling direction of a vehicle and an installation direction of a target.

FIG. 4 is a diagram illustrating the operation of the first embodiment.

FIG. 5 is a diagram illustrating the operation of the first embodiment.

FIG. 6 is a block diagram showing a second embodiment of the present invention.

FIG. 7 is a diagram illustrating the operation of the second embodiment.

FIG. 8 is a block diagram showing a third embodiment of the present invention.

FIG. 9 is a diagram illustrating the operation of the third embodiment.

FIG. 10 is a diagram illustrating a fourth embodiment of the present invention.

FIG. 11 is a diagram illustrating a modification.

FIG. 12 is a diagram illustrating a modification.

FIG. 13 is a block diagram showing a fifth embodiment of the present invention.

FIG. 14 is a diagram illustrating a function of a lane determining unit according to the fifth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Microwave detector 2 Microwave detector main body 3 GPS receiving part (position detecting means) 4a Position storing part 4b Installation direction storing part 5 Distance detecting part 6 Direction determining part 7 Target detecting part 8 Alarm device 9 Lane determining part

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F029 AA02 AB07 AC02 AC09 AC18 AC19 2G005 AA05 5H180 AA01 CC12 FF05 FF27 LL01 LL07 LL08 5J062 BB01 CC07 FF04 HH04 5J070 AA02 AC01 AF03

Claims (10)

[Claims] 1. A position detecting means, a position storing means for storing position information of a target, an installation direction storing means for storing an installation direction of the target, and a vehicle traveling based on an output of the position detecting means. A direction determining means for determining a direction, a current position information detected by the position detecting means, and a distance to the target to be detected is determined within a predetermined range based on the position information of the target stored in the position storage means. A detection unit that outputs a detection signal when the vehicle is inside the vehicle, and an alarm unit that outputs an alarm based on the detection signal from the detection unit. Based on the traveling direction of the vehicle detected by the above and the installation direction of the target stored in the installation direction storage means, a function is provided for determining whether or not the target is a legitimate target for which an alarm should be issued. You In-vehicle target detection device. 2. The installation direction storage means stores an azimuth angle based on a predetermined direction. The detection means stores the traveling direction of the vehicle detected by the direction determination means and the installation direction storage means. 2. The on-vehicle target detecting apparatus according to claim 1, further comprising a function of determining whether or not the target is a legitimate target to issue an alarm based on an angle between the target and the azimuth of the target. 3. The detection means according to claim 1, wherein the target stored in said position storage means is located within a predetermined angle range based on a traveling direction of the vehicle, and said target stored in said installation direction storage means. A function of determining that the vehicle is a legitimate target to be warned when the vehicle is present within a predetermined angle range based on the direction of the vehicle.
2. The on-vehicle target detection device according to claim 1. 4. Position detecting means, position storing means for storing position information of a target, current position information detected by the position detecting means, and position information of the target stored in the position storing means. , A detection means for outputting a detection signal when a distance to a target to be detected is within a predetermined range, and an alarm means for outputting an alarm based on the detection signal from the detection means. In the object detection device, the detection unit determines that a normal target to be issued an alarm when the target stored in the position storage unit exists within a predetermined angle range based on the traveling direction of the vehicle. The on-vehicle target detecting device according to claim 1, further comprising a function. 5. A position detecting means, a position storing means for storing position information of a target, an installation direction storing means for storing an installation direction of the target, and a current position information detected by the position detecting means. Detecting means for outputting a detection signal when the distance to the target to be detected is within a predetermined range based on the position information of the target stored in the position storage means; And a warning means for outputting a warning based on the vehicle direction, wherein the detection means is configured to control the vehicle within a predetermined angle range based on the installation direction of the target stored in the installation direction storage means. An on-vehicle target detecting device having a function of determining that the target is a legitimate target for which an alarm should be issued when the target exists. 6. The on-vehicle target detecting apparatus according to claim 3, wherein the predetermined angle range is determined by a distance between the vehicle and the target. 7. The installation direction storage means stores lane information where a target is installed, and includes lane determination means for determining a lane in which a vehicle travels. The detection means includes a lane determination means. When the determined lane and the lane information of the target stored in the installation direction storage unit match, it is provided with a function of determining that the lane is a legitimate target to issue an alarm. The on-vehicle target detection device according to claim 1. 8. The on-vehicle target detecting apparatus according to claim 7, wherein the lane determining means determines the lane based on whether the vehicle is approaching a predetermined reference point. 9. A microwave detector comprising: a microwave detector main body for detecting a desired microwave; and an alarm means for alarming when a microwave is detected by the microwave detector main body. A microwave detector comprising the on-vehicle target detecting device according to any one of claims 8 to 13. 10. The type of alarm generated when the microwave is detected and the type of alarm generated when the on-vehicle target detecting device detects a target are different from each other. Microwave detector.