JP2002274301A - Obstacle detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle detector precisely determining whether or not a material contacting with an automobile is an obstacle from a relative speed vector of an obstacle candidate. SOLUTION: This obstacle detector is so constituted that past contact possibilities p1 -p50 are stored from the history of a present contact possibility f0 , the motion of an own vehicle and the position of the obstacle candidate are predicted so as to calculate future contact possibilities f1 -f50 , either of the future or the past possibilities is regarded as more importance is set based on the states of the own vehicle such as a car speed and a steering angle, a lapsed time from detecting the obstacle candidate, and a moving speed of the obstacle candidate, extents of rapidly changing a relative position and a relative speed of the obstacle candidate and the reliability of an obstacle candidate position from multiple sensors are calculated, the upper limits of weights wf and wp regarded as importance are set based on its reliability, a determination degree d is calculated from a summation average with the importance regarded weights wf and wp as coefficients in the importance regarded period, and when the determination degree is a prescribed value or more, the obstacle candidate is determined to be the obstacle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device for detecting an obstacle candidate around a host vehicle and detecting that the candidate obstacle becomes an obstacle for the host vehicle.

[0002]

2. Description of the Related Art An example of such an obstacle detecting device is described in Japanese Patent Application Laid-Open No. 2000-62555. This obstacle detection device calculates the possibility of contact between the own vehicle and an obstacle candidate detected in the vicinity of the own vehicle, and when the possibility of contact continues for a predetermined time or longer, the obstacle candidate is an obstacle to the own vehicle. It is determined that there is.

[0003]

In the above-mentioned conventional obstacle detecting device, an obstacle candidate is detected by radar. Here, due to the characteristics of the radar, when the relative position between the own vehicle and the obstacle candidate is close and the relative speed between the own vehicle and the obstacle candidate is large, a part of the reflected wave from the obstacle candidate cannot be detected, The detection accuracy of the obstacle candidate by the radar may decrease. However, the conventional obstacle detection device does not consider a decrease in the accuracy of detecting an obstacle candidate due to the relative position or relative speed between the own vehicle and the obstacle candidate, and based on the detection result of the obstacle candidate. If the calculated contact possibility continues for a predetermined time or longer, the obstacle candidate is uniquely determined to be an obstacle, so that the relative position between the own vehicle and the obstacle candidate is close and the relative speed between the own vehicle and the obstacle candidate. Is large, the accuracy in determining the obstacle candidate as an obstacle may be reduced.

[0004] In order to solve the above-mentioned problems, the present invention considers the possibility of contact between an own vehicle and an obstacle candidate calculated from the past to the future, in terms of a period and degree of importance, a running state, an operating state, and the like. By compensating for the possibility of contact in response to this, an obstacle detection device capable of compensating for a decrease in the accuracy of obstacle candidate detection due to the relative position and relative speed between the own vehicle and the obstacle candidate, and enabling more accurate obstacle determination. It is intended to provide.

[0005]

In order to achieve the above object, an obstacle detecting apparatus according to a first aspect of the present invention comprises: an obstacle candidate detecting means for detecting an obstacle candidate around a host vehicle; Own-vehicle state detecting means for detecting the running state of the vehicle and the operation state of the occupant; and the running state of the own vehicle and the occupant detected by the obstacle candidate and the own-vehicle state detecting means detected by the obstacle candidate detecting means. Contact possibility calculating means for calculating the contact possibility based on the operation state; and the current contact possibility and the past contact possibility of the own vehicle and the obstacle candidate calculated by the contact possibility calculation means and the future contact possibility. Each contact possibility calculating means for calculating each contact possibility of the contact possibility; and for each contact possibility calculated by each contact possibility calculating means, an obstacle candidate detected by the obstacle candidate detecting means. And own vehicle state detection hand Weighting period setting means for setting a time period in which importance is placed on the possibility of contact based on the traveling state of the own vehicle and the operation state of the occupant detected in For importance, based on the obstacle candidate detected by the obstacle candidate detection means, an importance degree setting means for setting the degree of importance for each contact possibility, and an importance period set by the importance period setting means. Obstacle detection means for detecting that the obstacle candidate becomes an obstacle to the own vehicle from a weighted average weighted by the importance degree set by the importance degree setting means for each contact possibility. It is characterized by the following.

According to another aspect of the present invention, there is provided an obstacle detecting device for detecting an obstacle candidate around the own vehicle, and detecting a running state of the own vehicle and an operation state of an occupant. Own-vehicle state detection means, and the own-vehicle and obstacle candidates based on the obstacle candidate detected by the obstacle candidate detection means, the running state of the own vehicle detected by the own-vehicle state detection means, and the operation state of the occupant. A contact possibility calculating means for calculating a current contact possibility, a past contact possibility, and a future contact possibility with the device, and detecting the obstacle candidate with respect to the contact possibility calculated by the contact possibility calculating means. Importance period setting means for setting a period in which importance is placed on the possibility of contact between the obstacle candidate detected by the means and the traveling state of the own vehicle detected by the own vehicle state detection means and the operation state of the occupant, Contact Importance degree setting means for setting the degree of importance of each contact possibility based on the obstacle candidate detected by the obstacle candidate detection means with respect to the contact possibility calculated by the possibility calculation means; A low-pass filter coefficient setting unit that sets a coefficient for setting the characteristic of the low-pass filter from the contact possibility importance period set by the period setting unit, and a contact possibility calculated by the contact possibility calculation unit, A low-pass filter process is performed using the coefficient set by the low-pass filter coefficient setting unit, and the processing result is multiplied by the importance level set by the importance level setting unit, so that the obstacle candidate is an obstacle to the own vehicle. And an obstacle detecting means for detecting an obstacle.

According to a third aspect of the present invention, there is provided an obstacle detecting apparatus according to the first or second aspect, wherein the own vehicle state detecting means detects a traveling speed of the own vehicle. Wherein the emphasis period setting means extends the emphasis period to the future side as the rate of change of the traveling speed of the own vehicle detected by the own vehicle speed detection means with respect to time increases.

According to a fourth aspect of the present invention, in the obstacle detecting device according to the first to third aspects, the host vehicle state detecting means includes a steering angle detecting means for detecting a steering angle. The emphasis period setting means is characterized in that as the change rate of the steering angle detected by the steering angle detection means with respect to time increases, the emphasis period is extended to the future side.

According to a fifth aspect of the present invention, in the obstacle detection device according to the first to fourth aspects, the host vehicle state detecting means includes a steering angle detecting means for detecting a steering angle. The emphasis period setting means is characterized in that as the steering angle detected by the steering angle detection means is larger, the emphasis period is extended to the future side. The obstacle detection device according to claim 6 of the present invention is the obstacle detection device according to claim 1, wherein the obstacle candidate detected by the obstacle candidate detection device and the own vehicle state detection device detect the obstacle candidate. An obstacle candidate moving speed calculating unit that calculates a moving speed of the obstacle candidate based on a traveling state of the host vehicle and an operation state of the occupant; and the emphasis period setting unit includes the obstacle candidate moving speed calculating unit. The feature is that, as the calculated moving speed of the obstacle candidate is higher, the emphasis period is extended to the future side.

According to a seventh aspect of the present invention, in the obstacle detection device according to the first to sixth aspects, the emphasis period setting means includes the obstacle candidate detected by the obstacle candidate detection means. The characteristic feature is that the longer the elapsed time from the detection of is, the more the emphasis period is extended to the past side. Further, in the obstacle detection device according to claim 8 of the present invention, in the invention according to any one of claims 1 to 7, the emphasis period setting means may include: The feature is that the emphasis period is set only from the present to the future.

According to a ninth aspect of the present invention, in the obstacle detecting apparatus according to the first to eighth aspects, the importance level setting means includes the obstacle candidate detected by the obstacle candidate detecting means. Is calculated, and the lower the reliability is, the smaller the upper limit value of the degree of importance of each contact possibility is set. In the obstacle detection device according to a tenth aspect of the present invention, in the invention according to the ninth aspect, the importance degree setting means has a large positional change of the obstacle candidate detected by the obstacle candidate detection means. The more the reliability is calculated, the smaller the reliability is calculated.

The obstacle detecting device according to claim 11 of the present invention is the obstacle detecting device according to claim 9 or 10.
The emphasis degree setting means, when the obstacle candidate detecting means detects an obstacle candidate with a plurality of sensors, calculates the reliability smaller as the difference between the positions of the obstacle candidates detected by the respective sensors is larger. It is characterized by doing.

According to a twelfth aspect of the present invention, there is provided the obstacle detecting device according to the first to eleventh aspects.
The importance level setting means sets the upper limit value of the importance degree for each contact possibility smaller in the future with respect to the future contact possibility calculated by the contact possibility calculation means. . In the obstacle detection device according to claim 13 of the present invention, in the invention according to claims 2 to 12, the low-pass filter coefficient setting unit includes:
As the importance period of the contact possibility set by the importance period setting means spreads to the future side, importance is attached to the future contact possibility,
Further, the characteristic of the low-pass filter is set so that the possibility of contact in the past is emphasized as the position spreads toward the past.

[0014]

According to the obstacle detecting device of the first aspect of the present invention, based on the detected obstacle candidate, the traveling state of the own vehicle, and the operation state of the occupant, the own vehicle and the occupant are operated. Calculates the current contact possibility, the past contact possibility, and the future contact possibility with the obstacle candidate, and based on the detected obstacle candidate, the traveling state of the own vehicle, and the operation state of the occupant, calculates the A period in which importance is placed on the contact possibility is set, and a degree of importance on each contact possibility is set based on the detected obstacle candidate, and the contact probability is set for the set importance period. From the weighted average weighting the degree of importance, the obstacle candidate is configured to detect that it becomes an obstacle to the own vehicle, so according to the running state of the own vehicle, the operation state of the occupant, the detection state of the obstacle candidate,
The possibility of contact can be evaluated, and accurate and high-speed obstacle determination can be performed.

Further, according to the obstacle detecting apparatus of the present invention, the own vehicle and the obstacle candidate are identified based on the detected obstacle candidate, the running state of the own vehicle, and the operation state of the occupant. The present contact probability, the past contact probability, and the future contact probability of the vehicle are calculated, and based on the detected obstacle candidates, the traveling state of the own vehicle, and the operation state of the occupant, the contact probability is calculated. Set a time period to focus on,
In addition, based on the detected obstacle candidates, the degree of importance of each contact possibility is set, and a coefficient for setting the characteristic of the low-pass filter from the set contact possibility importance period is set. A low-pass filter process is applied to each contact possibility using a filter coefficient, and the result of the process is multiplied by the set degree of importance to detect that the obstacle candidate becomes an obstacle for the own vehicle. It is possible to evaluate the possibility of contact according to the running state of the host vehicle, the operation state of the occupant, and the detection state of obstacle candidates, enabling accurate and high-speed obstacle determination and storing the priority period. The simplification of the device can be achieved by omitting the memory to be used.

According to the obstacle detecting device of the third aspect of the present invention, the greater the rate of change of the detected traveling speed of the host vehicle with respect to time, the longer the priority period is extended to the future. The contact possibility can be evaluated according to a period in which the relative state with the obstacle candidate is likely to change, such as when the host vehicle accelerates or decelerates. Further, according to the obstacle detection device of the present invention, the greater the rate of change of the detected steering angle with respect to time, the wider the emphasis period is on the future side. It is possible to evaluate the possibility of contact according to the period during which the relative state with the obstacle candidate is likely to change.

According to the obstacle detecting device of the present invention, the greater the detected steering angle, the wider the emphasis period is on the future side. The possibility of contact can be evaluated according to the period during which the relative state with the obstacle candidate is likely to change. According to the obstacle detection device of the present invention, as the calculated moving speed of the obstacle candidate is higher, the emphasis period is extended to the future side. It is possible to evaluate the possibility of contact according to a period in which the relative state with the obstacle candidate is likely to change as in the case of

Further, according to the obstacle detecting device of the present invention, as the elapsed time from the detection of the detected obstacle candidate is longer, the emphasis period is extended to the past side. The possibility of contact can be evaluated from the past record of detecting obstacle candidates. According to the obstacle detection device of the present invention, immediately after the obstacle candidate is detected, the emphasis period is set only from the present to the future, so that the obstacle candidate is not detected. It is possible to evaluate the possibility of contact for a long time from the present to the future, ignoring the past.

According to the obstacle detecting apparatus of the ninth aspect of the present invention, the reliability of the detected obstacle candidate is calculated, and the smaller the reliability, the more importance is placed on the possibility of each contact. Is set to be small, it is possible to appropriately evaluate the possibility of contact in a situation where the relative state with the obstacle candidate is likely to change. Further, according to the obstacle detection device according to claim 10 of the present invention,
Since the reliability is calculated to be smaller as the position change of the detected obstacle candidate is larger, it is possible to appropriately evaluate the possibility of contact in a situation where the relative state with the obstacle candidate is likely to change. .

According to the obstacle detecting device of the present invention, the reliability is calculated to be smaller as the difference between the positions of the obstacle candidates detected by the plurality of sensors is larger. It is possible to appropriately evaluate the possibility of contact in a situation where the state relative to the obstacle candidate is likely to change. According to the obstacle detection device of the twelfth aspect of the present invention, the upper limit value of the degree of importance for each contact possibility is set to be smaller in the future. It is possible to appropriately evaluate the possibility of contact in a situation that easily changes.

Further, according to the obstacle detecting device of the present invention, as the set contact possibility emphasis period extends to the future side, the future contact possibility is emphasized and the past contact possibility is emphasized. Since the coefficient of the low-pass filter is set so that the possibility of contact in the past is emphasized, the memory in the emphasis period can be omitted and the structure can be simplified.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a system configuration diagram showing a first embodiment of a vehicle with a preceding vehicle following travel device to which the obstacle detection device of the present invention is applied. A radar processing device 3 that extracts a candidate for an obstacle ahead of the host vehicle from a result of scanning by the scanning laser radar 2 is connected to the external world recognition device 1. The radar processing device 3 is provided with a function of calculating two-dimensional coordinate values of the detected one or more obstacle candidates with the origin of the own vehicle, that is, the position of the obstacle candidate.

Further, an image processing device 5 for detecting the traveling lane of the vehicle from the image in front of the vehicle captured by the CCD camera 4 is connected to the external world recognition device 1. The CCD camera 4 is of a progressive scan type capable of grasping the situation in front of the vehicle at a wide angle and at a high speed,
Further, the image processing device 5 is provided with a function of determining whether the position of the obstacle candidate detected by the radar processing device 3 is inside or outside the own vehicle traveling lane.

Further, a vehicle speed sensor 6 and a steering angle sensor 7 for detecting the running state of the vehicle are connected to the external world recognition device 1. The vehicle speed sensor 6 detects the traveling speed VSP of the _host vehicle from the rotation speed of the rear wheel that is a driven wheel. The steering angle sensor 7 detects the steering angle θ of the steering wheel. Then, the external world recognition device 1 determines whether the obstacle candidate is an obstacle to the own vehicle from, for example, a calculation process described later, and if it is determined that the obstacle candidate is an obstacle, the automatic braking is performed. A command is output to the control device 8. The automatic brake control device 8 operates the negative pressure brake booster 9,
A braking force is applied to each wheel to avoid contact with an obstacle.
If the external recognition device 1 determines that the obstacle candidate is not an obstacle but a preceding vehicle running at the same speed as the own vehicle, the determination result is sent to a preceding vehicle following travel control device (not shown). The traveling control device for following the preceding vehicle controls the output of the engine and the braking force on each wheel to perform the control of following the preceding vehicle.

The external world recognition device 1, the radar processing device 3,
The image processing device 5, the automatic brake control device 8, and the like each include a microcomputer and its peripheral devices, and a drive circuit for driving each actuator, and can transmit and receive information to and from each other via a communication circuit. ing. Next, the principle of an arithmetic process for detecting an obstacle, which will be described later, performed by the external world recognition device 1 will be described. First,
The principle of calculating the possibility of contact between the own vehicle and the obstacle candidate when the relative speed between the own vehicle and the obstacle candidate is detected will be described.

For example, as shown in FIG. 2A, when the relative position and the relative speed of the obstacle candidate are detected in the two-dimensional rectangular coordinates having the origin at the center of the front end of the vehicle, the horizontal axis of the relative speed vector, that is, The X-axis intercept X0 in the figure is calculated. When the width of the own vehicle is W0, the absolute value | X0 | of the X-axis intercept of the relative velocity vector is half of the width of the own vehicle W0.
/ 2 or less, there is a high possibility that the obstacle candidate will come into contact with the host vehicle. So, for example, as shown in FIG.
When the absolute value | X0 | of the X-axis intercept of the relative velocity vector is “0”, the contact possibility is set to “1.0 (= 100
%), And the contact possibility when the absolute value | X0 | of the X-axis intercept of the relative speed vector is half the width W0 / 2 of the host vehicle is set to “0.8 (= 80%)”. When the absolute value | X0 | of the X-axis intercept of the relative velocity vector is large, a contact possibility calculation map is set such that the contact possibility is greatly reduced, and the contact is calculated from the relative position and relative velocity of the actually detected obstacle candidate. In addition, when the motion state of the own vehicle and the motion state of the obstacle candidate are predicted, it is possible to predict a change in the relative position and the relative speed of the own vehicle and the obstacle candidate in the future. Therefore,
In such a case, when calculating the possibility of contact in the future, it is necessary to calculate the possibility of contact using the predicted relative position and relative speed at the future time.

Therefore, in this embodiment, the possibility of contact is anticipated.
During the predicted time T to be measured, the future steering angle of the host vehicle is
The vehicle speed changes with the steering angular velocity, and the future vehicle speed changes with the current acceleration.
Change, future obstacle candidate position moves to current obstacle candidate
Current contact probability based on the assumption of changing with speed
f₀And the possibility of future contact up to 0.5 seconds ahead f₁~ F ₅₀
Is calculated. Specifically, the steering angle of the current vehicle
Predicts the movement of the vehicle based on speed, steering angle, acceleration, and speed
The vehicle's translation speed (speed toward the obstacle candidate)
And rotation speed, and the value obtained by integrating the obstacle candidate movement speed
Is corrected by the translation speed and the rotation speed of the vehicle, and the obstacle candidate
Is calculated, and the relative position is differentiated to obtain the relative speed.
Calculated and calculated from the relative position and relative speed of the obstacle candidate.
Calculate the coming contact possibility.

FIG. 3A shows the calculated contact possibilities on the time axis. In the figure, the past contact possibilities p ₁ , p ₂ , p ₃ ... Are obtained by updating the current contact possibility f ₀ to a past value for each sampling cycle. Then, as shown in FIG. 3B, the plurality of contact possibilities p ₁ to p ₅₀ , f ₀ , f _{1 to} f ₅₀ are weighted, and the obstacle candidate is determined based on the weight and each contact possibility. It is determined whether or not it is an object. The weighting includes a period in which the possibility of contact is emphasized (a range in which importance is attached in the figure) and a degree of importance.

The period in which the possibility of contact is emphasized is set mainly according to how easily the situation around the host vehicle changes. For example, in a situation where the situation around the host vehicle is unlikely to change, the possibility of contact in the past is emphasized, that is, the emphasis period is extended to the past. Accordingly, when the host vehicle is traveling steadily or when the elapsed time since the detection of the obstacle candidate is long, conservative weighting that prioritizes the possibility of contact in the past is performed. Even if an error occurs, robust obstacle judgment can be performed. On the other hand, in a situation in which the situation around the own vehicle is likely to change, the possibility of contact in the future is emphasized, that is, the emphasis period is extended to the future side. Thus, when an obstacle candidate suddenly appears, it is possible to quickly determine an obstacle by focusing on the possibility of contact in the future, regardless of the possibility of contact in the past.

On the other hand, the degree to which the possibility of contact is emphasized is set mainly in accordance with the sensing function status, that is, the degree of normal functioning of the collection of information necessary for calculating the possibility of contact. For example, when the sensing function status is normal at a certain sampling time, the importance level at that time is set to “1 (= 100%)”. When the sensing function status is not normal, the importance level at that time is set to “1 (= 100%)”. = 100%) ".

When there are a plurality of detected obstacle candidates, the possibility of contact from the past to the future is similarly calculated for all the obstacle candidates, and all of them are weighted in principle. Next, calculation processing of obstacle detection performed by the external world recognition device 1 will be described with reference to the flowchart of FIG. In this calculation process, a timer interrupt process is performed at a predetermined sampling period ΔT (for example, 10 msec.). In this flowchart, no particular communication step is provided. For example, information obtained in the flowchart is stored in the storage device as needed, and necessary information is read from the storage device as needed.

In step S1 of this calculation process, the vehicle
Own vehicle speed V detected by speed sensor 6 _SP, Steering angle sensor 7
The steering angle θ detected in the step is read and the own vehicle speed V_SPThe time
Dividing own vehicle acceleration dV_SP/ Dt is calculated. Next,
The process proceeds to step S2 and the steering angle read in step S1 is read.
θ is differentiated by a pseudo differentiator represented by the following equation (1) to calculate the steering angular velocity d.
Calculate θ / dt.

G (Z) = (cZ ² −c) / (Z ² −aZ + b) (1) where Z is a time advance operator, and a, b, and c are each positive numbers. . Next, the process proceeds to step S8, and the laser radar 2 (substantially of the laser radar) is executed, for example, once every ten times when this arithmetic processing is performed, that is, every 100 msec. Processing device 3)
, The position of the obstacle candidate (the (x, y) coordinates in the two-dimensional orthogonal coordinates of FIG. 2) is read. It should be noted that when the distance measurement situation changes, such as when an obstacle candidate is lost or newly captured, all past values of input / output variables are reset to the current distance value. ing.

Next, the flow shifts to step S9, where the aforementioned steps are performed.
The position coordinates of the obstacle candidate read in step S3 are calculated by the above equation (1).
Is differentiated by the pseudo-differentiator shown, and the relative velocity (vector) Vr is calculated.
calculate. Next, the process proceeds to step S10, and the
Vehicle speed V read in step S1_SPAnd calculated in step S9
The moving speed V of the obstacle candidate is calculated based on the sum of the calculated relative speed Vr.
_{ob j}Is calculated.

Next, the process proceeds to step S11, where the future steering angle of the own vehicle changes at the current steering angular speed calculated in step S2, and the future own vehicle speed is calculated in step S2 as described above. Based on the assumption that the current obstacle potential changes at the current acceleration, and the position of the future obstacle candidate changes at the current obstacle candidate moving speed calculated in step S10, the current contact possibility f ₀ and 0.5 second The future contact possibilities f _{1 to} f ₅₀ are calculated. In this embodiment,
Since the sampling period ΔT is 10 msec., The number of possible future contacts n = 50 is predicted. Further, the future contact possibility f _n is calculated by predicting the movement of the own vehicle as described above, calculating the future own vehicle translation speed (speed toward the obstacle candidate) and the rotation speed, and calculating the obstacle candidate moving speed. The relative value of the obstacle candidate is obtained by correcting the value obtained by integrating with the translation speed and the rotational speed of the own vehicle to calculate the relative position of the obstacle candidate, and the relative position is differentiated to calculate the relative speed. Calculate future contact possibilities.

[0036] Next, the process proceeds to step S12, as described below, the current contact possibility f ₀ calculated in step S11, future contact possibility f ₁ ~f ₅₀ and past stored in the memory Contact possibility p _{1 for} 50 samplings
Set the weight to each of ~p _50, to update. In addition,
The weights emphasize past the past focused weight t _1, the weights emphasize the future and future emphasis weight t _2, these weights are equal in number to the number of all detected obstacle candidates. First, a "0" in the past focused weight t ₁ if the obstacle candidate which is newly detected, and "1" in the future emphasis weight t _2. Also,
The future is emphasized according to the state of the own vehicle, for example, the magnitude of the change in the steering angle and the own vehicle speed. Specifically, as shown in FIG. 5, the steering angular velocity dθ / dt calculated in step S2
Is the horizontal axis, and the vehicle acceleration dV _SP calculated in step S1
/ Dt of a parameter, the greater the steering angle velocity d [theta] / dt, and the subject vehicle acceleration dV _SP / dt increases the future emphasis weight t ₂ according to the function g ₁ which is greater the larger and past focused to reduce the weight t ₁ increases or decreases Value g ₁ (dθ / dt,
dV _SP / dt) and calculate it as the present future weight t.
₂ is subtracted from the previous emphasis weight t ₁ while adding sets calculated emphasize weight t ₂ and historical emphasis weight t ₁ new future.

The future is emphasized according to the state of the host vehicle, for example, the magnitude of the steering angle. Specifically, as shown in FIG. 6, the steering angle θ read in step S1 is set on the horizontal axis,
An increase / decrease value g ₂ (θ) that increases the future emphasis weight t ₂ and decreases the past emphasis weight t ₁ is calculated according to a function g ₂ that increases as the steering angle θ increases, and that is used as the current future emphasis weight t ₂ . It is subtracted from the previous emphasis weight t ₁ while adding sets calculated emphasize weight t ₂ and historical emphasis weight t ₁ new future. Further, when the state of the host vehicle, for example, the steering angle is small, the future is not emphasized. Specifically, as shown in FIG. 7, the horizontal axis represents the steering angle θ read in step S1, and the function g is “1” in a region where the steering angle θ is small and substantially “0” in other regions. Future weight weight change g according to _3
3 (theta) is calculated, by subtracting it from the current future emphasis weight t ₂ is calculated and set the focus weight t ₂ new future.

The past is emphasized according to the length from the detection of the obstacle candidate. Specifically, when the elapsed time from the detection of the obstacle candidate for the first time exceeds a predetermined time, “0.8” is added to the current past weighted weight t ₁ to calculate and set a new past weighted weight. I do. The future is emphasized in accordance with the state of the obstacle candidate, for example, the magnitude of the obstacle candidate moving speed. Specifically, as shown in FIG.
Future emphasis weight variation value g in accordance with the function g ₄ the calculated obstacle candidate moving speed V _obj increases as slightly larger
₄ (V _obj ) is calculated, and is calculated as the present future weight t ₂
It is added to the set calculates a new future-oriented weight t _2.

Next, the process proceeds to step S13, and the degree of judgment d is calculated according to the following two equations.

[0040]

(Equation 1)

In the expression, int is a function that returns only the integer part of the argument. P _n is the past contact possibility, f _n is the future contact possibility (f ₀ is the current contact possibility), and p n
_{n ∈ [p 1, p 50} ], is _{f n ∈ [f 0, f} 50]. Moreover, wp _n is a weight indicating the degree of emphasis for past contact possibility _{p n (wp 1 ~wp 50)} , wf n is
A weight (wf _{0 to} wf ₅₀ ) indicating the degree of emphasis on the future contact possibility f _n . In this embodiment, wp _n =
Treat as wf _n = 1.

Next, proceeding to step S14, when the judgment degree d calculated in step S13 is "0.8" or more, it is judged that the obstacle candidate is an obstacle. In this embodiment, the obstacle determination degree d is “0.
The obstacle judgment is held until the distance becomes 7 "or less. That is, hysteresis is provided so that the judgment does not fluctuate.

Next, the process proceeds to step S15, and among the obstacles determined in step S14, information such as the distance to the obstacle with the shortest time to contact and the relative speed are transmitted to the control system in the subsequent stage. Then, the output is sent to the automatic brake control device 8. At the next step S16, and updates the historical contact possibility p ₁ ~p ₅₀ one by one in the past, updates the current contact probability f ₀ of the past the possibility of contact p ₁ Return to the main program.

As described above, in the obstacle detecting device of the present embodiment, the steering angular velocity dθ / dt, the own vehicle acceleration dV _SP / dt,
Depending on the steering angle θ, the moving speed V _{obj of} the obstacle candidate, and the time from the detection of the obstacle candidate, the contact possibility f _n , _pn
The range of importance is expanded to the future side or to the past side, so it is possible to evaluate the possibility of contact according to the period during which the relative state with the obstacle candidate is likely to change, and it is accurate and fast. Obstacle determination is possible.

Further, in the obstacle detecting device of the present embodiment,
As the own vehicle acceleration dV _SP / dt is larger, the future emphasis weight t
By decreasing greatly and the past focused weight t _{1 2,} since the emphasis period of contact possibility f _n was set to spread in the future side, relative to the obstacle candidates as during acceleration or deceleration of the vehicle It is possible to evaluate the possibility of contact according to the period during which the state is likely to change.

Further, in the obstacle detecting device of the present embodiment,
The larger the steering angular velocity dθ / dt, the more the future emphasis weight t ₂
And the prior importance weight t ₁ is reduced, so that the importance period of the contact possibility f _n is extended to the future side, so that the relative state with the obstacle candidate such as at the time of the lane change of the own vehicle. It is possible to evaluate the possibility of contact in accordance with the period during which is likely to change.

Further, in the obstacle detecting device of the present embodiment,
The larger the steering angle θ, the greater the future emphasis weight t_TwoAnd increase
Past weight t₁Can be contacted by reducing
Sex f _nThe focus period of the
Relative state with obstacle candidates, such as when the vehicle is rotating
It is possible to evaluate the possibility of contact in accordance with the period during which is likely to change.

Further, in the obstacle detecting device of the present embodiment,
As the moving velocity V _obj obstacle candidates is large, by increasing the future emphasis weight t _2, since the emphasis period of contact possibility f _n was set to spread in the future side, when the obstacle candidate is high speed As described above, it is possible to evaluate the possibility of contact according to the period in which the relative state with the obstacle candidate is likely to change.

Further, in the obstacle detecting device of the present embodiment,
The longer the elapsed time from the detection of the obstacle candidates, by increasing the past focused weight t _1, since the emphasis period of contact possibility p _n was set to spread in the past side, we have reliably detected obstacle candidate It is possible to evaluate the possibility of contact based on past results. Further, in the obstacle detecting apparatus of the present embodiment, immediately after detecting an obstacle candidate, by a a "1" in the future emphasis weight t ₂ and the past focused weight t ₁ "0", the possibility of contact f _Since the priority period of _n is set only from the present to the future, the past in which no obstacle candidate has been detected can be ignored, and the possibility of contact from the present to the future can be evaluated.

As described above, the laser radar 2, the radar processing device 3, and the steps S8 and S5 of the arithmetic processing shown in FIG.
The vehicle speed sensor 6, the steering angle sensor 7, and step S1 of the arithmetic processing of FIG. 4 constitute the own vehicle state detecting means, and the vehicle speed sensor 6, the steering angle sensor 7, and the like. Step S11 constitutes a contact possibility calculating means,
Step S12 of the calculation processing of FIG. 4 constitutes the important period setting means, steps S13 and S14 of the calculation processing of FIG. 4 constitute the obstacle detection means, and the vehicle speed sensor 6 and the calculation processing of FIG. Step S1 constitutes the vehicle speed detecting means, the steering angle sensor 7 and step S1 of the calculation processing of FIG. 4 constitute the steering angle detection means, and step S10 of the calculation processing of FIG. It constitutes calculation means.

Next, a second embodiment of the obstacle detection device according to the present invention will be described. FIG. 9 is a system configuration diagram of a vehicle with a preceding-vehicle following device equipped with the obstacle detection device of the present embodiment. In this embodiment, in addition to the vehicle configuration of the first embodiment, a millimeter wave radar 11 as a sensor for detecting an obstacle candidate ahead of the host vehicle, and an output signal of the millimeter wave radar 11 A millimeter-wave radar processing device 12 for detecting the position of the obstacle candidate and the relative speed between the host vehicle and the obstacle candidate is provided. The millimeter wave radar processing device 12 is connected to the external world recognition device 1 and can directly detect the relative speed between the vehicle and the obstacle candidate by the millimeter wave Doppler effect, as is well known. Further, in this embodiment, two CCD cameras 4 are provided in parallel to constitute a so-called stereo camera. The relative position of the obstacle candidate can be extracted. That is, in this embodiment, three sensors having different detection principles are provided as obstacle candidate detection means in order to detect the relative position and relative speed between the own vehicle and the obstacle candidate. Incidentally, the obstacle radar detection range of the laser radar is 5 to 100 m ahead of the host vehicle.
Although the degree and the detection angle are ± 6 °, it is vulnerable to weather such as rain and fog. Further, the obstacle candidate detection range of the millimeter wave radar is about 1 to 60 m in front of the own vehicle, and the detection angle is ± 8 °, and is hardly influenced by weather conditions and the like. Further, the obstacle candidate detection range of the stereo camera is about 5 to 40 m in front of the host vehicle, and the detection angle is ± 20 °, but the detection accuracy is reduced under backlight conditions.

In this embodiment, the arithmetic processing for determining an obstacle performed by the external world recognition device 1 is changed from that of FIG. 4 of the first embodiment to that of FIG. The arithmetic processing in FIG. 9 includes the same steps as those in the arithmetic processing in FIG. 4, and the same steps are denoted by the same reference numerals and description thereof will be omitted. In the calculation processing of FIG. 9, steps S3 to S9 are performed instead of steps S8 and S9 of the calculation processing of FIG.
All the other steps are the same except that step S7 is added and step S13 of the arithmetic processing in FIG. 5 is changed to step S13 '.

In step S3, as in step S8 of the arithmetic processing shown in FIG. 4, for example, once every ten times this arithmetic processing is performed, that is, every 100 msec. (Corresponding to the processing cycle of the laser radar processing apparatus 3). The laser radar 2
The relative position of the obstacle candidate is read from (substantially, the processing device 3 of the laser radar), and the relative speed (vector) Vr is calculated by the pseudo-differentiator of the above-described formula (1).

Next, the process proceeds to step S4, and the millimeter wave radar 11 (substantially every 50 msec. (Corresponding to the processing cycle of the millimeter wave radar processing device 12), for example, once every five times when this arithmetic processing is performed , The relative position of the obstacle candidate and the relative speed Vr between the host vehicle and the obstacle candidate are read from the millimeter wave radar processing device 12). Next, the process proceeds to step S5, wherein the CCD camera 4 (substantially the image processing device 5) is executed, for example, once every two times when this arithmetic processing is performed, that is, every 20 msec. ), The relative position of the obstacle candidate is read, and the relative speed (vector) Vr is calculated by the pseudo-differentiator of the above formula (1).

Next, the process proceeds to step S6, where the relative position / velocity information of the laser radar, the millimeter wave radar, and the stereo camera is obtained from the characteristics of each sensor as described above.
An optimum obstacle candidate relative position and relative speed are set according to an obstacle candidate detection area, weather conditions, and the like. In particular,
Obstacle candidate relative position from sensor that best meets conditions
Select the relative speed.

Next, the process proceeds to step S7, in which the reliability is calculated from the degree of sudden change in the relative position and relative speed of the obstacle candidate set in step S6 and the difference between the relative positions of the obstacle candidate from each sensor. In accordance with the reliability, an upper limit value of the weight wf ₀ for the current contact possibility is set. Specifically, first, the relative position (distance) D _L to the obstacle candidate by the radar radar 2, the relative position (distance) D _M to the obstacle candidate by the millimeter-wave radar 11, and the obstacle position to the obstacle candidate by the stereo CCD camera 4. using the relative position (distance) D _S, calculates the relative position error ΔD according to the following formula 3.

ΔD = g ₆ (D _L −D _M ) + g ₆ (D _M −D _S ) + g ₆ (D _S −D _L ) (3) where the function g ₆ in the equation is the absolute value of the argument. It returns a value, but returns "0" if any of the sensors has not detected an obstacle candidate. And the relative position error Δ
When D is calculated, to calculate a relative position error correction factors KΔD according to a function g ₇ in which the relative position error ΔD is more largely set larger as shown in FIG. 11. Furthermore, the relative position (distance) of the obstacle candidate set in step S6
And the absolute value of the difference between the relative position (distance) and the obstacle candidate used in the previous sampling cycle is calculated as the sudden change degree α. The abrupt change α is set on the horizontal axis, and the relative position error correction coefficient KΔD is used as a parameter. The value is set to be smaller than “1” as the abrupt change α increases and the relative position error correction coefficient KΔD increases. The upper limit value wf _{0 -lmt} of the weight degree wf ₀ with respect to the current contact possibility f ₀ is set according to the function g ₈ shown in FIG. The upper limit value wf _{0 -lmt} of the weight degree wf ₀ with respect to the current contact possibility f ₀ set in this manner is determined one by one with the update of the current contact possibility f ₀ in step S16. It is updated to the weight degree limit wp _n.

In step S13 ', FIG.
As shown in the figure, the future contact possibility weight degree upper limit value wf _n-lmt which becomes smaller in the future is set, and the current contact possibility weight degree upper limit value wf _0-lmt calculated in step S7 and the memory are set. Using the past contact possibility weight degree upper limit value wpn stored in ( ₁₎ , the judgment degree d is calculated by the above two equations.

As described above, in the obstacle detection device of the present embodiment, in addition to the first embodiment, the reliability of the obstacle candidate is determined by the reciprocal of the abrupt change α and the relative position error correction coefficient KΔD
The upper limit value wf _{0 -lmt} of the degree of emphasizing the current contact possibility f ₀ is set smaller as the abrupt change α and the relative position error correction coefficient KΔD are larger, that is, the reliability is smaller. Therefore, it is possible to appropriately evaluate the possibility of contact in a situation where the state relative to the obstacle candidate is likely to change.

Further, in the obstacle detecting device of the present embodiment,
The greater the change in the position of the detected obstacle candidate, the greater the sudden change degree α and the smaller the reliability, so that the possibility of contact in situations where the relative state with the obstacle candidate is likely to change is reduced. Can be evaluated appropriately. Further, according to the obstacle detection device of the present embodiment, the larger the difference between the positions of the obstacle candidates detected by the plurality of sensors, the larger the relative position error correction coefficient KΔD and the smaller the reliability. Therefore, it is possible to appropriately evaluate the possibility of contact in a situation where the state relative to the obstacle candidate is likely to change.

When the upper limit value wf _{0 -lmt of} the degree of emphasizing the current contact possibility f ₀ is equal to or less than a predetermined value, the reliability of the calculation of the future contact possibility is low. The upper limit value of the degree of emphasizing the property f _n may be all “0”. From the above, the laser radar 2,
Laser radar processing device 3, CCD camera 4, image processing device 5, millimeter wave radar 11, millimeter wave radar processing device 12,
Steps S3 to S5 of the calculation processing of FIG. 10 constitute an obstacle candidate detection unit, and similarly, the vehicle speed sensor 6, the steering angle sensor 7, and step S1 of the calculation processing of FIG.
10 constitutes the own vehicle state detecting means, the step S11 of the arithmetic processing of FIG. 10 constitutes the contact possibility calculating means, and the step S12 of the arithmetic processing of FIG. 10 constitutes the important period setting means. Step S13 'of the calculation processing constitutes the degree of importance setting means, step S13' and step S14 of the calculation processing of FIG. 10 constitute the obstacle detection means, and the vehicle speed sensor 6 and step S1 of the calculation processing of FIG. Constitutes a vehicle speed detecting means, and the steering angle sensor 7
Step S1 of the arithmetic processing in FIG. 10 constitutes a steering angle detecting means, and step S10 of the arithmetic processing in FIG. 10 constitutes an obstacle candidate moving speed calculating means.

Next, a third embodiment of the obstacle detection device of the present invention will be described. The system configuration of the vehicle in this embodiment is the same as that shown in FIG. 9 of the second embodiment. In this embodiment, the calculation process for stopping the obstacle candidate performed by the external recognition apparatus 1 is changed from that of FIG. 10 of the second embodiment to that of FIG. The arithmetic processing in FIG. 8 includes steps equivalent to the arithmetic processing in FIG. 5, and the same steps are denoted by the same reference numerals and description thereof will be omitted. In the calculation processing of FIG. 14, step S7 of the calculation processing of FIG.
The other steps are the same as those in FIG. 10 except that step S13 ′ is changed to step S13 ″.

In the step S7 ', the step S7
The reliability is calculated from the degree of the sudden change in the relative position and relative speed of the obstacle candidate set in 6 and the difference between the relative positions of the obstacle candidate from each sensor, and the sensor function determination weight ws is calculated according to the reliability. Set. Specifically, first, the relative position (distance) D _L to the obstacle candidate by the radar radar 2, the relative position (distance) D _M to the obstacle candidate by the millimeter-wave radar 11, and the obstacle position to the obstacle candidate by the stereo CCD camera 4. Using the relative position (distance) D _S , the relative position error ΔD is calculated according to the above equation (3). Using this relative position error [Delta] D, and calculates the relative positional error correction coefficient KΔD according to a function g ₇ shown in FIG. 11. Further, the absolute value of the difference between the obstacle candidate relative position (distance) set in step S6 and the obstacle candidate relative position (distance) used in the previous sampling cycle is calculated as the sudden change degree α. , and the sudden change of α the horizontal axis, sets the weight ws sensor function determination in accordance with the function g ₈ of FIG 12, the relative position error correction factors KΔD parameters. That is, the upper limit value w of the degree of emphasizing the current contact possibility f ₀ of the second embodiment.
f _0-lmt is the weight of how reliable the information from the sensor is. Note that the sensor function determination weight ws set in this manner is used in step S1 described later.
6 'are updated one by one past contact possibility weighting degree limit wp ₁ with updating the current contact possibility f _0.

In step S13 ″, the past emphasis coefficient wp and the future emphasis coefficient wf that determine the characteristics of the low-pass filter are set as follows, and the low-pass filter processing shown in the following three equations is performed for each sampling cycle. Then, the degree of judgment d is calculated.
The current contact possibility f ₀ calculated in step _{11 is used as} the initial value of the previous value d ₁₁ of the past judgment degree. On the other hand, with respect to the past contact possibility _pn (n = 1 to 50) updated in the step 16, the sampling number n is incremented by "1", and the sampling number n is set on the horizontal axis. S12, calculates sets a past emphasis coefficient wp _-1 last accordance with the function g ₉ shown in FIG. 15, the past focused weight t ₁ calculated configuration parameters. The function g ₉ is such that the larger the sampling number n is, that is, the more the past, and the smaller the past importance weight t ₁ , the smaller the previous importance coefficient wp _−1.
Is set close to “1”. Then, the previous past emphasis coefficient wp ₋₁ is subtracted from “1” to calculate the past emphasis coefficient wp, and the previous past emphasis coefficient wp is calculated.
From the sum of the value obtained by multiplying p _-1 by the previous value d ₁₁ of the past judgment degree and the value obtained by multiplying the past importance factor wp by the past contact probability _pn , the past judgment degree d ₁ is obtained. calculate. Next, the past judgment degree d _{1 is changed} to the previous value d _{21 of the} future judgment degree.
The initial value of. Then, with respect to the future contact probability f _n (n = 1 to 50) calculated in step S11, the sampling number n is incremented by “1” while the sampling number n is set on the horizontal axis, and S
12 Future emphasis coefficient previous future calculated set focus weight t ₂ in accordance with the function g ₁₀ shown in FIG. 16, parameters w
Calculate and set f- ₁ . The function g _10, the higher the sampling number n is large, i.e. as the future, also smaller the future emphasis weight t _2, is for larger closer to "1" in the future emphasis coefficient wf _-1 last. However, when the future emphasis weight t ₂ becomes larger than a predetermined value, the previous future emphasis coefficient wf ₋₁ becomes smaller. A _{value obtained} by subtracting the previous future importance coefficient wf ₋₁ from “1” to calculate the future importance coefficient wf and multiplying the previous future importance coefficient wf ₋₁ by the previous value d ₂₁ of the future determination degree. When,
Wherein calculating the future determination of d ₂ the future emphasis coefficient wf from the sum of the value obtained by multiplying the contact possibility f _n of the future. Then, the future determination degree d ₂ is multiplied by the sensor function determination weight ws calculated and set in step S7 ′ to obtain the determination degree d.
Is calculated.

[0065]

(Equation 2)

This operation is performed in the control map shown in FIG.
From the past importance weight t₁The larger is the previous past person in charge
Number wp_-1Is set to be small,
The number wp becomes large, and the past contact possibility p_nSquared
The previous past importance factor wp_-1Before the past judgment
Round value d₁₁And judge the past judgment degree d ₁
Is calculated. In other words, when the past should be emphasized
A low-pass filter that increases the distribution ratio is configured
You. Similarly, the control map shown in FIG.
Weight t_TwoIs larger, the previous future emphasis coefficient wf_-1Is small
Therefore, the future emphasis coefficient wf is relatively large.
The future contact possibility f_nMultiplied by the previous
Future emphasis coefficient wf_-1Is the previous value d of the future judgment degree_{twenty one}Squared
And the future judgment degree d_TwoIs calculated.
In other words, here too, when the future should be emphasized,
A low-pass filter that increases the distribution ratio of
You. Therefore, in the present embodiment, the first embodiment and
In addition to the effects of the second embodiment, the memory in the emphasis period is omitted.
Can be simplified and the configuration simplified accordingly.
Can be.

As described above, the laser radar 2, the laser radar processing device 3, the CCD camera 4, the image processing device 5, the millimeter wave radar 11, the millimeter wave radar processing device 12, and the steps S3 to S5 of the arithmetic processing in FIG. The vehicle speed sensor 6, the steering angle sensor 7, and step S1 of the calculation processing in FIG. 14 constitute the own vehicle state detection means, and step S11 of the calculation processing in FIG. 14 constitutes a contact possibility calculating means, step S12 of the arithmetic processing of FIG. 14 constitutes an importance period setting means, and step S13 "of the arithmetic processing of FIG. 14 constitutes an importance degree setting means. Step S of arithmetic processing
13 "constitutes a low-pass filter coefficient setting means.
Step S13 ″ and Step S14 of the arithmetic processing of No. 4 constitute an obstacle detecting means, and the vehicle speed sensor 6 and Step S1 of the arithmetic processing of FIG. 14 constitute an own vehicle speed detecting means,
Step S of the steering angle sensor 7 and the calculation processing of FIG.
1 constitutes a steering angle detecting means, and step S10 of the arithmetic processing in FIG. 14 constitutes an obstacle candidate moving speed calculating means.

In the above embodiment, microcomputers are used for the respective processing units, but various logic circuits may be used instead.

[Brief description of the drawings]

FIG. 1 is a vehicle configuration diagram showing an example of a vehicle with a preceding vehicle following travel control provided with an obstacle detection device of the present invention.

FIG. 2 is an explanatory diagram of an obstacle candidate relative velocity vector necessary for obstacle detection and the possibility of contact thereof.

FIG. 3 is an explanatory diagram of the possibility of contact from the past to the future and how to attach importance to the possibility of contact;

FIG. 4 is a flowchart illustrating a first embodiment of a calculation process for obstacle detection performed by the external world recognition device of FIG. 1;

FIG. 5 is a control map used in the calculation processing of FIG. 4;

FIG. 6 is a control map used in the calculation processing of FIG. 4;

FIG. 7 is a control map used in the calculation processing of FIG. 4;

FIG. 8 is a control map used in the calculation processing of FIG. 4;

FIG. 9 is a vehicle configuration diagram showing another example of a vehicle with a preceding vehicle following travel control provided with the obstacle detection device of the present invention.

FIG. 10 is a flowchart illustrating a second embodiment of an arithmetic process for obstacle detection performed by the external world recognition device of FIG. 9;

FIG. 11 is a control map used in the calculation processing of FIG. 10;

FIG. 12 is a control map used in the calculation processing of FIG. 10;

FIG. 13 is a control map used in the calculation processing of FIG. 10;

FIG. 14 is a flowchart showing a third embodiment of the calculation processing for obstacle detection performed by the external world recognition device of FIG. 9;

FIG. 15 is a control map used in the calculation processing of FIG. 14;

FIG. 16 is a control map used in the calculation processing of FIG. 14;

[Explanation of symbols]

 1 is an external recognition device 2 is a laser radar 3 is a laser radar processing device 4 is a CCD camera 5 is an image processing device 6 is a vehicle speed sensor 7 is a steering angle sensor 8 is an automatic brake control device 9 is a negative pressure brake booster 11 is a millimeter wave radar 12 is a millimeter wave radar processing device

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F02D 29/02 301 F02D 29/02 301D G08G 1/16 G08G 1/16 C (72) Inventor Ken Kimura Kanagawa Nissan Motor Co., Ltd., 72, Takaracho, Kanagawa-ku, Yokohama-shi (72) Inventor Eijo Iwasaki Nissan Motor Co., Ltd., 2 Takaracho, Kanagawa-ku, Yokohama-shi F-term (reference) 3D044 AA21 AA24 AA25 AA31 AA45 AB01 AC31 AC55 AC56 AE03 AE18 3G093 AA01 BA04 BA15 BA23 BA24 BA27 CB09 DB16 FA01 FA04 FB07 5H180 AA01 CC04 CC14 LL01 LL04 LL09

Claims (13)

[Claims] 1. An obstacle candidate detecting means for detecting an obstacle candidate around the own vehicle, an own vehicle state detecting means for detecting a running state of the own vehicle and an operation state of an occupant, and detecting by the obstacle candidate detecting means. Contact possibility calculating means for calculating the contact possibility based on the detected obstacle candidate and the running state of the own vehicle detected by the own vehicle state detecting means and the operation state of the occupant; Each contact possibility calculating means for calculating each contact possibility of the current contact possibility of the own vehicle and the obstacle candidate and the past contact possibility and the future contact possibility, and each contact possibility calculating means. For each of the calculated contact probabilities, based on the obstacle candidate detected by the obstacle candidate detection means, the running state of the own vehicle detected by the own vehicle state detection means, and the operation state of the occupant, the contact between them is determined. Focus on possibilities Weighting period setting means for setting a period of time to be set, and each contact possibility calculated by the respective contact possibility calculation means, based on the obstacle candidate detected by the obstacle candidate detection means. Importance level setting means for setting the degree of emphasis, and a weighted average in which the importance degree set by the importance degree setting means is weighted with respect to each contact possibility in the importance period set by the importance period setting means. And an obstacle detecting means for detecting that the obstacle candidate becomes an obstacle for the own vehicle. 2. An obstacle candidate detecting means for detecting an obstacle candidate around the own vehicle, an own vehicle state detecting means for detecting a running state of the own vehicle and an operation state of an occupant, and detecting by the obstacle candidate detecting means. Based on the detected obstacle candidate and the running state of the own vehicle detected by the own vehicle state detecting means and the operation state of the occupant, the current contact possibility and the past contact possibility of the own vehicle and the obstacle candidate and the future The contact possibility calculating means for calculating the contact possibility of the vehicle, and the contact possibility calculated by the contact possibility calculating means, the obstacle candidate detected by the obstacle candidate detecting means and the own vehicle state detecting means Based on the detected running state of the vehicle and the operating state of the occupant,
An emphasis period setting unit that sets a period in which the contact possibility is emphasized, and a contact possibility calculated by the contact possibility calculation unit, based on the obstacle candidate detected by the obstacle candidate detection unit. Importance level setting means for setting the degree of importance for each contact possibility; and a low-pass filter coefficient for setting a coefficient for setting the characteristics of the low-pass filter from the importance period for the contact possibility set by the importance period setting means. Setting means for applying low-pass filtering to the contact possibility calculated by the contact possibility calculating means using the coefficient set by the low-pass filter coefficient setting means, and setting the degree of importance to the processing result. Obstacle detection means for detecting that the obstacle candidate becomes an obstacle to the own vehicle by multiplying the degree of importance set by the means. Obstacle detection device according to symptoms. 3. The host vehicle state detecting unit includes a host vehicle speed detecting unit that detects a running speed of the host vehicle, and the emphasis period setting unit includes a host vehicle speed detected by the host vehicle speed detecting unit. 3. The obstacle detection device according to claim 1, wherein the larger the change rate with respect to time, the more the importance period is extended to the future side. 4. The self-vehicle state detecting means includes a steering angle detecting means for detecting a steering angle.
The obstacle detection device according to any one of claims 1 to 3, wherein as the rate of change of the steering angle detected by the steering angle detection means with respect to time increases, the emphasis period is extended to the future side. 5. The self-vehicle state detecting means includes a steering angle detecting means for detecting a steering angle, and the emphasis period setting means comprises:
As the steering angle detected by the steering angle detecting means is larger,
The obstacle detection device according to any one of claims 1 to 4, wherein the emphasis period is extended to the future side. 6. The moving speed of the obstacle candidate is determined based on the obstacle candidate detected by the obstacle candidate detecting means, the traveling state of the own vehicle detected by the own vehicle state detecting means, and the operation state of the occupant. An obstacle candidate moving speed calculating means for calculating, wherein the emphasis period setting means expands the emphasis period to the future side as the moving speed of the obstacle candidate calculated by the obstacle candidate moving speed calculating means increases. An obstacle detection device according to any one of claims 1 to 5, wherein 7. The apparatus according to claim 1, wherein the emphasis period setting unit extends the emphasis period to the past side as the elapsed time from the detection of the obstacle candidate detected by the obstacle candidate detection unit is longer. An obstacle detection device according to any one of claims 1 to 6. 8. The apparatus according to claim 1, wherein the emphasis period setting means sets the emphasis period only from the present to the future immediately after the obstacle candidate detection means detects an obstacle candidate. An obstacle detection device according to any one of the above. 9. The emphasis degree setting means calculates the reliability of the obstacle candidate detected by the obstacle candidate detection means, and the lower the reliability, the upper limit of the degree of emphasis on each contact possibility. The obstacle detection device according to any one of claims 1 to 8, wherein is set smaller. 10. The apparatus according to claim 9, wherein the importance level setting unit calculates the reliability as the position change of the obstacle candidate detected by the obstacle candidate detection unit increases. Obstacle detection device. 11. The emphasis degree setting means, when the obstacle candidate detecting means detects an obstacle candidate with a plurality of sensors, the larger the difference between the positions of the obstacle candidates detected by each of the sensors, the larger the degree of importance becomes. The obstacle detection device according to claim 9 or 10, wherein the reliability is calculated to be small. 12. The method according to claim 12, wherein the degree of importance setting means determines a future contact possibility calculated by the contact possibility calculating means.
The obstacle detection device according to any one of claims 1 to 11, wherein the upper limit value of the degree of importance for each contact possibility is set to be smaller in the future. 13. The low-pass filter coefficient setting unit, as the priority period of the contact possibility set by the priority period setting unit spreads to the future side, and attaches more importance to the future contact possibility and spreads to the past side. 13. The obstacle detection device according to claim 2, wherein a coefficient of a low-pass filter is set so as to emphasize past contact possibility.