JP2004108944A - Obstacle detection device - Google Patents

Obstacle detection device Download PDF

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Publication number
JP2004108944A
JP2004108944A JP2002272080A JP2002272080A JP2004108944A JP 2004108944 A JP2004108944 A JP 2004108944A JP 2002272080 A JP2002272080 A JP 2002272080A JP 2002272080 A JP2002272080 A JP 2002272080A JP 2004108944 A JP2004108944 A JP 2004108944A
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Japan
Prior art keywords
obstacle
distance
vehicle
distance measuring
means
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JP2002272080A
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Japanese (ja)
Inventor
Tomonori Tanaka
田中 智規
Original Assignee
Nissan Motor Co Ltd
日産自動車株式会社
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Priority to JP2002272080A priority Critical patent/JP2004108944A/en
Publication of JP2004108944A publication Critical patent/JP2004108944A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle detection device having high detection accuracy of an obstacle. <P>SOLUTION: A distance to the obstacle is detected by a long-distance measuring part 100 capable of detecting the distance to the obstacle at a long distance, and an obstacle estimation line for showing the obstacle position is calculated from the detected result by an obstacle estimation line calculation part 202. When the detection of distance from the obstacle becomes possible by using a short-distance measuring part 107 capable of detecting the distance from the obstacle at a shorter distance than the long-distance measuring part 100 by start of parking operation and movement of a vehicle, the distance from the obstacle is detected by the short-distance measuring part 107, and the obstacle estimation line is corrected based on the detection result from the short-distance measuring part 107. Thus, the obstacle estimation line can be corrected by the detection result from the short-distance measuring part 107 having high detection accuracy, to thereby enable more accurate estimation of the obstacle position. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an obstacle detection device that detects an obstacle such as a vehicle or a wall.
[0002]
[Prior art]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2001-122059 Conventionally, a detection wave such as a sound wave is emitted, a detection wave reflected by the detection target is received, and the detection target is detected based on the time from emission of the detection wave to reception. There is an obstacle detection device that is provided with a distance measuring unit for measuring the distance of a vehicle on a side of a vehicle and detects an obstacle or the like based on distance measurement data obtained by the distance measuring unit. As an apparatus using such an obstacle detection apparatus for detecting a parking space for a vehicle, for example, there is an apparatus described in JP-A-2001-122059.
[0003]
[Problems to be solved by the invention]
In the above-described conventional obstacle detection device, it is necessary to detect a range at a distance of about 3 to 5 meters from the vehicle by a distance measuring unit that measures a distance to a detection target. Such a distance measuring unit for detecting a long distance has a problem that the distance resolution is low and the accuracy of detecting an obstacle or the like is poor when detecting an obstacle.
[0004]
In view of such problems, an object of the present invention is to provide an obstacle detection device that can accurately detect an obstacle or the like.
[0005]
[Means for Solving the Problems]
The present invention provides a first distance measuring means provided in a vehicle for measuring a distance to an obstacle within a first predetermined distance, and an obstacle within a second predetermined distance shorter than the first predetermined distance. The second distance measuring means for measuring the distance of the obstacle, the obstacle position estimating means estimates the position of the obstacle based on the distance to the obstacle measured by the first distance measuring means, the correction means The obstacle position estimated by the obstacle position estimating means is corrected based on the distance measured by the second distance measuring means.
[0006]
【The invention's effect】
According to the present invention, the distance estimation distance is shorter than the first distance measurement means, and based on the distance to the obstacle detected by the second distance measurement means with high obstacle detection accuracy, the position estimation means Since the estimated position of the obstacle is corrected, the position of the obstacle can be detected more accurately.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, embodiments of the present invention will be described with reference to examples.
FIG. 1 is a control block diagram when detecting a parking space of a vehicle using the obstacle detection device according to the present invention, and FIG. 2 shows a positional relationship between the host vehicle and an obstacle.
The long distance measurement unit 100 that measures the distance to the obstacle is connected to the distance detection point coordinate storage unit 200 in the obstacle detection unit 205. As the long distance measurement unit 100, for example, an ultrasonic sonar or a radar is used.
[0008]
Further, as shown in FIG. 2, the long distance measurement unit 100 is attached to both side surfaces of the host vehicle 10, and forms a measurement area a in which the distance can be measured in the side direction of the vehicle from the long distance measurement unit 100. The long distance measurement unit 100 can measure a distance to an obstacle about 3 to 5 meters away, and has a distance resolution of about 3 cm.
[0009]
A short distance measurement unit 107 that measures a distance to a short distance obstacle compared to the long distance measurement unit 100 is connected to the obstacle estimation line calculation unit 202 in the obstacle detection unit 205. As the short distance measuring unit 107, for example, an ultrasonic sonar or a radar is used. The short distance measurement unit 107 includes four short distance measurement units 107FL, 107FR, 107RL, and 107RR. These four short distance measurement units are attached to the four corners of the vehicle 10 as shown in FIG. The short distance measurement unit forms a measurement area b where distance measurement can be performed. Each of the short distance measurement units 107FL, 107FR, 107RL, and 107RR can measure a distance to an obstacle about 1 meter away, and has a distance resolution of about 1 cm.
[0010]
In FIG. 2, the distance to the obstacles 11, 12 and 13 is measured by the long distance measurement unit 100 while the vehicle 10 moves from left to right in the figure. If the sampling time t is constant and the vehicle speed V of the host vehicle 10 is low, the sampling interval in the moving distance direction becomes small. On the other hand, if the vehicle speed V of the host vehicle 10 is high, the sampling interval becomes coarse, and the detection accuracy of the obstacle decreases. Therefore, the vehicle speed V is set based on the sampling time tmax in order to make the sampling interval S0 equal to or less than the predetermined interval.
[0011]
Here, the sampling time tmax can be expressed by the following equation using the maximum detection distance Lmax detected by the long distance measurement unit 100 and the transmission speed Vs of sound waves or the like emitted from the long distance measurement unit 100 for distance measurement.
tmax = Lmax × 2 / Vs + t0
Here, t0 is the determination time of the process by the long distance measurement unit 100.
[0012]
Thus, the vehicle speed V of the host vehicle 10 can be represented by the following equation.
V = S0 / tmax
When calculating the vehicle speed V in accordance with the sampling time t so that the sampling interval S0 is constant, it can be expressed using the following equation.
V = S0 / t
[0013]
The parking start switch 102 operated by the driver at the start of the parking operation is connected to the vehicle speed control unit 300. When the parking start switch 102 is operated, the vehicle speed control unit 300 controls the wheel speed obtained from the wheel speed detection unit 101, the steering angle obtained from the steering angle detection unit 103, and the engine rotation obtained from the engine speed detection unit 104. The gear ratio or the gear ratio that makes the vehicle speed V calculated in advance as described above from the number, the accelerator opening obtained from the accelerator opening detector 105, and the shift selection position obtained from the shift position detector 106. The position is calculated, and the transmission unit 301 is instructed on the calculated transmission ratio or transmission position.
[0014]
Further, the vehicle speed control unit 300 calculates a brake pressure and an accelerator opening to achieve the calculated vehicle speed V, and instructs the brake actuator 302 and the accelerator actuator 303 with the calculated brake pressure and accelerator opening.
In this way, the vehicle speed control unit 300 calculates each command value to be the calculated vehicle speed V, and instructs the transmission unit 301, the brake actuator 302, and the accelerator actuator 303 to set the actual vehicle speed to the vehicle speed V. can do. Thus, the sampling interval S0 can be set to a certain value or less.
[0015]
The wheel position detecting unit 101 and the parking start switch 102 are connected to the vehicle position estimating unit 201. The own vehicle position estimating unit 201 uses the position at which the parking start switch 102 is operated as the origin, and based on the output from the wheel speed detecting unit 101, as shown in FIG. The azimuth θ is calculated, and the position of the host vehicle 10 is estimated.
[0016]
The estimation of the own vehicle position can be obtained, for example, as follows.
The moving distances ΔZR, ΔZL of each wheel per unit time are obtained from the pulse numbers MR, ML within a unit time (one measurement cycle) from both rear wheel sensors attached to both rear wheels of the vehicle 10. (R is the wheel radius, C is the number of pulses generated in one rotation)
ΔZR = 2πr × MR / C
ΔZL = 2πr × ML / C
The travel distance ΔZ and the azimuth change amount Δθ of the host vehicle 10 within the unit time can be obtained by the following equation, where T is the tread width of the host vehicle 10.
ΔZ = (ΔZL + ΔZR) / 2
Δθ = (ΔZL−ΔZR) / T
[0017]
Further, assuming that the position of the own vehicle 10 before the unit time is the own vehicle position (X −1 , Y −1 ) and the azimuth θ− 1 , the current estimated own vehicle position (X, Y) and the azimuth θ
θ = θ -1 + Δθ
X = X −1 + ΔZ × cos (θ− 1 + Δθ / 2)
Y = Y −1 + ΔZ × sin (θ− 1 + Δθ / 2)
More required.
Note that the own vehicle position estimating unit 201 may estimate the own vehicle position from information from a GPS (Global Positioning System).
[0018]
The long distance measurement unit 100, the parking start switch 102, and the own vehicle position estimation unit 201 are connected to the distance detection point coordinate storage unit 200. The distance detection point coordinate storage unit 200 calculates and stores the coordinates of the distance detection point from the result of the long distance measurement unit 100 and the own vehicle position estimation unit 201, using the position where the parking start switch 102 is operated as the origin. As a result, as shown in FIG. 2, when the vehicle 10 moves from left to right in the figure, the coordinates of the distance detection points behind the long distance measurement unit 100 of the vehicle 10 are stored in the distance detection point coordinate storage unit 200. It will be.
[0019]
The obstacle detection line calculation unit 202 is connected to the distance detection point coordinate storage unit 200, the vehicle position estimation unit 201, and the short distance measurement unit 107. As shown in FIG. 4, the obstacle estimation line calculation unit 202 calculates an obstacle estimation line representing an obstacle such as a wall or a parked vehicle from the coordinates of the distance detection points stored by the distance detection point coordinate storage unit 200. Do.
[0020]
Here, the shape of an obstacle or the like is estimated by performing linear approximation from the continuity of the distance detection points, or in the case of a parked vehicle, the distance detection points are diffused in a circle at the corners, so that the parking And the obstacle estimation line is calculated.
The obstacle estimation line obtained in this manner includes a detection error of the long distance measurement unit 100, a detection error of the movement amount of the own vehicle, an error of estimating the own vehicle position, and the like. Error of about several tens of centimeters.
[0021]
Therefore, the parking space determination unit 203 estimates a region without obstacles in consideration of the error of the obstacle estimation line calculated by the obstacle estimation line calculation unit 202, and calculates the parking space. Further, the parking space determination unit 203 determines whether the calculated parking space can be parked based on the minimum turning radius of the vehicle 10.
The parking support information presentation unit 400 presents the most efficient parking operation support information from the current position of the host vehicle based on the determination by the parking space determination unit 203.
[0022]
For example, the parking assist information presenting unit 400 indicates an obstacle position in a rear-view image that shows a rear image when the vehicle retreats, and displays a warning or sounds to the driver when the vehicle approaches the obstacle for a certain distance or more. May be presented.
[0023]
The movement trajectory estimation unit 206 is connected to the obstacle estimation line calculation unit 202, and the steering angle detection unit 103 is connected to the movement trajectory estimation unit 206. The movement trajectory estimation unit 206 estimates a movement trajectory that the host vehicle 10 will pass based on the steering angle obtained from the steering angle detection unit 103.
The parking start switch 102, the shift position detecting unit 106, and the moving trajectory estimating unit 206 are connected to the measuring unit switching unit 204, and the measuring unit switching unit 204 measures the short distance measuring unit 107 and the long distance according to various input signals. The operation of the unit 100 is switched ON / OFF.
[0024]
Next, with reference to FIGS. 5 and 6, a description will be given of a processing flow when detecting a parking space according to the above configuration.
In step 500, the obstacle detection unit 205 determines whether the parking start switch 102 has been operated, and when the parking start switch 102 has been operated, the parking space detection process is started. In step 501, the vehicle speed control unit 300 controls the transmission unit 301, the brake actuator 302, and the accelerator actuator 303 to set the vehicle speed V to a constant value in order to make the sampling interval S0 by the long distance measurement unit 100 equal to or less than a predetermined interval. .
[0025]
In step 502, the measurement unit switching unit 204 activates the long distance measurement unit 100 to start detecting the distance between the obstacle and the host vehicle. In step 503, it is determined whether or not an obstacle is detected by the long distance measurement unit 100. If an obstacle is detected, the distance to the obstacle detection point is calculated in step 504. On the other hand, if no obstacle is detected in step 503, the process proceeds to step 505.
[0026]
In step 505, based on the wheel speed detected by the wheel speed detecting unit 101, the own vehicle position estimating unit 201 sometimes sets the position of the own vehicle as described above with the position at which the parking start switch 102 is operated as the origin. Estimate every moment. In step 506, the distance detection point coordinate storage unit 200 calculates a coordinate position based on the position at which the parking start switch 102 was operated as the origin, based on the distance to the obstacle detection point calculated in step 504. Calculate and store the coordinates. In step 507, the obstacle estimation line calculation unit 202 calculates an obstacle estimation line from the stored obstacle detection point coordinates.
[0027]
In step 508, the parking space determination unit 203 calculates a parking space from the obstacle estimation line, and in step 509, determines whether or not parking is possible in the calculated parking space. If it is impossible to park in the parking space in consideration of the minimum turning radius of the vehicle 10 and the like, the process returns to step 503. On the other hand, if parking is possible in the parking space, the obstacle detection unit 205 presents parking assistance information for assisting the parking operation to the operator of the vehicle 10 through the parking assistance information presentation unit 400 in step 510. .
[0028]
In step 511, the measurement unit switching unit 204 determines whether the host vehicle 10 has performed a parking operation. The determination of the parking operation is to determine that the parking operation has been performed, for example, when the shift position detection unit 106 detects switching from the D range to the R range. If there is no parking operation, the process returns to step 503. If there is a parking operation, the measurement unit switching unit 204 stops the distance measurement by the long distance measurement unit 100 in step 512.
[0029]
Here, it is assumed that the host vehicle 10 has started the parking operation, has turned to the left from the position of the host vehicle 10 shown in FIG. 4, and has retreated as shown in FIG. As shown in FIG. 7, at the position A of the host vehicle 10, the obstacle 13 on the right side when viewed from the host vehicle 10 can be detected by the short distance measuring unit 107FR installed at the front end of the host vehicle 10.
[0030]
Therefore, in step 513, the movement trajectory estimating unit 206 estimates the movement trajectory of the own vehicle 10, and moves so that an obstacle can be detected by the short distance measuring unit 107 when the own vehicle 10 moves on the estimated trajectory. The distance between the position on the path and the current position on the path of movement is calculated. In step 514, it is determined whether or not the distance on the movement trajectory calculated in step 513 is equal to or less than a predetermined distance. If the distance is equal to or less than the predetermined distance, the measurement unit switching unit 204 determines in step 515 that an obstacle can be detected. The short distance measuring unit 107FR is operated.
[0031]
In step 516, the obstacle estimation line calculation unit 202 calculates the distance to the obstacle from the signal from the short distance measurement unit 107 activated in step 515, and estimates the position of the obstacle. In step 517, the obstacle position estimated in step 507 is compared with the obstacle position estimated in step 516 to determine whether there is a difference. If there is a difference, the obstacle estimation line calculation unit 202 estimates in step 518 from the stored obstacle estimation line based on the distance to the obstacle calculated from the signal from the short distance measurement unit 107. The obstacle position is corrected, and the corrected estimated obstacle position is stored.
[0032]
In step 519, the obstacle detection unit 205 updates the parking assistance information presented through the parking assistance information presentation unit 400 based on the estimated obstacle position after the correction, and proceeds to step 520.
In step 520, it is determined whether or not the vehicle has completed parking, for example, when the shift position detection unit 106 detects the P range or when the parking start switch 102 is turned off. When the parking is completed, the above-described processing is terminated. When the parking is not completed, the process returns to step 513 and the above-described processing is repeated.
[0033]
In step 514, when the distance on the movement trajectory is not less than the predetermined distance, or in step 517, when there is no difference between the obstacle position detected by the short distance measurement unit 107 and the obstacle estimation position estimated in step 507. Goes to step 520.
[0034]
By repeating the above processing, when the own vehicle 10 continues to retreat as shown in FIG. 7 and moves from the position A to the position B, the obstacle 12 on the rear left side as viewed from the own vehicle 10 is This can be detected by the short distance measurement unit 107RL installed at the left rear end. Therefore, when the estimated position at which the obstacle 12 can be detected and the distance on the movement trajectory with the host vehicle become equal to or less than a certain distance, the short distance measuring unit 107RL is operated to detect the obstacle position. Thus, the obstacle estimation line can be corrected.
[0035]
Further, when the host vehicle 10 retreats from the position B to the position C, the obstacle 11 on the rear right side as viewed from the host vehicle 10 can be detected by the short distance measuring unit 107RR installed at the rear right of the host vehicle 10. It becomes. Accordingly, when the estimated position at which the obstacle 11 can be detected and the distance on the movement trajectory from the own vehicle become equal to or less than a certain distance, the short distance measuring unit 107RR is activated in addition to the short distance measuring unit 107RL. Then, the obstacle position is detected and the obstacle estimation line is corrected.
[0036]
Also, as shown in FIG. 8, even when the vehicle once moves forward for turning back in the middle of the parking operation, there is a position at which the obstacle 13 estimated ahead can be detected and a distance on the movement trajectory with the own vehicle. When the distance becomes equal to or less than the predetermined distance, the short distance measuring units 107FR and FL installed on the front and left sides of the host vehicle 10 are operated to detect an obstacle position and correct the obstacle estimation line. Thereby, the position of the obstacle 13 ahead of the host vehicle can be corrected.
[0037]
In this embodiment, the long distance measuring unit 100 constitutes a first distance measuring unit in the present invention, and the short distance measuring unit 107 constitutes a second distance measuring unit in the present invention.
Step 507 in the flowchart constitutes an obstacle position estimating means in the present invention, and step 518 constitutes a correcting means in the present invention. Further, Step 505 constitutes a vehicle position estimating means, and the measuring section switching section 204 constitutes a switching means. In this embodiment, the trajectory estimating unit 206 constitutes a trajectory estimating means, and step 513 constitutes a trajectory distance calculating means in the present invention.
[0038]
The present embodiment is configured as described above, detects an obstacle using the long distance measuring unit 100 having a long detection distance and a low detection accuracy, the own vehicle 10 moves, and the detection distance is short but the detection accuracy is low. When an obstacle can be detected by the high short distance measuring unit 107, the obstacle is detected using the short distance measuring unit 107. Based on the detection result by the short distance measurement unit 107, the position of the obstacle estimated based on the result detected by the long distance measurement unit 100 is corrected. An estimate can be made.
[0039]
By using the short-distance measuring unit 107 having high detection accuracy as described above, it is possible to accurately estimate the position of an obstacle, so that an error from an actual obstacle can be suppressed to about several centimeters, and a narrow Extremely fine parking guidance can be performed when the vehicle is approached or turned back in the parking lot.
[0040]
Only when the distance on the movement track at which the obstacle can be detected by the short distance measuring unit 107 and the distance on the movement track from the current position are equal to or less than a predetermined distance, the second distance measurement means in step 515 is used. The short distance measurement unit 107 is operated, so that the measurement by the short distance measurement unit 107 is not performed unnecessarily.
In addition, by operating all the short distance measuring units 107 that can detect an obstacle, it is possible to more accurately estimate the position of the obstacle.
Further, once the obstacle detection is performed by the long distance measuring unit 100 as the first distance measuring means and the obstacle estimation line is calculated, the distance detection by the long distance measuring unit 100 is stopped, so that the long distance measuring unit is stopped. No unnecessary distance measurement by the 100 is performed.
[0041]
In the distance detection point coordinate storage unit 200, the coordinates of the distance detection point are calculated using the position at which the parking start switch 102 is operated as the origin, but the present invention is not limited to this. May be calculated.
[0042]
Further, in step 515 of FIGS. 5 and 6, all the short distance measurement units 107 capable of detecting an obstacle are activated, but the present invention is not limited to this, and only one short distance measurement unit 107 closest to the obstacle is detected. May be operated to detect the distance between the obstacle and the host vehicle.
Thus, the short distance measuring unit 107 as the second distance measuring unit that detects the distance to the obstacle is not affected by the detection wave emitted from another short distance measuring unit 107.
[0043]
Further, in the above-mentioned step 513, the position at which the obstacle estimated by the obstacle estimation line calculating unit 202 can be detected and the distance on the movement trajectory with respect to the own vehicle 10 are calculated. Is determined to be less than or equal to a predetermined distance, and when the distance on the movement trajectory is less than or equal to the predetermined distance, the short distance measuring unit 107 that can detect an obstacle is activated in step 515. However, the present invention is not limited to this. If the calculated distance between the own vehicle and the obstacle is equal to or less than a predetermined distance, the apparatus includes distance calculating means for calculating the estimated distance between the own vehicle 10 and the obstacle. You may make it operate the short distance measuring part 107 as a 2nd distance measuring means.
Thus, unnecessary distance measurement by the short distance measurement unit 107 is not performed.
[0044]
Further, as described above, in step 515, the short distance measurement unit 107 is operated when the distance on the movement trajectory becomes equal to or less than the predetermined distance. However, the present invention is not limited to this. Means and a detectable time calculating means for calculating a time until the obstacle can be detected by the short distance measuring unit 107 as the second distance measuring means when the vehicle 10 moves from the current position. The detected vehicle speed and the estimated obstacle position are used to calculate the time required for the detectable time calculation means to be able to detect the obstacle by the short distance measurement unit 107, and the calculated time is a predetermined time. When the time is equal to or shorter than the time, the short distance measuring unit 107 may be operated.
Accordingly, the distance is measured by the short distance measuring unit 107 only when the possibility of contact between the vehicle and the obstacle is high, so that unnecessary distance measurement is not performed.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of the present invention.
FIG. 2 is a diagram illustrating detection of an obstacle by a long distance measurement unit provided in the host vehicle.
FIG. 3 is a diagram illustrating a state of estimating a position of a host vehicle.
FIG. 4 is a diagram illustrating an obstacle estimation line.
FIG. 5 is a diagram showing a flow of control for detecting a parking space.
FIG. 6 is a diagram showing a flow of control for detecting a parking space.
FIG. 7 is a diagram illustrating a situation where an obstacle is detected by a short distance measurement unit.
FIG. 8 is a diagram illustrating a situation where an obstacle is detected by a short distance measurement unit.
[Explanation of symbols]
Reference Signs List 10 own vehicle 11, 12, 13 obstacle 100 long distance measuring unit 101 wheel speed detecting unit 102 parking start switch 103 steering angle detecting unit 104 engine speed detecting unit 105 accelerator opening detecting unit 106 shift position detecting units 107, 107FR, 107FL, 107RR, 107RL Short distance measurement unit 200 Distance detection point coordinate storage unit 201 Own vehicle position estimation unit 202 Obstacle estimation line calculation unit 203 Parking space determination unit 204 Measurement unit switching unit 205 Obstacle detection unit 206 Moving trajectory estimation unit 300 Vehicle speed control unit 400 Parking support information presentation unit

Claims (7)

  1. Provided in the vehicle, emits the detection wave and receives the reflected wave from the obstacle, based on the time from the emission of the detection wave to the reception of the detection wave, from the vehicle to an obstacle within a first predetermined distance First distance measuring means for measuring the distance of
    A second distance measuring unit that measures a distance from the vehicle to an obstacle within a second predetermined distance shorter than the first predetermined distance,
    Obstacle position estimating means for estimating the position of the obstacle based on the distance to the obstacle measured by the first distance measuring means,
    A correction unit that corrects the obstacle position estimated by the obstacle position estimation unit based on the distance from the vehicle to the obstacle measured by the second distance measurement unit. Object detection device.
  2. Vehicle position estimating means for estimating the position of the vehicle;
    Distance calculating means for calculating the distance between the vehicle and the obstacle based on the position of the vehicle estimated by the vehicle position estimating means and the position of the obstacle estimated by the obstacle position estimating means;
    Switching means for switching the operating state of the first distance measuring means and the second distance measuring means,
    When the distance between the vehicle and the obstacle calculated by the distance calculating means is equal to or less than a predetermined third predetermined distance, the switching means operates the second distance measuring means and operates the second distance measuring means. 2. The obstacle detecting device according to claim 1, wherein the distance from the vehicle to the obstacle is measured by the second distance measuring means.
  3. Vehicle position estimating means for estimating the position of the vehicle;
    Trajectory estimating means for estimating the trajectory of the vehicle;
    Vehicle based on which the second distance measuring means can detect the obstacle based on the moving path estimated by the moving path estimating means and the position of the obstacle estimated by the obstacle position estimating means A moving path distance calculating means for calculating a distance on the moving path between the position on the moving path and the estimated current vehicle position;
    Switching means for switching the operating state of the first distance measuring means and the second distance measuring means,
    When the distance on the moving trajectory calculated by the moving trajectory distance calculating means is equal to or less than a predetermined fourth predetermined distance,
    2. The obstacle detecting device according to claim 1, wherein the switching unit activates the second distance measuring unit, and measures the distance from the vehicle to the obstacle by the activated second distance measuring unit. .
  4. Vehicle position estimating means for estimating the position of the vehicle;
    Trajectory estimating means for estimating the trajectory of the vehicle;
    Moving speed detecting means for detecting the moving speed of the vehicle,
    A vehicle based on a vehicle trajectory estimated by the vehicle trajectory estimating unit, a vehicle speed detected by the vehicle speed detecting unit, and an obstacle position estimated by the obstacle position estimating unit. Is detectable time calculating means for calculating a time until the obstacle can be detected by the second distance measuring means provided on the vehicle by moving on the movement locus from the estimated current position; and ,
    Switching means for switching the operating state of the first distance measuring means and the second distance measuring means,
    When the time until the obstacle can be detected by the second distance measuring means calculated by the detectable time calculating means is equal to or less than a predetermined time, the switching means is The obstacle detecting device according to claim 1, wherein the second distance measuring means is operated, and the distance from the vehicle to the obstacle is measured by the operated second distance measuring means.
  5. A plurality of the second distance measuring means are provided,
    The switching means, when operating the second distance measuring means,
    Activating the second distance measuring means that can detect an obstacle among the plurality of second distance measuring means, and measuring the distance from the vehicle to the obstacle by the activated second distance measuring means. The obstacle detecting device according to claim 2, 3 or 4, wherein:
  6. A plurality of the second distance measuring means are provided,
    The switching means, when operating the second distance measuring means,
    Activating only the second distance measuring means closest to the obstacle among the plurality of second distance measuring means, and measuring the distance from the vehicle to the obstacle by the activated second distance measuring means. The obstacle detecting device according to claim 2, 3 or 4, wherein:
  7. 7. The obstacle detecting device according to claim 1, wherein the switching unit stops the first distance measuring unit when the second distance measuring unit is operated.
JP2002272080A 2002-09-18 2002-09-18 Obstacle detection device Withdrawn JP2004108944A (en)

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