JP2008040603A - Object detection device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object detection device for a vehicle, which makes effective use of the detection region of a radar device. <P>SOLUTION: This object detection device 1 for a vehicle provided with: a radar device 15; an own orbit estimation part 31; and a control object decision part 36 for deciding an object to be controlled by an own vehicle based on the detection result of the radar device 15 and the estimation result of the own orbit estimation part 31, includes: a central position calculation means for calculating the central position of an object; a region edge decision means for deciding whether or not a portion of the object is positioned at the right end or left end of the detection region of the radar device 15; and a driving intention determination part 34 for detecting the acceleration suppression intention or deceleration intention of a driver. The control object decision part 36 does not control the object when it is decided that the object is positioned at the right end or left end of the detection region, and the center position calculation conditions of the object are not satisfied, and when the acceleration suppression intention or deceleration intention of the driver is detected, the object is controlled even when the center position calculation conditions of the object are not satisfied. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle object detection device.

  It is determined by a vehicle control device that recognizes a vehicle (preceding vehicle) that travels immediately before the host vehicle using a radar or the like mounted on the host vehicle and performs inter-vehicle distance control with the preceding vehicle, and a traveling speed set by the driver. A vehicle control device that performs high-speed running control is known (see, for example, Patent Document 1). In this vehicle control device, when the driver uses a switch or the like provided inside the vehicle to set the vehicle control device to ON, the set speed of the own vehicle, the distance mode to the preceding vehicle, etc., the vehicle control device sets the setting. Based on the above, vehicle control that keeps the distance between the vehicle and the preceding vehicle constant (hereinafter referred to as cruise control with distance control) is performed. In realizing this vehicle control, it is important to reliably recognize the preceding vehicle that is the subject of tracking of the host vehicle.

In particular, when the follow-up vehicle control is executed in a low speed range due to traffic jams or the like, the follow-up distance becomes relatively close, so it is necessary to quickly and accurately recognize the preceding vehicle in the short-range region. Moreover, since the detection area (detection angle range) of the radar device mounted on the vehicle is limited, it is required to effectively use the limited detection area.
By the way, as a method of calculating the center position of the preceding vehicle, the detection area divided into a plurality of scanning areas (hereinafter referred to as channels) is scanned by the radar device, and the reception level of the reflected wave from the preceding vehicle is maximized. A method of calculating a channel as a center position of a preceding vehicle is known (see, for example, Patent Document 2).
JP 2003-173500 A JP-A-11-64500

In the above-described method for calculating the center position of the preceding vehicle, as indicated by the other vehicle VT1 in FIG. 4, the preceding vehicle is within the detection area, and the reception level of the reflected wave of the adjacent channels (hereinafter referred to as the detection level). ) Becomes a triangular mountain as shown in FIG. 5A (hereinafter referred to as a mountain pattern), the channel of the maximum detection level is calculated as the center position of the other vehicle VT1.
However, as shown by other vehicles VT2 and VT3 in FIG. 4, since the preceding vehicle exists at the end of the detection area, the detection level does not become a mountain pattern, and the detection area as shown in FIGS. 5 (B) and 5 (C). When the detection level of the channel (end channel) located at the end of the vehicle reaches the maximum (hereinafter referred to as a non-mountain pattern), it is doubtful whether the channel of the maximum detection level is the center position of the other vehicles VT2 and VT3. Since it is doubtful whether the detection data is necessary for vehicle control, the center position is not calculated in this case to prevent erroneous detection.
In FIG. 5, a channel whose detection level is indicated by a solid line represents a channel where a reflected wave is actually detected, and a channel whose detection level is indicated by a broken line is reflected if the detection area of the radar apparatus is wide. Represents a channel where a wave should be detected.

In the conventional vehicle control device, the preceding vehicle for which the center position is calculated as described above is set as the control target of the following vehicle control, but the following vehicle for the preceding vehicle for which the center position is not calculated. It was not subject to control.
Therefore, as a result, there is a problem that the detection area of the radar device cannot be effectively used particularly when the tracking distance is relatively close in a low speed region.
Therefore, the present invention provides an object detection device for a vehicle that can effectively use a detection region of a radar device even in a region close to the host vehicle.

The vehicle object detection device according to the present invention employs the following means in order to solve the above problems.
The invention according to claim 1 is an object that detects an object by transmitting an electromagnetic wave toward a detection region in a traveling direction of the host vehicle and receiving the reflected wave reflected by the object existing in the detection region. A detection means (for example, a radar device 15 in an embodiment described later), a traveling locus estimation means (for example, an own vehicle locus estimation unit 31 in an embodiment described later) for estimating the traveling locus of the own vehicle, and the object detecting means. Vehicle having control object determining means (for example, control object determining unit 36 in an embodiment to be described later) for determining an object to be controlled by the own vehicle based on the detection result and the estimation result of the travel locus estimating means An object detection device (for example, a vehicle object detection device 1 in an embodiment described later) calculates a center position of an object based on a reflected wave from the object and a center position calculation condition. Whether or not a part of the object is located at the left end or the right end of the detection area based on the center position calculation means (for example, the object detection characteristic confirmation unit 33 in the embodiment described later) and the reflected wave from the object. A region end determination means (for example, an object detection characteristic confirmation unit 33 in an embodiment described later) and a deceleration intention detection means (for example, a driving intention determination in an embodiment described later) for detecting the driver's acceleration suppression intention or deceleration intention. 34), and the control target determining means determines that the object is positioned at the left end or the right end of the detection area by the area end determining means and does not satisfy the center position calculating condition by the center position calculating means In this case, the object is excluded from the control target, but it is determined that the object is located at the left end or the right end of the detection region by the region end determination unit and the deceleration intention detection is performed. When the driver's intention to suppress acceleration or deceleration is detected by the means, the object is controlled even if the center position calculation condition by the center position calculating means is not satisfied. .
With this configuration, even when the object is located at the end of the detection area and does not satisfy the center position calculation condition, the driver's intention to suppress acceleration or the intention to decelerate is detected by the deceleration will detection means. In this case, it is estimated that the driver's attention and importance are high with respect to the object, and the object is set as a control target, so that the detection area of the radar device can be effectively used. In addition, it is possible to speed up the timing for recognizing an object approaching the host vehicle from the end of the detection area as a control target.

According to a second aspect of the present invention, in the first aspect of the present invention, the detection area is divided into a plurality of scanning areas, and the object detection means scans the detection area divided into the plurality of scanning areas. The center position calculating means detects an object in a scanning region located at an end of the detection region, and an object is present in a scanning region adjacent to the center side of the detection region with respect to the scanning region. If not detected, processing is performed assuming that the center position calculation condition is not satisfied.
With this configuration, when the object is detected only in the scanning area at the end of the detection area, the center position calculation condition is satisfied because the center position calculation accuracy of the object is low and the reliability is low. Even in such a case, when the driver's intention to suppress acceleration or the intention to decelerate is detected, the object can be set as a control target.

The invention according to claim 3 is the invention according to claim 1, wherein the detection area is divided into a plurality of scanning areas, and the object detection means scans the detection area divided into the plurality of scanning areas. The center position calculating means detects an object in a plurality of scanning regions adjacent to each other including a scanning region located at an end portion of the detection region, and detects a scanning region located at the end portion. When the detection level is higher than the detection levels of other adjacent scanning areas, it is processed that the center position calculation condition is not satisfied.
With this configuration, when the detection level increases toward the end of the detection area, the center position calculation accuracy is low and the reliability is low, so the center position calculation condition is not satisfied. However, even in such a case, if the driver's intention to suppress acceleration or the intention to decelerate is detected, the object can be controlled.

According to a fourth aspect of the present invention, in the invention according to the second or third aspect, the center position calculating unit detects an object in a plurality of the scanning areas adjacent to each other, and the detection area When the detection level of the scanning area that is not located at the end is higher than the detection level of the other adjacent scanning areas, the scanning area having a high detection level is calculated as the center position of the object. And
By configuring in this way, when the maximum value of the detection level is detected outside the edge of the detection area, the scanning area where the maximum detection level is detected is calculated as the center position of the object, and this object is Can be controlled.

According to a fifth aspect of the present invention, in the invention according to any one of the second to fourth aspects, the center position calculation unit is configured to detect the center position when an object is detected in a plurality of scanning regions adjacent to each other. A plurality of objects are collectively recognized as one object, and a central position of the collected one object is calculated.
With this configuration, an object detected in a plurality of scanning regions can be recognized as one object, and the center position can be calculated.

The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the deceleration intention detection means is an accelerator pedal, a brake pedal, or an acceleration / deceleration operation switch (for example, an embodiment described later). The driver's intention to suppress acceleration or deceleration is detected based on the operating state of the setting switch 20).
With this configuration, it is possible to quickly and appropriately determine the driver's intention to suppress acceleration or the intention to decelerate.

According to the first to fifth aspects of the present invention, even if the object is located at the end of the detection area and does not satisfy the center position calculation condition, the driver's acceleration is suppressed by the deceleration intention detection means. When a will or deceleration will is detected, it is assumed that the driver's attention and importance are high with respect to the object, and the object is controlled, so the detection area of the radar device can be used effectively become. In addition, it is possible to speed up the timing for recognizing an object approaching the host vehicle from the end of the detection area as a control target.
According to the invention which concerns on Claim 6, it becomes possible to determine a driver | operator's willingness to suppress acceleration or the willingness to decelerate quickly and appropriately.

Embodiments of a vehicle object detection device according to the present invention will be described below with reference to the drawings of FIGS.
As shown in the functional block diagram of FIG. 1, the vehicle object detection device 1 according to the present invention includes a yaw rate sensor 11, a steering angle sensor 12, a vehicle speed sensor 13, a navigation device 14, a radar device (object detection means) 15, an accelerator. The sensor 16, the brake sensor 17, the voice recognition device 18, the touch panel 19, the setting switch (acceleration / deceleration operation switch) 20, the deceleration actuator 21, the acceleration actuator 22, the control state notification device 23, and the control device 30 are mounted on a vehicle. ing. The vehicle object detection device 1 is used for detection of a preceding vehicle, for example, when performing vehicle control of the own vehicle (for example, cruise control with inter-vehicle distance control) based on a preceding vehicle traveling immediately before the own vehicle. In this embodiment, cruise control with inter-vehicle distance control will be described as an example of the vehicle control.

The yaw rate sensor 11 detects the yaw rate of the host vehicle, the steering angle sensor 12 detects the steering angle of the host vehicle, the vehicle speed sensor 13 detects the vehicle speed of the host vehicle, and a detection signal corresponding to each detection result is controlled. Output to 30.
For example, the navigation device 14 performs map matching on map data stored in the device based on current position information obtained by using GPS (Global Positioning System), D-GPS (Differential GPS), or the like. The current position of the host vehicle is calculated, processing such as route search to the destination and route guidance is performed based on the calculated current position, and information such as the current position of the host vehicle is output to the control device 30.

  The radar device 15 (object detection means) transmits, for example, an electromagnetic wave such as a laser beam or a millimeter wave toward a detection area ahead of the traveling direction of the host vehicle, and the transmitted electromagnetic wave exists in the detection area (the object ( For example, when the reflected wave is reflected by a preceding vehicle), the reflected wave is received, and the transmitted electromagnetic wave and the received electromagnetic wave (reflected wave) are mixed to generate a beat signal and output to the control device 30. The detection area of the radar device 15 is divided into a plurality of scanning areas (hereinafter referred to as channels), and the radar apparatus 15 scans the detection area divided into the plurality of channels.

The accelerator sensor 16 detects the displacement amount (depression amount) of the accelerator pedal, and the brake sensor 17 detects the displacement amount (depression amount) of the brake pedal, and outputs a detection signal corresponding to the detection result to the control device 30. .
The voice recognition device 18 identifies the instruction content to the vehicle control system from the utterance content of the driver, and outputs a command signal corresponding to the instruction content to the control device 30.
The touch panel 19 is a panel type switch group in which the driver sets instruction contents to the vehicle control system. The setting switch 20 that outputs a command signal corresponding to the instruction contents to the control device 30 is used by the driver to the vehicle control system. Switches (such as cruise control ON / OFF switch with inter-vehicle control, acceleration / deceleration operation switch for increasing / decreasing the set vehicle speed during cruise control, etc.) Output to 30.

The deceleration actuator 21 controls the throttle opening and the brake fluid pressure, for example, according to a command from the control device 30, and decelerates the host vehicle.
The acceleration actuator 22 controls the throttle opening, for example, according to a command from the control device 30 to accelerate the host vehicle.
The control state notification device 23 notifies the driver of information input from the control device 30 using display means such as a meter.

The control device 30 includes a host vehicle trajectory estimation unit (running trajectory estimation unit) 31, a control target region setting unit 32, an object detection characteristic confirmation unit (center position calculation unit, region end determination unit) 33, a driving intention determination unit (deceleration will). (Detecting means) 34, a control target determining unit (control target determining unit) 36, a control target value determining unit 37, and a vehicle control unit 38.
The own vehicle trajectory estimation unit 31 receives information such as the yaw rate sensor 11, the steering angle sensor 12, the detection signal of the vehicle speed sensor 13, and the current position of the own vehicle calculated by the navigation device 14. Estimates the travel trajectory of the host vehicle based on these inputs and outputs it to the control target area setting unit 32.
The control target area setting unit 32 determines the own lane based on the traveling locus of the own vehicle input from the own vehicle locus estimating unit 31, and is a range that is controlled within a certain distance range in the vertical direction of the set own lane. (Hereinafter, referred to as a control target area), and the set control target area is output to the control target determining unit 36. Here, the own lane is a straight line indicating the traveling direction of the own vehicle.

The object detection characteristic confirmation unit 33 detects an object based on the beat signal input from the radar device 15. Here, the object detection characteristic confirmation unit 33 collectively recognizes the plurality of objects as one object when the objects are detected in a plurality of adjacent channels, and determines the center position of the collected one object. calculate.
Further, the object detection characteristic confirmation unit 33 determines whether a part of the object is located at the left end or the right end of the detection region based on the reflected wave from the object, and sends the determination result to the control target determination unit 36. Output. Here, when a reflected wave from an object is detected in a channel located at the end of the detection region (hereinafter referred to as an end channel), a part of the object is positioned at the left end or the right end of the detection region. It is determined that
Furthermore, the object detection characteristic confirmation unit 33 detects a detection level pattern of a reflected wave from the object, and when the detected detection level pattern is a chevron pattern as shown in FIG. When the reflected wave is detected in a plurality of adjacent channels and the detection level of a channel not located at the end of the detection region is higher than the detection level of other adjacent channels), the center position Assuming that the calculation condition is satisfied, the channel position where the maximum detection level is detected is calculated as the center position of the object, the relative distance and the relative speed between the object and the host vehicle are calculated, and the control target determining unit 36 Output.

Further, the object detection characteristic confirmation unit 33 detects a reflected wave in a channel on the center side of the detection region adjacent to the end channel when the detection level pattern is a non-mountain pattern (that is, the reflected wave is detected only in the end channel. When not detected, or as shown in FIGS. 5B and 5C, reflected waves are detected in a plurality of consecutively adjacent channels including the end channel, and the detection level of the end channel is set to another continuous level. If the detection level of the adjacent channel is greater), the relative distance and relative speed between the object and the vehicle are calculated without calculating the center position of the object, assuming that the center position calculation condition is not satisfied. And output to the control object determination unit 36.
In this embodiment, the object detection characteristic confirmation unit 33 implements a center position calculation unit and a region end determination unit.

  The driving intention determination unit 34 receives the detection signals of the accelerator sensor 16 and the brake sensor 17, and the command signals of the voice recognition device 18, the touch panel 19, and the setting switch 20, and the driving intention determination unit 34 operates based on these inputs. The presence or absence of the person's intention to suppress acceleration or the intention to decelerate is detected and output to the control target determining unit 36. For example, when the depression amount of the accelerator sensor 16 is decreased, or when an ON signal of the brake sensor 17 is detected, or an acceleration suppression command or a deceleration command by the voice recognition device 18, the touch panel 19, and the setting switch 20 is detected. If it is determined that there is a willingness to suppress acceleration or a willingness to slow down. In this embodiment, the willingness detection means is realized by the driving intention determination unit 34.

The control target determination unit 36 includes the control target region set by the control target region setting unit 32 from the detection data of the object detected by the radar device 15, the driving intention information determined by the driving intention determination unit 34, and Based on the object detection characteristic determined by the object detection characteristic confirmation unit 33, an object to be controlled (that is, a preceding vehicle) is determined.
Further, when the preceding vehicle to be controlled is determined, the controlled object determining unit 36 outputs information such as the relative distance and relative speed to the preceding vehicle to the control target value determining unit 37.

The control target value determining unit 37 is a control target value necessary for vehicle control, that is, cruise with inter-vehicle control, based on information such as the relative distance between the host vehicle and the preceding vehicle and the relative speed input from the control target determining unit 36. In the case of control, the target vehicle speed, target acceleration / deceleration, etc. are determined.
The vehicle control unit 38 controls the acceleration actuator 22 and the deceleration actuator 21 based on the control target value (target vehicle speed, target acceleration / deceleration, etc.) determined by the control target value determination unit 37, and controls the current control state. Output to the status notification device 23.

  By the way, in the case of the conventional vehicle object detection device, when the preceding vehicle is located at the end of the detection region of the radar device 15 and the detection level pattern is not a chevron pattern, to prevent erroneous detection. Although the preceding vehicle was not controlled, in the vehicle object detection device 1 of this embodiment, even in such a case, when the driver is willing to suppress acceleration or decelerate, the driver's The preceding vehicle was assumed to be a control object on the assumption that the degree of attention or importance of the preceding vehicle was high.

Next, the control object determination process in this embodiment will be described with reference to the flowchart of FIG. The control target determination processing routine shown in the flowchart of FIG. 2 is repeatedly executed by the control device 30 at regular intervals.
First, in step S101, the radar device 15 detects an obstacle (preceding vehicle).
Next, the process proceeds to step S102, where the object detection characteristics (that is, the detection level pattern, etc.) of the obstacle are confirmed based on the detection data of the radar device 15.
Next, it progresses to step S103 and sets a control object area | region based on the driving | running | working locus | trajectory of the own vehicle.
Next, it progresses to step S104 and it is determined whether the obstruction detected by the radar apparatus 15 exists in a control object area | region.
If the determination result in step S104 is “NO” (does not exist), the process proceeds to step S105, and the execution of this routine is temporarily terminated without being controlled.

If the determination result in step S104 is “YES” (exists), the process proceeds to step S106.
In step S106, a reflected wave is detected in a plurality of consecutively adjacent channels including the end channel from the obstacle detection level pattern, and the detection level of the end channel is detected in other consecutively adjacent channels. It is determined whether the reflected wave is detected only in the end channel. Note that by executing the processing of step S106, it is also determined whether or not a part of the obstacle is located at the left end or the right end of the detection area.

  When the determination result in step S106 is “NO”, that is, the reflected wave is detected in a plurality of adjacent channels, and the detection level of the channel other than the end channel is the other adjacent channel. If it is greater than the detection level, the process proceeds to step S107, where the obstacle is the control target, and the execution of this routine is temporarily terminated. That is, in this case, since the detection level pattern is a mountain pattern and satisfies the obstacle center position calculation condition, this obstacle is set as a control target.

  On the other hand, when the determination result in step S106 is “YES” (that is, the reflected wave is detected in a plurality of adjacent channels including the end channel, and the detection level of the end channel is adjacent to the other continuous channel. If the level is higher than the channel detection level, or if a reflected wave is detected only in the end channel), the process proceeds to step S108, and it is determined whether or not the driver has an intention to suppress or decelerate.

  If the determination result in step S108 is “YES” (acceleration suppression intention or deceleration intention), the process proceeds to step S107, the obstacle is controlled, and the execution of this routine is temporarily terminated. In other words, in this case, the detection level pattern is a non-mountain pattern and does not satisfy the obstacle center position calculation condition, but the driver has an intention to suppress acceleration or a deceleration intention. This obstacle is set as an object to be controlled by assuming that the degree of attention or importance is high.

  On the other hand, if the determination result in step S108 is “NO” (no acceleration suppression intention and no deceleration intention), the process proceeds to step S105, and the execution of this routine is temporarily terminated without making the obstacle a control target. That is, in this case, the detection level pattern is a non-mountain pattern, does not satisfy the obstacle center position calculation condition, and the driver has no intention to suppress acceleration or deceleration, so It is assumed that the degree of attention or importance of the obstacle is low, and this obstacle is not set as a control target.

FIG. 3 shows a case in which another vehicle approaches from the outside of the detection area of the radar device 15 in front of the host vehicle in time series in the order of (A) to (E). ) To (E), the left side shows the relative positional relationship between the host vehicle and the other vehicle, and the right side in FIGS. 3A to 3E shows the detection level for the other vehicle in each channel. In FIG. 3, a channel whose detection level is indicated by a solid line represents a channel where a reflected wave is actually detected, and a channel whose detection level is indicated by a broken line is wide if the detection area of the radar device 15 is wide. It represents the channel where the reflected wave should be detected.
FIG. 3A shows a case where the other vehicle exists outside the control target area and is detected only in the end channel on the right side in the traveling direction. At this time, it is determined that the center position of the other vehicle is outside the detection region with respect to the end channel. In this case, the other vehicle is not controlled.

  FIG. 3 (B) shows a case where the other vehicle has slightly moved laterally from the state of FIG. 3 (A) toward the own vehicle, and this other vehicle has started to enter the control target area. At this time, the other vehicle is detected by a plurality of channels including the end channel on the right side in the traveling direction. However, since the detection level pattern is a non-mountain pattern, the center position of the other vehicle is located outside the detection region from the end channel. It is judged that there is. At this time, if no acceleration suppression intention or deceleration intention is detected, the other vehicle is not controlled.

FIG. 3C shows a case where the other vehicle has further moved sideways from the state shown in FIG. 3B toward the own vehicle, and a part of the other vehicle has entered the control target area. At this time, the other vehicle is detected by a plurality of channels including the end channel on the right side in the traveling direction. However, since the detection level pattern is a non-mountain pattern, the center position of the other vehicle is located outside the detection region from the end channel. It is judged that there is. However, in this vehicle object detection device 1, if the driver's intention to suppress acceleration or the intention to decelerate is detected at this time, the other vehicle is controlled.
Conventionally, when it is determined that the center position of the other vehicle is outside the detection region from the end channel, the other vehicle is used regardless of whether the driver intends to suppress acceleration or decelerates. It was not controlled.

FIG. 3 (D) shows a case where the other vehicle has further moved laterally from the state of FIG. 3 (C) toward the own vehicle side, and approximately half of the other vehicle in the vehicle width direction has entered the control target region. At this time, the other vehicle is detected by a plurality of channels including the end channel on the right side in the traveling direction. However, since the detection level pattern is a non-mountain pattern, the center position of the other vehicle is located outside the detection region from the end channel. It is judged that there is. However, in this vehicle object detection device 1, if the driver's intention to suppress acceleration or the intention to decelerate is detected at this time, the other vehicle is controlled. That is, the other vehicle is continued as a control target.
Conventionally, when it is determined that the center position of the other vehicle is outside the detection region from the end channel, the other vehicle is used regardless of whether the driver intends to suppress acceleration or decelerates. It was not controlled.

  FIG. 3 (E) shows a case where the other vehicle has further moved laterally from the state of FIG. 3 (D) to the own vehicle side, and a majority of the other vehicle has entered the control target region. At this time, the other vehicle is detected by a plurality of channels including the end channel on the right side in the traveling direction, and the pattern of the detection level is a mountain pattern, so the position of the channel having the maximum detection level is the center of this other vehicle. The position is determined. In this case, the other vehicle is set as a control object regardless of whether the driver's intention to suppress acceleration or the intention to decelerate is detected. That is, the other vehicle is continued as a control target.

  As described above, according to the vehicle object detection device 1 of this embodiment, even if the object is located at the end of the detection region and does not satisfy the center position calculation condition, the deceleration will determination unit 34, when the driver's intention to suppress acceleration or the intention to decelerate is detected, it is assumed that the driver's attention and importance are high with respect to the object, and the object is set as a control target. The detection area can be effectively used. In addition, it is possible to speed up the timing of recognizing an object approaching the host vehicle from the end of the detection area (for example, another vehicle that is a preceding vehicle) as a control target compared to the conventional technique.

[Other Examples]
The present invention is not limited to the embodiment described above.
For example, in the above-described embodiments, the control target is the control target in the case of cruise control with inter-vehicle control, but may be the control target in other vehicle control.

It is a functional block diagram in the Example of the vehicle object detection apparatus which concerns on this invention. It is a flowchart of the control object determination process in the object detection apparatus for vehicles of an Example. It is the figure which showed in time series the case where another vehicle approaches the front of the own vehicle from the outside of the detection area of a radar apparatus. It is a figure which shows an example of the positional relationship of the detection area of a radar apparatus, and another vehicle. It is a figure which shows the pattern of a detection level.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle object detection apparatus 15 Radar apparatus (object detection means)
16 Acceleration sensor 17 Brake sensor 20 Setting switch (Acceleration / deceleration operation switch)
31 Own vehicle trajectory estimation unit (running trajectory estimation means)
33 Object detection characteristic confirmation unit (center position calculation means, area edge determination means)
34 Driving intention determination unit (deceleration will detection means)
36 Control object determination unit (control object determination means)

Claims (6)

An object detection means for detecting the object by transmitting an electromagnetic wave toward a detection region in a traveling direction of the host vehicle and receiving the reflected wave reflected by the object existing in the detection region;
Traveling locus estimation means for estimating the traveling locus of the host vehicle;
Control target determining means for determining an object to be controlled by the own vehicle based on the detection result of the object detection means and the estimation result of the travel locus estimation means;
In the vehicle object detection device comprising:
Center position calculating means for calculating the center position of the object based on the reflected wave from the object and the center position calculation condition;
Area edge determination means for determining whether a part of the object is located at the left end or the right end of the detection area based on a reflected wave from the object;
A deceleration will detection means for detecting the driver's intention to suppress acceleration or deceleration, and
And the control object determining means determines that the object is determined to be located at the left end or the right end of the detection area by the area edge determining means and does not satisfy the center position calculation condition by the center position calculating means. Excluded from the control target, when it is determined that the object is located at the left end or the right end of the detection region by the region end determination unit and the driver's acceleration suppression intention or deceleration intention is detected by the deceleration intention detection unit, An object detection apparatus for a vehicle, wherein the object is a control target even when the center position calculation condition by the center position calculation means is not satisfied. The detection area is divided into a plurality of scanning areas,
The object detection means detects an object by scanning a detection area divided into a plurality of scanning areas,
The center position calculating means detects an object in a scanning region located at an end of the detection region, and detects no object in a scanning region adjacent to the center side of the detection region with respect to the scanning region. 2. The vehicle object detection device according to claim 1, wherein the processing is performed assuming that the center position calculation condition is not satisfied. The detection area is divided into a plurality of scanning areas,
The object detection means detects an object by scanning a detection area divided into a plurality of scanning areas,
The center position calculating means detects an object in a plurality of consecutively adjacent scanning areas including a scanning area located at an end portion of the detection area, and the detection level of the scanning area located at the end portion is different. 2. The vehicle object detection device according to claim 1, wherein when the detection level is higher than a detection level of consecutively adjacent scanning regions, processing is performed assuming that the center position calculation condition is not satisfied.   The center position calculation means is configured to detect an object in a plurality of scanning regions adjacent to each other, and to detect scanning in which a detection level of a scanning region that is not located at an end portion of the detection region is continuously adjacent. 4. The vehicle object detection device according to claim 2, wherein when the detection level is higher than the detection level of the region, the scanning region having a high detection level is calculated as the center position of the object.   The center position calculating means collectively recognizes the plurality of objects as one object when an object is detected in a plurality of scanning regions adjacent to each other, and calculates the center position of the collected one object. The vehicle object detection device according to any one of claims 2 to 4, wherein:   The said deceleration intention detection means detects a driver's acceleration suppression intention or a deceleration intention based on the operation state of an accelerator pedal, a brake pedal, or an acceleration / deceleration operation switch. The vehicle object detection device according to claim 1.

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