JP2008082974A - Object detector, object detecting method, and program executed by computer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object detector, an object detecting method, a program executed by computer, capable of determining precisely a stopped object, irrespective of an azimuth of the object. <P>SOLUTION: This object detector of the present invention is provided with the first relative speed acquisition means for transmitting a signal wave and for acquiring a relative speed between own vehicle and the object, based on a reflected wave of the transmitted signal wave, an azimuth acquisition means for acquiring the azimuth of the object, an own vehicle speed detecting means for detecting an own vehicle speed, and the first stationary object determination means for determining whether the object is a stationary object or not, based on the own vehicle speed acquired by the own vehicle speed detecting means, the relative speed acquired by the first relative speed acquisition means, and the azimuth acquired by the azimuth acquisition means, taking azimuth dependency of the relative speed into consideration. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an object detection device, an object detection method, and a program executed by a computer, and more specifically, an object detection device capable of detecting a stationary object with high accuracy regardless of the azimuth angle of the object, The present invention relates to an object detection method and a program executed by a computer.

  Conventionally, ACC (previous car control) that detects the preceding vehicle and keeps the inter-vehicle distance appropriate, PBA (pre-crash brake assist) and PSB (pre-crash seat belt) that are activated when the inter-vehicle distance approaches more than necessary As one of the on-vehicle radars used in the vehicle travel safety system, an FMCW radar using a millimeter wave band (hereinafter referred to as “FMCW radar”) is known.

  In such FMCW radar, a radar wave modulated so that the frequency linearly increases and decreases in a triangular shape with respect to time is used, and the transmission signal of this radar wave and the radar wave (reflected wave) reflected on the target are received. Based on the beat signal obtained by mixing the signal, information on the target reflecting the radar wave is obtained.

  Specifically, the beat signal is subjected to frequency analysis processing represented by Fast Fourier Transform (FFT) for each of the upstream section where the frequency of the radar wave increases and the downstream section where the frequency decreases. The power spectrum for each section is obtained. Then, the peak frequency components extracted from the power spectrum are appropriately combined between the two sections, and the frequency of the combined peak frequency components (hereinafter referred to as “peak pairs”) is applied to a well-known calculation formula in the FMCW radar, The distance and relative speed with the target specified by the peak pair is obtained.

  For example, in the FM-CW radar apparatus of Patent Document 1, vehicle speed data is compared with relative speed data of individual targets, a target that is substantially equal to each other is determined as a stationary target, and other objects are detected. The target is determined as a moving target.

  When the radar apparatus is arranged in the forward direction with respect to the vehicle as in Patent Document 1, the azimuth angle of the object with respect to the traveling direction of the own vehicle is not a problem, but the radar apparatus is When arranged in the lateral direction, the radar central axis is different from the traveling direction of the host vehicle, and when the host vehicle is traveling, the relative speed with respect to the object on the road ahead of the vehicle changes according to the distance. It is difficult to determine whether the approaching object is a roadside object (stationary object). This is because the relative speed changes from the own vehicle speed to zero according to the azimuth angle of the object due to the difference between the radar central axis and the traveling direction of the own vehicle (azimuth angle dependence of the relative speed).

JP 2004-233090 A

  The present invention has been made in view of the above, and an object detection apparatus, an object detection method, and a program executed by a computer that can determine a stopped object with high accuracy regardless of the azimuth angle of the object. The purpose is to provide.

  In order to solve the above-described problems and achieve the object of the present invention, the present invention transmits a signal wave in an object detection device mounted on a vehicle, and based on the reflected wave of the transmitted signal wave, A first relative speed acquisition means for acquiring a relative speed between the host vehicle and the object; an azimuth angle acquisition means for acquiring an azimuth angle of the object; a host vehicle speed detection means for detecting the host vehicle speed; In consideration of azimuth angle dependency, based on the own vehicle speed acquired by the own vehicle speed detection means, the relative speed acquired by the first relative speed acquisition means, and the azimuth angle acquired by the azimuth angle acquisition means And a first stationary object judging means for judging whether or not the object is a stationary object.

  Further, according to a preferred aspect of the present invention, the first stationary object determination means has a difference between the value obtained by correcting the acquired relative speed with the acquired azimuth angle and the own vehicle speed within a predetermined range. In some cases, it is desirable to determine that the object is a stationary object.

  According to a preferred aspect of the present invention, the first relative speed acquisition means is disposed in the first direction with respect to the host vehicle, and is further disposed in the second direction with respect to the host vehicle. A second relative speed acquisition means for transmitting a signal wave and acquiring a relative speed between the host vehicle and the object based on the reflected wave of the transmitted signal wave; Second stationary object determining means for determining whether or not the object is a stationary object based on the relative speed acquired by the relative speed acquiring means, wherein the first stationary object determining means is the first stationary object determining means. It is desirable to determine whether or not the object determined by the second stationary object determination unit is a stationary object, assuming that the object is a stationary object.

  According to a preferred aspect of the present invention, it is desirable that the first direction is a forward direction and the second direction is a front side direction or a side direction.

  In order to solve the above-described problems and achieve the object of the present invention, the present invention transmits a signal wave, and acquires the relative speed between the vehicle and the object based on the reflected wave of the transmitted signal wave. In consideration of the first relative speed acquisition step, the azimuth angle acquisition step of acquiring the azimuth angle of the object, the own vehicle speed detection step of detecting the own vehicle speed, and the azimuth angle dependency of the relative speed, Whether the object is a stationary object based on the own vehicle speed acquired in the own vehicle speed detection step, the relative speed acquired in the first relative speed acquisition step, and the azimuth angle acquired in the azimuth angle acquisition step And a first stationary object determination step for determining whether or not.

  According to a preferred aspect of the present invention, in the first stationary object determination step, a difference between the acquired relative speed corrected by the acquired azimuth angle and the own vehicle speed is within a predetermined range. In some cases, it is desirable to determine that the object is a stationary object.

  According to a preferred aspect of the present invention, a second relative speed acquisition step of transmitting a signal wave and acquiring a relative speed between the host vehicle and the object based on the reflected wave of the transmitted signal wave; A second stationary object determination step for determining whether or not the object is a stationary object based on the own vehicle speed and the relative speed acquired in the second relative speed acquisition step. In the stationary object determination step, it is desirable to determine whether the object determined by the second stationary object determination unit as a stationary object is a stationary object on the assumption that it is a stationary object.

  Moreover, according to a preferable aspect of the present invention, it is desirable that each step of the present invention is realized by a computer executing a program.

  According to the present invention, a first relative speed acquisition unit that transmits a signal wave and acquires a relative speed between the host vehicle and the object and an azimuth angle of the object based on the reflected wave of the transmitted signal wave; In consideration of the vehicle speed detection means for detecting the vehicle speed and the azimuth angle dependency of the relative speed, the vehicle speed acquired by the vehicle speed detection means, the relative speed acquired by the first relative speed acquisition means And a first stationary object judging means for judging whether or not the object is a stationary object based on the speed and the azimuth angle, so that the stationary object can be accurately detected regardless of the azimuth angle of the target. There is an effect that it is possible to determine.

  Hereinafter, an object detection apparatus, an object detection method, and a program executed by a computer according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or that are substantially the same.

(Embodiment 1)
FIG. 1 is a block diagram showing a functional configuration of the object detection apparatus according to Embodiment 1 of the present invention. An object detection apparatus 1 shown in the figure is an apparatus that is mounted on a vehicle such as a four-wheeled vehicle and detects an object that exists in a predetermined range around the vehicle. The object detection device 1 uses a millimeter wave and a forward millimeter wave radar 11 (second relative velocity acquisition means) for detecting a target in the forward direction with respect to the vehicle traveling direction using the millimeter wave, A front side millimeter wave radar 12 (first relative speed acquisition means, azimuth angle acquisition means) for detecting a target in the front side direction with respect to the vehicle traveling direction, and a vehicle speed sensor 20 (for detecting the speed of the host vehicle) Own vehicle speed detection means) and a calculation unit 30 (first relative speed acquisition means, which performs calculation for detecting a target using signals output from the front millimeter wave radar 11 and the front side millimeter wave radar 12; A second relative speed acquisition unit, a first stationary object determination unit, and a second stationary object determination unit), and a storage unit 40 that stores a calculation result in the calculation unit 30 and various setting information.

  The front millimeter wave radar 11 and the front side millimeter wave radar 12 transmit a millimeter wave from a transmission antenna to a predetermined range, while receiving a reflected wave from a target by a reception antenna (which may be the same as the transmission antenna). Then, signal processing such as filtering of the received reflected wave and A / D conversion is performed. As the forward millimeter wave radar 11 and the front side millimeter wave radar 12, a commonly used method such as an FMCW (Frequency Modulated Continuous Wave) method can be applied.

  The calculation unit 30 detects a target using signals received by the front millimeter wave radar 11 and the front side millimeter wave radar 12, and tracks the target based on the detection result of the detection unit 31 (tracking). And a target tracking processing unit 32. The detection unit 31 acquires target information (relative speed and relative distance) of the target using the signal received by the front millimeter wave radar 11 and also uses the signal received by the front side millimeter wave radar 12. Target information (relative speed, relative distance, target azimuth). Further, the detection unit 31 is based on the target information of the target detected based on the signals received from the front millimeter wave radar 11 and the front side millimeter wave radar 12 and the own vehicle speed detected by the vehicle speed sensor 20. Then, it is determined whether or not the target is a stationary object, and the stationary target is determined by the fusion of the front millimeter wave radar 11 and the front side millimeter wave radar 12.

  The calculation unit 30 is realized by using a CPU (Central Processing Unit) or the like, and reads various calculation processing programs from the storage unit 40, thereby executing processing corresponding to the read program.

  The storage unit 40 is realized using a ROM (Read Only Memory) in which an arithmetic processing program is recorded and a RAM (Random Access Memory) that stores various parameters and data.

  The target information detected by the object detection device 1 is output to the vehicle control device 50. The vehicle control device 50 performs control such as inter-vehicle distance control and automatic brake control in accordance with the output from the object detection device 1. As described above, the object detection device 1 and the vehicle control device 50 constitute a system such as ACC (inter-vehicle control device), PBA (pre-crash brake assist), PSB (pre-crash seat belt) as a whole. In this sense, the object detection device 1 has a function as a sensor.

FIG. 2 is a diagram for explaining the arrangement positions of the front millimeter wave radar 11 and the front side millimeter wave radar 12 mounted on the object detection device 1. The front millimeter wave radar 11 is disposed in front of the vehicle C ₀ , and the angle between the radar optical axis L 1 and the vehicle traveling direction is substantially the same. The front side millimeter wave radar 12 is disposed on the left front side with respect to the vehicle C ₀ , and the radar optical axis L 2 and the vehicle traveling direction have a predetermined angle α (0 <α <90 °). .

  FIG. 3 is a diagram for explaining the azimuth angle dependence of the detection ranges and relative speeds of the front millimeter wave radar 11 and the front side millimeter wave radar 12. In the figure, R1 indicates the detection range of the front millimeter wave radar 11, and R2 indicates the detection range of the front side millimeter wave radar 12. The detection range R1 and the detection range R2 partially overlap the detection range. In FIG. The forward millimeter wave radar 11 is a long-distance narrow-angle radar, and has a small detection angle and can detect a long distance. The front side millimeter wave radar 12 is a short-distance wide-angle radar, and has a large detection angle and can detect a short distance.

In the figure, the host vehicle C ₀ is traveling at a speed V ₀ along the road Rd, and a roadside object (stationary object) S is in the direction of an angle β with respect to the central axis L2 of the front side millimeter wave radar 12. Suppose it exists. The azimuth angle β is detected based on the signal received by the front side millimeter wave radar 12 in the detection unit 31. The figure shows a case where the roadside object (stationary object) S is switched from the detection range R1 of the front millimeter wave radar 11 to the detection range R2 of the front side millimeter wave radar 12. Here, when V ₀ is the vehicle speed of the host vehicle C ₀ and Vr is the relative speed of the host vehicle and the roadside object (stationary object) S measured by the front side millimeter wave radar 12, the distance between the vehicle speed V ₀ and the relative speed Vr is assumed. The following equation (1) is established.

Vr = V ₀ · cos (α−β) (1)

Here, the vehicle C ₀ and the roadside object (stationary object) relative speed Vr S is should become the vehicle speed V ₀ which the vehicle, the front-side millimeter-wave radar 12, the vehicle C ₀ and the roadside object ( The relative velocity Vr of the stationary object S is measured as Vr = V ₀ · cos (α−β). Thus, the relative speed Vr between the vehicle C ₀ and the roadside object (stationary object) detected by the front side millimeter wave radar 12 is dependent on the azimuth angle of the relative speed, specifically, cos (α−β). As a result, displacement occurs between V _{0 and} 0.

  In the present embodiment, when determining whether or not the target is a roadside object (stationary object) based on the detection result of the front side millimeter wave radar 12, the front side is considered in consideration of the azimuth angle dependency of the relative speed. A relative speed Vr ′ obtained by correcting (angle conversion) the relative speed Vr detected by the millimeter wave radar 12 as shown in the following equation (2) is calculated.

  Vr ′ = Vr / cos (α−β) (2)

When the following expression (3) is satisfied, that is, when the absolute value of the difference between the corrected (angle-converted) relative speed Vr ′ and the vehicle speed V ₀ detected by the vehicle speed sensor 20 is within the threshold range. Then, the target is determined to be a stopped object.

| Vr′−V ₀ | <N (threshold value) (3)

  FIG. 4 shows that the roadside object (stationary object) S from the detection range R1 of the front millimeter-wave radar 11 out of the processing performed by the detection unit 31 of the object detection apparatus 1 configured as described above is shown in FIG. 6 is a flowchart showing an outline of stationary object detection processing in which the roadside object (stationary object) S is detected by the front side millimeter wave radar 12 when switching to the detection range R2 of the wave radar 12.

In FIG. 4, first, it is determined whether or not a roadside target (stationary object) is detected in the detection range R1 of the forward millimeter wave radar 11 (step S1). When the absolute value of the difference between the relative speed Vr of the target detected based on the signal received by the forward millimeter wave radar 11 and the vehicle speed V ₀ detected by the vehicle speed sensor 20 is within the threshold range, the stationary object Is determined.

  When the roadside target (stationary object) is not detected in the detection range R1 of the forward millimeter wave radar 11 (“No” in step S1), the flow ends, while the roadside target (stationary object) is detected. If this is the case ("Yes" in step S1), whether the current position or the current predicted position of the roadside target (stopped object) detected by the forward millimeter wave radar 11 is within the detection range R2 of the front side millimeter wave radar 12 It is determined whether or not (step S2).

  When the current position or the current predicted position of the roadside target (stationary object) detected by the forward millimeter wave radar 11 is not within the detection range D2 of the front side millimeter wave radar 12 ("No" in step S2), the flow On the other hand, if the current position or the current predicted position of the roadside target (stationary object) detected by the forward millimeter-wave radar 11 is within the detection range R2 of the front-side millimeter-wave radar 12 (“Yes in step S2”). ]), It is determined whether or not the target has been detected by the front side millimeter wave radar 12 within the current position or the current predicted position ± threshold range (step S3). That is, when the roadside target (stationary object) detected by the front millimeter wave radar 11 falls within the detection range R2 of the front side millimeter wave radar 12, it falls within the detection range R2 of the front side millimeter wave radar 12. Check if there is a target.

If the front side millimeter-wave radar 11 has not detected a target within the current position or the current predicted position ± threshold range (“No” in step S3), the flow ends. On the other hand, when the front side millimeter wave radar 12 detects the target within the current position or the current predicted position ± threshold range (“Yes” in step S3), the azimuth angle dependency of the relative speed is considered. The relative velocity Vr ′ = Vr / cos (α−β) obtained by correcting (angle conversion) the relative velocity Vr detected by the front side millimeter wave radar 12 is calculated by the above equations (2) and (3), and the correction is performed. It is determined whether or not the absolute value of the difference between the detected relative speed Vr ′ and the vehicle speed V ₀ detected by the vehicle speed sensor 20 is within the threshold range (step S4). That is, when there is a target that is expected to be a roadside target (stationary object) within the detection range R2 of the front side millimeter wave radar 12, it is confirmed whether or not it is actually a roadside target (stationary object). . As described above, a target that is determined to be a roadside target (stationary object) by the forward millimeter wave radar 11 is assumed to be a roadside target (stationary object) by the front side millimeter wave radar 12, and the roadside target is assumed. Judgment whether or not (stationary object).

If the absolute value of the difference between the corrected relative speed Vr ′ and the vehicle speed V ₀ detected by the vehicle speed sensor 20 is not within the threshold range (“No” in step S4), the flow ends. On the other hand, if the absolute value of the difference between the corrected relative speed Vr ′ and the vehicle speed V ₀ detected by the vehicle speed sensor 20 is within the threshold range (“Yes” in step S4), the roadside object (stationary The target is immediately determined as an object (step S5).

  FIG. 5 is a diagram for explaining an outline of tracking of a roadside object (stationary object) based on the detection result of the front side millimeter wave radar 12 among the processes performed by the target tracking processing unit 32 of the object detection apparatus 1 having the above configuration. It is a flowchart. FIG. 6 is a diagram for explaining a next predicted peak in consideration of a relative speed change due to a roadside object (stopped object). The figure shows the frequency spectrum of the reception signal of the front side millimeter wave radar 12, where the horizontal axis shows the frequency f and the vertical axis shows the reception power (dBV). In the same figure, P1 shows the actual measurement peak this time, and P2 shows the next prediction peak considering the relative speed change by the roadside object (stopping object).

In FIG. 5, first, it is determined whether or not there is a roadside object (stationary object) determined by fusion with the forward millimeter wave radar 11 (step S11). When there is no roadside object (stationary object) determined by the fusion with the forward millimeter wave radar 11 (“No” in step S11), the flow is terminated while the roadside object is confirmed by the fusion with the forward millimeter wave radar 11. When a roadside object (stationary object) exists (“Yes” in step S11), the tracking peak position is calculated in consideration of the roadside object (stationary object) when estimating the next predicted peak position. (Step S12). That is, for the roadside object (stationary object) determined by the fusion with the front millimeter wave radar 11, the vehicle speed V ₀ and the current predicted position are tracked from the curve R until the detection range R2 of the front side millimeter wave radar 12 is removed. To do. In this case, in order to follow the relative speed change generated when the traveling direction of the host vehicle is different from the central axis L2 of the front side millimeter wave radar 12, the next predicted peak of the roadside object (stationary object) is performed by performing the angle conversion described above. Estimate location accurately to facilitate tracking.

As described above, according to the first embodiment, for the detection range R2 of the front side millimeter wave radar 12, the vehicle speed V ₀ acquired by the vehicle speed sensor 20 and the azimuth angle dependency of the relative speed are taken into consideration. Since it is determined whether or not the object is a stationary object based on the relative velocity Vr and the azimuth angle β acquired by the front side millimeter wave radar 12, regardless of the azimuth dependency of the relative velocity of the target. It is possible to determine a stationary object with high accuracy. In addition, in a radar system with a wide-angle type or a radar center axis different from the traveling direction of the host vehicle, it is possible to determine a stationary object with high accuracy even when the detected relative speed varies greatly depending on the azimuth angle of the target. It becomes.

Further, when the difference between the relative speed Vr ′ acquired by the front side millimeter wave radar 12 and the relative speed Vr ′ corrected by the acquired azimuth angle β and the own vehicle speed V ₀ is within the threshold range, the object is set as a stationary object. Therefore, it is possible to determine a stationary object easily and with high accuracy.

  For a target that is determined to be a stopped object in the detection range R1 of the front millimeter wave radar 11, it is determined whether or not the target is a stopped object even in the detection range R2 of the front side millimeter wave radar 12. Therefore, in the detection range R2 of the front side millimeter wave radar 12, it can be determined in a short time whether it is an approaching moving object or a roadside object (stopping object) that approaches the host vehicle. ) Can be confirmed reliably and immediately. Further, since roadside objects (stopped objects) can be identified at an early stage, tracking in which the relative speed changes from the own vehicle speed to zero due to the difference in the traveling direction of the own vehicle from the central axis L2 of the front side millimeter wave radar 12 is performed. It is possible to follow the prediction.

  In the first embodiment, the front side millimeter wave radar 12 acquires the relative velocity Vr and the azimuth angle β. However, a configuration may be provided in which azimuth angle acquisition means for detecting the azimuth angle β is separately provided. .

(Embodiment 2)
In the first embodiment, the roadside target (stationary object) is determined by fusing the front millimeter wave radar 11 and the front side millimeter wave radar 12 disposed on the left side in front of the vehicle. ) Is not necessarily limited to the combinations described above, and any type of radar can be combined as long as the radar detection ranges are different and the detection ranges partially overlap. It may be.

  FIG. 7 is a block diagram showing a functional configuration of the object detection apparatus according to Embodiment 2 of the present invention. In FIG. 7, parts having the same functions as those in FIG. FIG. 8 is a diagram for explaining the arrangement position of the radar mounted on the object detection apparatus of FIG.

  As shown in FIG. 8, the object detection apparatus 1 shown in FIG. 7 further includes a front side millimeter wave radar 13 disposed on the front right side of the vehicle, a side millimeter wave radar 14 disposed on the left side of the vehicle, and a right side of the vehicle. Side millimeter wave radar 15 disposed on the side, rear millimeter wave radar 16 disposed on the rear side of the vehicle, rear side millimeter wave radar 17 disposed on the left side behind the vehicle, rear side disposed on the right side behind the vehicle A millimeter wave radar 18 is provided. Radars 13 to 18 are short-range wide-angle radars, and determine roadside targets (stationary objects) in consideration of the azimuth angle dependency of relative speed, as with front side millimeter wave radar 12.

  In FIG. 8, L13, L14, L15, L16, L17, and L18 are a front side millimeter wave radar 13, a side millimeter wave radar 14, a side millimeter wave radar 15, a rear millimeter wave radar 16, and a rear side millimeter wave radar. 17 shows the radar central axes of the rear side millimeter wave radar 18.

  Front millimeter wave radar 11 and front side millimeter wave radar 12, front side millimeter wave radar 12 and side millimeter wave radar 14, side millimeter wave radar 14 and rear side millimeter wave radar 17, rear side millimeter wave radar 17 and The rear millimeter wave radar 16 partially overlaps the detection range, and as in the first embodiment, fusion is performed when a roadside target (stationary object) is determined.

  Further, the front millimeter wave radar 11 and the front side millimeter wave radar 13, the front side millimeter wave radar 13 and the side millimeter wave radar 15, the side millimeter wave radar 15 and the rear side millimeter wave radar 18, and the rear side millimeter wave radar. 18 and the rear millimeter wave radar 16 are partially overlapped in detection ranges, and are fused when a roadside target (stationary object) is determined as in the first embodiment.

  In the above-described embodiment, the FMCW (Frequency Modulated Continuous Wave) method is used as the radar. However, the present invention is not limited to this, and another type of radar is used. Also good.

  An object detection apparatus, an object detection method, and a program to be executed by a computer according to the present invention are applied to a traveling safety system such as ACC (inter-vehicle control), PBA (pre-crash brake assist), and PSB (pre-crash seat belt). It is useful for the radar device used.

It is a block diagram which shows the function structure of the object detection apparatus which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the arrangement position of a front millimeter wave radar and a front side millimeter wave radar. It is a figure for demonstrating the azimuth angle dependence of the detection range and relative velocity of a front millimeter wave radar and a front side millimeter wave radar. It is a flowchart which shows the outline | summary of a stationary object detection process. It is a flowchart for demonstrating the outline of the tracking process in a front side millimeter wave radar. It is a figure for demonstrating the next prediction peak which considered the relative speed change by a roadside target (stationary object). It is a block diagram which shows the function structure of the object detection apparatus which concerns on Embodiment 2 of this invention. It is a figure for demonstrating the arrangement position of a radar.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Object detection apparatus 11 Front millimeter wave radar 12 Front side millimeter wave radar 13 Front side millimeter wave radar 14 Side millimeter wave radar 15 Side millimeter wave radar 16 Rear millimeter wave radar 17 Rear side millimeter wave radar 18 Rear side millimeter Wave radar 20 Vehicle speed sensor 30 Calculation unit 31 Detection unit 32 Target tracking processing unit 40 Storage unit 50 Vehicle control device R1, R2, R12 Detection range L11 to L18 Radar central axis

Claims (8)

In an object detection device mounted on a vehicle,
First relative speed acquisition means for transmitting a signal wave and acquiring a relative speed between the host vehicle and the object based on the reflected wave of the transmitted signal wave;
Azimuth angle obtaining means for obtaining the azimuth angle of the object;
Vehicle speed detection means for detecting the vehicle speed;
Considering the azimuth angle dependency of relative speed, the own vehicle speed acquired by the own vehicle speed detecting means, the relative speed acquired by the first relative speed acquiring means, and the azimuth angle acquired by the azimuth angle acquiring means Based on the first stationary object determination means for determining whether the object is a stationary object;
An object detection apparatus comprising:   The first stationary object determination means determines that the object is a stationary object when the difference between the acquired relative speed corrected by the acquired azimuth angle and the acquired vehicle speed is within a predetermined range. The object detection apparatus according to claim 1, wherein it is determined that The first relative speed acquisition means is arranged in a first direction with respect to the vehicle;
Further, a second relative speed that is arranged in a second direction with respect to the vehicle, transmits a signal wave, and acquires a relative speed between the host vehicle and the object based on a reflected wave of the transmitted signal wave. Acquisition means;
Second stationary object determining means for determining whether or not the object is a stationary object based on the own vehicle speed acquired by the own vehicle speed detecting means and the relative speed acquired by the second relative speed acquiring means. When,
With
The first stationary object determining means determines whether or not the object determined by the second stationary object determining means is a stationary object, assuming that the object is a stationary object. The object detection device according to claim 1, wherein the object detection device is a device.   The object detection apparatus according to claim 3, wherein the first direction is a forward direction, and the second direction is a front side direction or a side direction. A first relative speed acquisition step of transmitting a signal wave and acquiring a relative speed between the host vehicle and the object based on the reflected wave of the transmitted signal wave;
An azimuth angle obtaining step of obtaining an azimuth angle of the object;
A vehicle speed detection process for detecting the vehicle speed;
In consideration of the azimuth angle dependency of relative speed, the own vehicle speed acquired in the own vehicle speed detection step, the relative speed acquired in the first relative speed acquisition step, and the azimuth angle acquired in the azimuth angle acquisition step A first stationary object determination step for determining whether or not the object is a stationary object,
An object detection method comprising:   In the first stationary object determination step, the object is a stationary object when a difference between the acquired relative speed corrected by the acquired azimuth angle and the vehicle speed is within a predetermined range. The object detection method according to claim 5, wherein the object detection method is determined. A second relative speed acquisition step of transmitting a signal wave and acquiring a relative speed between the vehicle and the object based on the reflected wave of the transmitted signal wave;
Second stationary object determination step for determining whether or not the object is a stationary object based on the own vehicle speed acquired in the own vehicle speed detection step and the relative speed acquired in the second relative speed acquisition step. When,
Including
In the first stationary object determination step, for the object determined to be a stationary object in the second stationary object determination step, it is determined whether the object is a stationary object on the assumption that it is a stationary object. The object detection method according to claim 5 or claim 6, wherein   A program for causing a computer to execute each step of the object detection method according to any one of claims 5 to 7.

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