JP2009085760A - Object detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To estimate the position information of an object when the input of reflection intensity is unstable. <P>SOLUTION: The object detector includes: an electromagnetic wave sensor 30 and an image sensor 31; an intensity determination section 21 for determining whether the reflection intensity is smaller than a prescribed value; a speed determination section 22 for determining whether the speed component of an object H in the advancing direction of a vehicle is smaller than a prescribed value than a prescribed value; a relative distance calculation section 23 for calculating a relative distance Z2 between the object H and the vehicle 4, based on the amount of travel Z of the vehicle 4, when the reflection intensity is determined smaller than a prescribed value by the intensity determination section 21 and when the speed component is determined smaller than a prescribed value by the speed determination section 22; and a position estimation section 24 for estimating the position of the object H based on orientation information Y2 and the relative distance Z2 by acquiring the orientation information Y2 of the object H from the image information. Thus, the position information of the object H can be estimated by using image information input by the image sensor 31. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an object detection device that detects an object.

Conventionally, an apparatus for detecting an object is suitably employed in, for example, a driver assistance system that improves the safety of a traveling vehicle (see, for example, Patent Document 1). The apparatus of Patent Document 1 is an apparatus that detects an obstacle having a low reflection intensity by lowering a threshold value for detecting an object when the reflection intensity is low by emitting an electromagnetic wave to an object and the reflection intensity is low. It is.
JP 2006-284293 A

  However, in the conventional object detection device, when detecting the position of the object using the reflected wave of the electromagnetic wave, it is necessary to continuously input information. For example, when detecting an object with low reflection intensity If an event in which information cannot be input occurs instantaneously, it may be difficult to calculate the exact position of the target object.

  Therefore, the present invention has been made to solve such a technical problem, and an object detection device capable of estimating the position information of an object when the input of the reflection intensity of the reflected wave is unstable. The purpose is to provide.

  That is, an object detection device according to the present invention is installed in a vehicle, emits an electromagnetic wave to the object, acquires object information using a reflected wave from the object, and an image of the object installed in the vehicle. An image sensor for acquiring information, intensity determination means for determining whether or not the reflection intensity of the reflected wave is lower than a predetermined value, and a velocity component in the vehicle traveling direction of the object acquired by the electromagnetic wave sensor from a predetermined value When it is determined that the reflection intensity is lower than a predetermined value by the speed determination unit that determines whether or not it is low, and the speed determination unit determines that the speed component is lower than a predetermined value, Relative distance calculation means for calculating a relative distance between the object and the vehicle based on the amount of movement of the vehicle from the previous measurement, and azimuth information of the object from the image information. And constituted by a position estimation means for estimating a position of the object based on the orientation information and the relative distance.

  According to this invention, in order to detect position information of an object, an image sensor is provided in addition to the electromagnetic wave sensor, the reflection intensity of the object detected by the electromagnetic wave sensor is low, and the velocity component in the traveling direction of the object acquired by the electromagnetic wave sensor Is lower than the predetermined value, the relative distance between the object and the host vehicle is calculated based on the movement amount of the host vehicle from the previous measurement, the direction information of the object is calculated from the image information, and the calculated relative distance is calculated. The position information of the object can be estimated based on the direction information. Thereby, for example, when detecting position information of a pedestrian or the like having a low reflection intensity and a moving speed slower than that of a vehicle, if the position information of an object cannot be acquired from information input by an electromagnetic wave sensor, the image sensor It is possible to estimate the position information of the object using the image information input in.

  An object detection apparatus according to the present invention is installed in a vehicle, emits an electromagnetic wave to the object, and acquires an object information using a reflected wave from the object. An image sensor for acquiring information, intensity determination means for determining whether or not the reflection intensity of the reflected wave is lower than a predetermined value, and a velocity component in the vehicle traveling direction of the object acquired by the electromagnetic wave sensor is higher than a predetermined value When the speed determination means and the intensity determination means determine that the reflection intensity is lower than a predetermined value, and the speed determination means determines that the speed component is higher than a predetermined value, Based on the amount of movement of the vehicle from the time of measurement and the relative speed between the object and the vehicle at the time of the previous measurement acquired by the electromagnetic wave sensor, the object and the vehicle A relative distance calculating unit that calculates a distance; and a position estimating unit that acquires azimuth information of the object from the image information and estimates the position of the object based on the azimuth information and the relative distance. The

  According to this invention, in order to detect position information of an object, an image sensor is provided in addition to the electromagnetic wave sensor, the reflection intensity of the object detected by the electromagnetic wave sensor is low, and the velocity component in the traveling direction of the object acquired by the electromagnetic wave sensor Is higher than a predetermined value, the relative distance between the object and the vehicle is calculated from the image information based on the movement amount of the vehicle from the previous measurement and the relative speed between the object and the vehicle. The azimuth information can be calculated, and the position information of the object can be estimated based on the calculated relative distance and azimuth information. Thereby, when the object detected by the electromagnetic wave sensor has a speed component in the traveling direction of the host vehicle, for example, in the case of a bicycle or a two-wheeled vehicle having a certain moving speed, the position information of the object is obtained from the information input by the electromagnetic wave sensor. If it cannot be obtained, the position information of the object can be estimated using the image information input by the image sensor.

  According to the present invention, when the input of the reflected wave reflection intensity is unstable, the position information of the object can be estimated.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

(First embodiment)
The object detection device according to the first embodiment is a device that is mounted on a vehicle and detects an object. For example, a vehicle having an automatic driving function such as a follow-up operation or a lane keeping operation, or a driver assistance system that improves safety. It is suitably used for vehicles equipped with.

  First, the configuration of the object detection device according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a configuration of a vehicle including an object detection device according to an embodiment of the present invention.

  The object detection device 1 mounted on the vehicle 4 includes an electromagnetic wave sensor 30, an image sensor 31, and an ECU 2. Here, the ECU (Electronic Control Unit) is a computer of an automobile device that is electronically controlled, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. It is configured.

  The electromagnetic wave sensor 30 has a function of repeatedly outputting an electromagnetic wave to an object and repeatedly inputting a reflected wave from the object to obtain information on the surroundings of the vehicle 4. Specifically, within a predetermined range in the traveling direction of the vehicle 4, an electromagnetic wave is emitted to the object, the presence or absence of the object is detected using the input reflected wave, the detected position information of the object, the width of the object, the vehicle 4 It has a function of detecting physical information such as the relative speed between the object and the detected object and the reflection intensity. Further, when the input of the reflected wave is unstable, for example, when the intensity of the reflected wave is low and the electromagnetic wave sensor 30 cannot pick up information, the electromagnetic wave sensor 30 outputs physical information estimated with reference to the previous physical information. It has a function to do. The electromagnetic wave sensor 30 has a function of adding an extrapolation flag to the physical information in order to transmit the estimated effect. When the electromagnetic wave sensor 30 estimates and outputs physical information, the extrapolation flag is changed from 0 to 1 and added to the physical information. For example, a millimeter wave sensor is used as the electromagnetic wave sensor 30. The electromagnetic wave sensor 30 has a function of outputting detected information and estimated information to the ECU 2.

  The image sensor 31 has a function of repeatedly acquiring peripheral information of the vehicle 4 as image information, and for example, an image sensor such as a stereo camera or a monocular camera is used. The image sensor 31 has a function of outputting the acquired information to the ECU 2.

  The ECU 2 includes an intensity determination unit (intensity determination unit) 21, a speed determination unit (speed determination unit) 22, a relative distance calculation unit (relative distance calculation unit) 23, and a position estimation unit (position estimation unit) 24.

  The intensity determination unit 21 has a function of determining the magnitude of the reflected wave intensity. Specifically, the intensity determination unit 21 has a function of determining whether or not the reflection intensity of the reflected wave input from the electromagnetic wave sensor 30 is lower than a predetermined value. In addition, the strength determination unit 21 has a function of outputting the determination result to the speed determination unit 22.

  The speed determination unit 22 has a function of determining the speed of the detected object. Specifically, the speed determination unit 22 inputs the relative speed between the host vehicle 4 and the detected object from the electromagnetic wave sensor 30, and based on the input relative speed and the speed of the host vehicle 4, the detected absolute speed of the object. Is calculated, a speed component of the calculated absolute speed in the traveling direction of the host vehicle 4 is calculated, and it is determined whether or not the calculated speed component is lower than a predetermined value. The speed determination unit 22 has a function of outputting the determination result to the relative distance calculation unit 23.

  The relative distance calculation unit 23 has a function of calculating a relative distance between the host vehicle 4 and the detected object. Specifically, the relative distance calculation unit 23 inputs the determination result from the speed determination unit 22, and the input determination result indicates that the detected object moves or stops at a speed lower than a predetermined value with respect to the traveling direction of the host vehicle 4. In the case of the result of the determination that the vehicle is moving, of the object information repeatedly acquired by the electromagnetic wave sensor 30, the detected object and the vehicle It has a function of calculating a relative distance from the vehicle 4. Further, the relative distance calculation unit 23 has a function of outputting the calculated relative distance to the position estimation unit 24.

  The position estimation unit 24 has a function of estimating the position information of the detected object. Specifically, the position estimation unit 24 calculates the direction information of the detected object based on the image information input from the image sensor 31, and calculates the calculated direction information and the relative distance input from the relative distance calculation unit 23. It has a function of estimating the lateral position of the object detected based on it.

  Next, the operation of the object detection apparatus 1 according to this embodiment will be described. FIG. 2 is a flowchart showing the operation of the object detection device 1 according to the present embodiment, and FIG. 3 is a schematic diagram for explaining the operation of the object detection device 1 according to the present embodiment. The relative position of the object H and the position on the image are shown.

  The control process shown in FIG. 2 is repeatedly executed at a predetermined timing after the ignition is turned on, for example. In consideration of the ease of understanding the explanation, it is assumed below that the position information and speed information of the object H shown in FIG. 3 have been acquired in the previous processing (time t1), and this time (time t2) A case where processing is performed on the object H after movement indicated by a broken line will be described.

  When the control process shown in FIG. 2 is started, the object detection apparatus 1 starts from the reflected wave determination process (S20). The process of S20 is executed by the intensity determination unit 21, receives a reflected wave from the electromagnetic wave sensor 30, and determines whether the reflection intensity of the input reflected wave is lower than a predetermined value or whether there is extrapolation. This is a process for determining. Here, extrapolation means inputting a value estimated on the electromagnetic wave sensor 30 side. For example, whether extrapolation is performed is whether the extrapolation flag given to the data output by the electromagnetic wave sensor 30 is 1 or not. This is done by determining whether or not. Moreover, as an example in case a reflected wave is lower than predetermined value, a pedestrian, a bicycle, a two-wheeled vehicle etc. are mentioned, for example. In the process of S20, when the reflection intensity is equal to or higher than the predetermined value, or when there is no extrapolation, the control process shown in FIG. On the other hand, in the process of S20, when the reflection intensity is lower than the predetermined value, or when extrapolation is present, the process proceeds to a speed determination process (S22).

  The process of S22 is a process that is executed by the speed determination unit 22, calculates a speed component of the object H in the traveling direction of the object H detected by the electromagnetic wave sensor 30, and determines whether or not it is lower than a predetermined value. For example, the speed determination unit 22 calculates an absolute speed in the traveling direction of the vehicle 4 based on the relative speed between the vehicle 4 and the object H from the electromagnetic wave sensor 30, and a speed component of the calculated absolute speed in the traveling direction of the vehicle 4 is predetermined. It is determined whether it is lower than the value. If it is determined in step S22 that the value is not lower than the predetermined value, the control process shown in FIG. 2 is terminated. An example of such a case is a motorcycle that travels at a certain speed in the same direction as the traveling direction of the vehicle 4. On the other hand, in the process of S22, when it is determined that the value is lower than the predetermined value, the process proceeds to a relative distance calculation process (S24). As such a case, for example, a case where a low movement speed such as a person or a bicycle is detected can be cited. In the following description, it is assumed that the object H after movement indicated by a broken line in FIG. 3 is determined to be an object having a low reflection intensity and a low movement speed in the processes of S20 and S22.

  The process of S24 is a process executed by the relative distance calculation unit 23 to calculate the relative distance Z2 between the object H and the vehicle 4 at time t2. If the relative distance at time t1 is Z1, and the movement amount of the host vehicle 4 is Z, the relative distance Z2 at time t2 can be expressed by the following equation.

  Z2 = Z1-Z (1)

  The relative distance calculation unit 23 calculates the relative distance Z2 using Equation 1. The movement amount Z is calculated using the speed of the host vehicle 4, the time t1, and the time t2. When the processing of S24 ends, the process proceeds to position estimation processing (S26).

  The process of S26 is executed by the position estimation unit 24, and is a process of estimating the lateral position X2 of the object H using the image information at time t2 and the relative distance Z2 calculated in the process of S24. As shown in FIG. 3, the object H at the horizontal position X1 at time t1 is displayed at a location indicated by X1 on the screen G1, and the object H at the horizontal position X2 at time t2 is displayed at a location indicated by X2 on the screen G1. Is displayed. Therefore, based on the image information, the direction (azimuth information) Y2 in which the object H at the lateral position X2 exists at the time t2 can be obtained. Using the calculated azimuth information Y2 and the relative distance Z2, the lateral position X2 at time t2 can be specified. When the process of S26 ends, the control process shown in FIG. 2 ends.

  By performing the control process of FIG. 2, even when it is difficult to obtain the lateral position X2 of the object H by the electromagnetic wave sensor 30 at time t2, the host vehicle 4 is in the period from time t1 to time t2. The lateral position X2 of the object H at time t2 can be estimated using the travel amount Z that has traveled and the azimuth information Y2 calculated from the image information of the image sensor 31.

  As described above, according to the object detection device 1 according to the first embodiment, the image sensor 31 is provided in addition to the electromagnetic wave sensor 30 in order to detect the position information of the object H, and the reflection intensity of the object H detected by the electromagnetic wave sensor 30. When the velocity component in the traveling direction of the object H acquired by the electromagnetic wave sensor 30 is lower than a predetermined value, the distance between the object H and the own vehicle 4 is based on the movement amount Z of the own vehicle 4 from the previous measurement. The relative distance Z2 is calculated, the azimuth information Y2 of the object H is calculated from the image information, and the position information X2 of the object H can be estimated based on the calculated relative distance Z2 and azimuth information Y2. Thereby, for example, in the case of detecting position information of a pedestrian or the like whose reflection intensity is low and whose moving speed is slower than that of the vehicle 4, when the position information of the pedestrian or the like cannot be acquired from information input by the electromagnetic wave sensor 30. Can estimate position information of a pedestrian or the like using image information input by the image sensor 31.

(Second Embodiment)
The object detection device according to the second embodiment is configured in the same manner as the object detection device 1 according to the first embodiment, and the vehicle traveling direction of the detected object when estimating the position information of the detected object. It is different in that the speed component is taken into consideration. In the second embodiment, the description of the same parts as those in the first embodiment will be omitted, and the description will focus on the differences.

  The object detection apparatus according to the second embodiment is preferably used particularly when the detected object is moving in the vehicle traveling direction. First, the configuration of the object detection device according to the second embodiment will be described. The configuration of the object detection device according to the second embodiment is the same as the configuration of the object detection device 1 according to the first embodiment, and some functions of the speed determination unit 22 and the relative distance calculation unit 23 are different.

  The speed determination unit 22 has a function of determining the magnitude of the reflected wave intensity. Specifically, the intensity determination unit 21 has a function of determining whether or not the reflection intensity of the reflected wave input from the electromagnetic wave sensor 30 is higher than a predetermined value. In addition, the strength determination unit 21 has a function of outputting the determination result to the speed determination unit 22.

  The relative distance calculation unit 23 has a function of calculating a relative distance between the host vehicle 4 and the detected object. Specifically, the relative distance calculation unit 23 inputs a determination result from the speed determination unit 22, and the input determination result indicates that the detected object moves at a speed higher than a predetermined value in the traveling direction of the host vehicle 4. Of the object information repeatedly acquired by the electromagnetic wave sensor 30, the amount of movement in the traveling direction of the host vehicle 4 from the previous measurement time to the present time, the previously measured object and the host vehicle 4 Based on the relative velocity of the detected object.

  Next, the operation of the object detection apparatus according to this embodiment will be described. FIG. 4 is a flowchart showing the operation of the object detection device according to the present embodiment, and FIG. 5 is a schematic diagram for explaining the operation of the object detection device according to the present embodiment. The relative position and the position on the image are shown.

  The control process shown in FIG. 4 is repeatedly executed at a predetermined timing after the ignition is turned on, for example. In consideration of the ease of understanding, it is assumed below that the position information and speed information of the object H shown in FIG. 5 have been acquired in the previous process (time t1), and this time (time t2) A case where processing is performed on the object H after movement indicated by a broken line will be described.

  When the control process shown in FIG. 4 is started, the object detection apparatus starts from the reflected wave determination process (S40). The process of S40 is executed by the intensity determination unit 21, receives a reflected wave from the electromagnetic wave sensor 30, and determines whether the reflection intensity of the input reflected wave is lower than a predetermined value or whether there is extrapolation. This is a process for determining. Here, extrapolation means inputting a value estimated on the electromagnetic wave sensor 30 side. For example, whether extrapolation is performed is whether the extrapolation flag given to the data output by the electromagnetic wave sensor 30 is 1 or not. This is done by determining whether or not. Moreover, as an example in case a reflected wave is lower than predetermined value, a pedestrian, a bicycle, a two-wheeled vehicle etc. are mentioned, for example. In the process of S40, when the reflection intensity is equal to or higher than the predetermined value, or when there is no extrapolation, the control process shown in FIG. 4 is terminated. On the other hand, in the process of S40, when the reflection intensity is lower than the predetermined value, or when extrapolation is present, the process proceeds to a speed determination process (S42).

  The process of S42 is a process executed by the speed determination unit 22 to calculate a speed component of the object H detected by the electromagnetic wave sensor 30 in the traveling direction of the vehicle 4 and determine whether or not it is greater than a predetermined value. For example, the speed determination unit 22 calculates an absolute speed in the traveling direction of the vehicle 4 based on the relative speed between the vehicle 4 and the object H from the electromagnetic wave sensor 30, and a speed component of the calculated absolute speed in the traveling direction of the vehicle 4 is predetermined. It is determined whether it is higher than the value. If it is determined in step S42 that the value is not higher than the predetermined value, the control process shown in FIG. 4 is terminated. As such a case, for example, a case where a low movement speed such as a person or a bicycle is detected can be cited. On the other hand, in the process of S42, when it is determined that the value is higher than the predetermined value, the process proceeds to a relative distance calculation process (S44). An example of such a case is a motorcycle that travels at a certain speed in the same direction as the traveling direction of the vehicle 4. In the following description, it is assumed that the object H after movement indicated by a broken line in FIG. 5 is determined to be an object having a low reflection intensity and a high movement speed in the processes of S40 and S42.

  The process of S44 is executed by the relative distance calculation unit 23, and is a process of calculating the relative distance Z2 between the object H and the vehicle 4 at time t2. First, in calculating the relative distance Z2 at time t2, the amount of movement Z that the host vehicle 4 has moved from time t1 to time t2, and the amount of movement K that the object H has moved from time t1 to time t2. Is calculated. The movement amount Z is calculated using the speed of the host vehicle 4, the time t1, and the time t2. If the relative speed between the vehicle 4 and the object H at time t1 is Vh, the movement amount K can be expressed by the following equation.

  K = Vh · (t2−t1) (2)

  Next, the relative distance Z2 at time t2 is calculated using the calculated movement amount Z of the host vehicle 4 and movement amount K of the object H. If the relative distance between the vehicle 4 and the object H at time t1 is Z1, the movement amount of the object H is K, and the movement amount of the host vehicle 4 is Z, the relative distance Z2 at time t2 can be expressed by the following equation.

  Z2 = Z1- (Z + K) (3)

  Using the expressions 2 and 3, the relative distance calculation unit 23 calculates the relative distance Z2 at time t2. When the process of S44 ends, the process proceeds to a position estimation process (S46).

  The process of S46 is executed by the position estimation unit 24, and is a process of estimating the lateral position X2 of the object H using the image information at time t2 and the relative distance Z2 calculated in the process of S24. As shown in FIG. 5, the object H at the horizontal position X1 at time t1 is displayed at a location indicated by X1 on the screen G1, and the object H at the horizontal position X2 at time t2 is displayed at a location indicated by X2 on the screen G1. Is displayed. Therefore, based on the image information, the direction (azimuth information) Y2 in which the object H at the lateral position X2 exists at the time t2 can be obtained. Using the calculated azimuth information Y2 and the relative distance Z2, the lateral position X2 at time t2 can be specified. When the process of S46 ends, the control process shown in FIG. 4 ends.

  By performing the control process of FIG. 4, even when it is difficult to obtain the lateral position X2 of the object H by the electromagnetic wave sensor 30 at time t2, the host vehicle 4 is in the period from time t1 to time t2. The lateral position X2 of the object H at the time t2 using the travel amount Z traveled, the relative speed Vh between the object H and the vehicle 4 acquired at the time t1, and the direction information Y2 calculated from the image information of the image sensor 31. Can be estimated.

  As described above, according to the object detection device according to the second embodiment, the image sensor 31 is provided in addition to the electromagnetic wave sensor 30 in order to detect the positional information of the object H, and the reflection intensity of the object H detected by the electromagnetic wave sensor 30 is high. When the velocity component in the traveling direction of the object H acquired by the electromagnetic wave sensor 30 is lower than a predetermined value, the movement amount Z of the host vehicle 4 from the previous measurement and the relative velocity Vh of the object H at the previous measurement are The relative distance Z2 between the object H and the host vehicle 4 is calculated based on the image information, the azimuth information Y2 of the object H is calculated from the image information, and the positional information X2 of the object H is calculated based on the calculated relative distance Z2 and the directional information Y2. Can be estimated. Thereby, for example, when detecting position information of a motorcycle or the like having a low reflection intensity and a certain speed, if the position information of the motorcycle or the like cannot be acquired from information input by the electromagnetic wave sensor 30, the image sensor Using the image information input at 31, it is possible to estimate position information of the motorcycle and the like.

  Each embodiment described above shows an example of the object detection apparatus according to the present invention. The object detection device according to the present invention is not limited to the object detection device according to these embodiments, and the object detection device according to each embodiment is modified without changing the gist described in each claim. Or it may be applied to other things.

  For example, in the above-described embodiment, an example using an image sensor has been described. However, a laser radar may be used. In short, any sensor that can acquire the orientation of a detected object may be used.

It is a block diagram which shows the structure outline | summary of a vehicle provided with the object detection apparatus which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the object detection apparatus of FIG. It is a schematic diagram which shows the relative position of the object which the object detection apparatus of FIG. 1 detected, and the position on an image. It is a flowchart which shows operation | movement of the object detection apparatus which concerns on 2nd Embodiment. FIG. 5 is a schematic diagram illustrating a relative position of an object detected by the object detection device of FIG. 4 and a position on an image.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Object detection apparatus, 2 ... ECU, 21 ... Strength determination part (strength determination means), 22 ... Speed determination part (speed determination means), 23 ... Relative distance calculation part (relative distance calculation means), 24 ... Position estimation part (Position estimation means), 30 ... electromagnetic wave sensor, 31 ... image sensor.

Claims (2)

An electromagnetic wave sensor installed in a vehicle, emitting electromagnetic waves to an object, and acquiring object information using a reflected wave from the object;
An image sensor installed in a vehicle for acquiring image information of the object;
Intensity determination means for determining whether or not the reflection intensity of the reflected wave is lower than a predetermined value;
Speed determining means for determining whether a speed component in the vehicle traveling direction of the object acquired by the electromagnetic wave sensor is lower than a predetermined value;
When it is determined by the intensity determining means that the reflection intensity is lower than a predetermined value, and when the speed determining means determines that the speed component is lower than a predetermined value, it is based on the amount of movement of the vehicle from the previous measurement. A relative distance calculating means for calculating a relative distance between the object and the vehicle;
Position estimation means for acquiring azimuth information of the object from the image information and estimating the position of the object based on the azimuth information and the relative distance;
An object detection apparatus comprising: An electromagnetic wave sensor installed in a vehicle, emitting electromagnetic waves to an object, and acquiring object information using a reflected wave from the object;
An image sensor installed in a vehicle for acquiring image information of the object;
Intensity determination means for determining whether or not the reflection intensity of the reflected wave is lower than a predetermined value;
Speed determining means for determining whether or not a speed component in the vehicle traveling direction of the object acquired by the electromagnetic wave sensor is higher than a predetermined value;
When the intensity determination means determines that the reflection intensity is lower than a predetermined value, and the speed determination means determines that the speed component is higher than a predetermined value, the amount of vehicle movement from the previous measurement, and the A relative distance calculating means for calculating a relative distance between the object and the vehicle based on a relative speed between the object and the vehicle at the previous measurement acquired by an electromagnetic wave sensor;
Position estimation means for acquiring azimuth information of the object from the image information and estimating the position of the object based on the azimuth information and the relative distance;
An object detection apparatus comprising:

Images