JP2009230345A - Object detection device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object detection device for vehicle, detecting an object such as a sign on a travel road of one's own vehicle with a simple configuration, and deciding its height with high accuracy. <P>SOLUTION: This object detection device for vehicle has: a transmission/reception means transmitting an electromagnetic wave in a horizontal direction parallel to a road surface around the own vehicle and in a vertical direction orthogonal to the road surface in respective prescribed ranges (a detection area, and layers 1, 2, 3) at prescribed time intervals, and receiving a wave reflected from the object such as the sign; and an object detection means detecting the object based on a reception result thereof. In the object detection device for vehicle, when the transmission/reception means receives the reflected wave from the object, the transmission/reception means is operated such that the electromagnetic wave is vertically transmitted while improving resolution in a detection position of the object (S100-S108). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an object detection device for a vehicle, and more specifically to an apparatus for detecting the height of a vehicle, that is, an object such as a sign on the traveling path of the own vehicle and determining the height thereof.

It is often performed to detect an object such as a sign on the traveling road of the own vehicle and determine the height thereof. As an example, a technique described in Patent Document 1 below can be cited. The technique described in Patent Document 1 irradiates a transmission wave over a predetermined angular range in each of the vehicle width direction and the height direction, and based on the reflected wave, the angle to the reflecting object and the two directions of the vehicle width and height The obstacle is recognized on the basis of the detection result of the radar means for detecting, and the height position of the recognized obstacle is detected, and the detected position is in a region that cannot be taken by a normal vehicle for a predetermined time. If the vehicle is present at least once, the recognized obstacle is determined not to be a vehicle.
Japanese Patent No. 3684776

  In the technique described in Patent Document 1, as described above, it is determined whether or not the recognized obstacle is a true obstacle by detecting the position in the height direction of the recognized obstacle. It is necessary to detect the distance to the obstacle, the angle of the vehicle width and height in two directions, and to detect the position of the obstacle in the height direction one by one based on that, so the configuration is complicated and processing takes time There was an inconvenience.

  Therefore, the object of the present invention is to solve the above-mentioned problems and to detect an object such as a sign on the traveling path of the own vehicle and to determine the height thereof with a simple configuration and accurately determine the height thereof. Is to provide.

  In order to solve the above-mentioned object, according to claim 1, electromagnetic waves are transmitted over a predetermined range in a horizontal direction parallel to the road surface around the own vehicle and in a vertical direction perpendicular to the road surface at predetermined time intervals. An object detection apparatus for a vehicle comprising: transmission / reception means for receiving a reflected wave obtained by reflecting on an object; and object detection means for detecting the object based on a reception result of the transmission / reception means. When a reflected wave from an object is received, transmission / reception operation means for operating the transmission / reception means to transmit the electromagnetic wave again in the vertical direction while increasing the resolution at the detection position of the object, and reception after increasing the resolution An object height determining means for determining the height of the detected object from the road surface based on the result is provided.

  In the vehicle object detection device according to claim 2, the predetermined range in the vertical direction includes at least a first angle range and a second angle range adjacent to a lower end of the first angle range, and When an object is detected in the first angle range and the second angle range, the transmission / reception operation means is configured to transmit an electromagnetic wave again from the upper end to the lower end of the second angle range while increasing the resolution. .

  In the vehicle object detection device according to claim 3, the predetermined range in the vertical direction includes at least a first angle range and a second angle range adjacent to a lower end of the first angle range, and When an object is detected in the first angle range and the second angle range, the transmission / reception operation means is configured to transmit an electromagnetic wave again from the lower end to the upper end of the first angle range while increasing the resolution. .

  In the vehicle object detection device according to claim 4, the predetermined range in the vertical direction is the first angle range, the second angle range adjacent to the lower end of the first angle range, and the second angle. When the object is detected in the first angle range, the transmission / reception operation means increases the resolution while lowering the lower end of the first angle range. The electromagnetic wave is transmitted again from the top to the top.

  In the vehicle object detection device according to claim 5, the predetermined range in the vertical direction is the first angle range, the second angle range adjacent to the lower end of the first angle range, and the second angle. When the object is detected in the third angle range, the transmission / reception operation means increases the resolution while increasing the upper end of the third angle range. The electromagnetic wave is again transmitted to the lower end.

  In the vehicle object detection device according to a sixth aspect, the first and second angle ranges are configured to include the horizontal direction.

  In the vehicle object detection device according to claim 7, traveling state detection means for detecting the traveling state of the host vehicle, and course estimation means for estimating the course of the host vehicle based on the detected traveling state. And when the detected object is present on the estimated path, the transmission / reception operation means transmits the electromagnetic wave again in the vertical direction while increasing the resolution at the detection position of the object. The transmission / reception means is configured to operate.

  The reflected wave obtained by transmitting electromagnetic waves over a predetermined range in a horizontal direction parallel to the road surface around the vehicle and a vertical direction orthogonal to the road surface at a predetermined time interval and reflecting the electromagnetic wave on the object. In the vehicle object detection device for detecting an object based on the reception result of the transmission / reception means for receiving the signal, when the reflected wave from the object is received, the electromagnetic wave is transmitted again in the vertical direction while increasing the resolution at the object detection position. In addition to operating the transmitting / receiving means, the height of the detected object from the road surface is determined based on the reception result after increasing the resolution. Such an object can be detected and its height can be accurately determined. That is, the configuration can be simplified by transmitting in the vertical direction only at the object detection position, and the height of the object can be accurately determined by making a determination based on the reception result after increasing the resolution.

  In the vehicle object detection device according to claim 2, the predetermined range in the vertical direction includes at least a first angle range and a second angle range adjacent to a lower end of the first angle range, and the object Is detected in the first angle range and the second angle range, the electromagnetic wave is transmitted again from the upper end to the lower end of the second angle range while increasing the resolution. Electromagnetic waves are transmitted according to the detection position, and the processing time can be shortened.

  In the vehicle object detection device according to claim 3, the predetermined range in the vertical direction includes at least the first angle range and the second angle range adjacent to the lower end of the first angle range, and the object is the In the case where detection is performed in the first angle range and the second angle range, the electromagnetic wave is transmitted again from the lower end to the upper end of the first angle range while increasing the resolution. The electromagnetic wave is transmitted according to the detection position of the sensor, and the processing time can be shortened.

  In the vehicle object detection device according to claim 4, the predetermined range in the vertical direction is the first angle range and the second angle range adjacent to the lower end of the first angle range and the lower end of the second angle range. And an electromagnetic wave is transmitted again from the lower end to the upper end of the first angular range while increasing the resolution when an object is detected in the first angular range. Therefore, in addition to the effects described above, electromagnetic waves are similarly transmitted according to the detection position of the object, and the processing time can be shortened.

  In the vehicle object detection device according to claim 5, the predetermined range in the vertical direction is the first angle range and the second angle range adjacent to the lower end of the first angle range and the lower end of the second angle range. When the object is detected in the third angle range, the electromagnetic wave is transmitted again from the upper end to the lower end of the third angle range while increasing the resolution. In addition to the effects described above, the electromagnetic wave is similarly transmitted according to the detection position of the object, and the processing time can be shortened.

  In the vehicle object detection device according to claim 6, since the first and second angle ranges are configured to include the horizontal direction, in addition to the effects described above, the angle range in the vertical direction with reference to the horizontal direction. Can be set, and the height of the object can be determined with higher accuracy.

  In the vehicle object detection device according to claim 7, the path of the host vehicle is estimated based on the traveling state of the host vehicle, and the object is detected when the detected object exists on the estimated path. Since the configuration is such that the electromagnetic wave is transmitted again in the vertical direction while increasing the resolution at the position, in addition to the above effects, the processing time can be further shortened by omitting unnecessary processing.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS The best mode for carrying out a vehicle object detection device according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic view generally showing a vehicle object detection device according to an embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes a host vehicle (vehicle), and a four-cylinder internal combustion engine (shown as “ENG” in FIG. 1, hereinafter referred to as “engine”) 12 is mounted on the front portion thereof. The output of the engine 12 is input to an automatic transmission (shown as “T / M” in FIG. 1) 14. The output of the engine 12 is appropriately shifted by the automatic transmission 14 and transmitted to the left and right front wheels 16, while driving the left and right front wheels 16, the left and right rear wheels 20 are driven to drive the host vehicle 10.

  An alarm device 22 including an audio speaker and an indicator is provided in the driver's seat of the own vehicle 10, and the driver is warned by voice and vision. A brake pedal 24 disposed on the driver's seat floor of the host vehicle 10 includes brakes (disc brakes) mounted on the left and right front wheels 16 and the rear wheels 20 via a master back 26, a master cylinder 30 and a brake hydraulic mechanism 32, respectively. ) 34.

  When the driver operates (depresses) the brake pedal 24, the depressing force (depressing force) is increased by the master back 26, and the master cylinder 30 generates a braking pressure with the increased depressing force, via the brake hydraulic mechanism 32. Then, the brakes 34 attached to the front wheels 16 and the rear wheels 20 are operated to decelerate (brake) the host vehicle 10. A brake switch 36 is disposed in the vicinity of the brake pedal 24 and outputs an ON signal when the driver operates the brake pedal 24.

  The brake hydraulic mechanism 32 includes an electromagnetic solenoid valve group inserted in an oil passage connected to a reservoir, a hydraulic pump, and an electric motor (all not shown) that drives the hydraulic pump. The electromagnetic solenoid valve group is connected to an ECU (Electronic Control Unit) 40 via a drive circuit (not shown), and thus the four brakes 34 are mutually connected by the ECU 40 separately from the operation of the brake pedal 24 by the driver. Configured to operate independently.

  A radar (laser scan radar) 42 is provided in front of the host vehicle 10. The radar 42 transmits laser light (electromagnetic wave (carrier wave)) toward the periphery of the traveling direction of the own vehicle 10 at a predetermined time interval, and receives a reflected wave obtained by reflecting the laser light to an object existing in the vicinity. Thus, the object is detected.

  The output of the radar 42 is sent to a radar output processing ECU (electronic control unit) 44 composed of a microcomputer. The radar output processing ECU 44 recognizes a line segment constituting the contour of the object based on an array of point clouds obtained by projecting the reflection points onto a two-dimensional plane, and determines an end point of the object based on the recognized line segment. Extract. Further, the direction of the object is detected from the incident direction of the reflected wave, and two-dimensional information of the object is obtained.

  The radar output processing ECU 44 measures the time from when the laser light is emitted until the reflected light at the extracted end point is received, calculates the relative distance (relative position) to the object, and further differentiates the relative distance. To find the relative speed with the object.

  Reference numeral 42 a indicates a horizontal detection region (scan range) of the radar 42. That is, the radar 42 emits laser light at a predetermined time interval, for example, 100 msec, in a horizontal direction parallel to the road surface R around the host vehicle 10 as shown in FIG. 2 and in a vertical direction perpendicular to the road surface R as shown in FIG. Send.

  More specifically, the radar 42 irradiates a thin laser beam 42b from left to right as shown in FIG. 2 to scan (scan) the horizontal detection area 42a, and the detection area 42a is shown in FIG. Move up and down once in the vertical direction. The upper and lower detection areas 42a in the vertical direction shown in FIG.

  In FIG. 3, the detection area 42a is referred to as layer 1, layer 2, and layer 3 in order from the top. Layers 1, 2, and 3 correspond to the first, second, and third angle ranges in the above-described predetermined range in the vertical direction. The first, second, and third angle ranges include a predetermined range in the horizontal direction, that is, the detection region 42a.

  FIG. 4 is an image obtained by photographing the travel path on which the host vehicle 10 travels from the interior of the host vehicle 10. In FIG. 4, (a) is an image, and (b), (c), and (d) are explanatory diagrams when the traveling path shown in (a) is scanned by the radar 42. In FIG. 4B, each of the windows of layers 1, 2, and 3 (detection region 42a) corresponds to the laser beam 42b. As shown in the drawing, the laser beam 42b is always scanned from left to right in the drawing for each layer of the detection area 42a.

  Returning to the description of FIG. 1, the output of the radar output processing ECU 44 is sent to an ECU (electronic control unit) 40. Although illustration is omitted, the ECU 40 is constituted by a microcomputer including a CPU, a RAM, a ROM, an input / output circuit, and the like.

  A wheel speed sensor 46 is disposed in the vicinity of the front wheel 16 and the rear wheel 20 and outputs a pulse signal for each predetermined rotation angle of each wheel. A steering angle sensor 52 is disposed in the vicinity of the steering wheel 50 provided in the driver's seat of the host vehicle 10 and generates an output proportional to the steering angle of the steering wheel 50 input by the driver. Further, a yaw rate sensor 56 is disposed near the center position of the host vehicle 10, and an output corresponding to the yaw rate (angular velocity) around the gravity axis of the host vehicle 10 is generated.

  The output of the sensor group described above is also sent to the ECU 40. The ECU 40 counts the outputs of the four wheel speed sensors 46 and calculates the average value thereof to detect the traveling speed (vehicle speed) of the host vehicle 10.

  FIG. 5 is a flowchart showing the operation of the vehicle object detection device shown in FIG. The illustrated program is executed in the ECU 40 every predetermined time, for example, every 100 msec.

  In the following, scanning is started in S10. That is, a laser beam is transmitted forward from the radar 42 in the traveling direction of the host vehicle 10 to scan the detection area 42a from left to right, and the angle is raised and lowered by 1 degree.

  Next, the process proceeds to S12, where the course of the host vehicle 10 is estimated based on the detected vehicle speed and yaw rate, and the process proceeds to S14, where the reflected wave of the laser beam is received to calculate the position and height of the object.

  Next, the process proceeds to S16, where it is determined whether or not there is a detected object on the calculated course of the host vehicle 10, and when the result is negative, determination of the possibility of contact with the object as described later, an alarm device 22, etc. Since the operation of the contact avoidance support means is not necessary, the subsequent processing is skipped.

  On the other hand, when the result in S16 is affirmative, the process proceeds to S18 to execute vertical rescan processing. That is, when a reflected wave from an object is received, a laser beam is transmitted in the vertical direction to execute a rescan process.

  FIG. 6 is a sub-routine flowchart showing the processing.

  Prior to the description of the figure, the rescan process will be described with reference to FIGS.

  As shown in FIGS. 2 and 3, a can 100 having a height of about 20 cm is placed on the road surface R of the traveling road on which the host vehicle 10 travels, and a traffic sign 102 is installed above. Suppose that The own vehicle 10 can pass over the can 100, and the sign 102 is also installed at such a height that the vehicle is not normally in contact, so the own vehicle 10 can pass thereunder.

  As described above, the laser beam 42b is moved up and down by one degree. However, if the sign 102 is detected in layers 1 and 2, since the resolution in the vertical direction is low, the sign 102 extends from the upper end of layer 1 to the lower end of layer 2. It may be falsely detected that it exists. In FIG. 2, white circles indicate the reflection points of the can 100 and the sign 102 detected by the radar 42.

  In other words, as shown on the right side of FIG. 4C, the height of the sign 102 is −0.5 degrees (deg) at the lower end with respect to the mounting position of the radar 42 in the host vehicle 10 and 1.5 degrees at the upper end. It will be mistaken for having a height (size). In practice, the sign 102 has a lower end of 0.4 degrees and an upper end of 1.4 degrees.

  Further, when the can 100 is also detected at the layer 2, it may be erroneously detected as having a height from the lower end to the upper end of the layer 2. The above is determined to be false detection when the host vehicle 10 further approaches the sign 102 or the can 100, but the possibility of contact or the operation of the contact avoidance support means may have been made so far, and the passenger may feel annoyed There is. On the other hand, if the vertical direction is scanned one by one in order to increase the height determination accuracy of the object, the same inconvenience as in the above-mentioned Patent Document 1 cannot be avoided.

  In view of this point, in the present invention, as shown in FIG. 4C, only the object detection position 42a1 in the detection region 42a (layers 1, 2, 3) is scanned in the vertical direction while increasing the resolution. That is, it is configured to scan up and down every 0.1 degrees.

  With reference to the flowchart of FIG. 6 on the premise of the above, first, in S100, it is determined whether or not an object is detected in a plurality of adjacent layers. The object is a sign 102, and the layer structure is layer 1, layer 2, and layer 3 from the top as shown in FIGS. 3 and 4B.

  If it is in the state illustrated in S104 of FIG. 6, the determination of S100 is affirmed, the determination of whether or not the sign 102 in S102 is detected in layers 1 and 2 is also affirmed, and the process proceeds to S104. Only 2 scans from top to bottom with high resolution, that is, scans by 0.1 degree from top to bottom.

  The layer corresponds to the above-described predetermined range in the vertical direction, in which the layer 1 is the “first angle range”, the layer 2 is the “second angle range”, and the layer 3 is the “third angle range”. Considering that this is the case, in other words, the predetermined range in the vertical direction includes at least the first angle range and the second angle range adjacent to the lower end of the first angle range, and the object (marker 102) is When detected in the first angle range and the second angle range, this corresponds to transmitting the electromagnetic wave again from the upper end to the lower end of the second angle range while increasing the resolution.

  Also, assuming that the state shown in S106 of the flowchart of FIG. 6 is detected, the sign 102 is detected in layers 2 and 3, so the determination in S102 is denied and the process proceeds to S106, and only layer 2 is below. Scan from the top to the top with high resolution, that is, scan from the bottom to the top by 0.1 degree.

  Unlike S104, assuming that layer 2 corresponds to the “first angle range” and layer 3 corresponds to the “second angle range”, in other words, the predetermined range in the vertical direction is the first angle range and the first angle range. And at least a second angle range adjacent to the lower end of the first angle range, and when the object (marker 102) is detected in the first angle range and the second angle range, the first angle is increased while increasing the resolution. This corresponds to transmitting the electromagnetic wave again from the lower end to the upper end of the range.

  Also, assuming that there are three states shown in S108 of the flowchart of FIG. 6, since the sign 102 is not detected in a plurality of adjacent layers, the determination in S100 is denied and the process proceeds to S108. Scan for each layer. Specifically, since it is detected in layer 1 and / or layer 3, only layer 1 is scanned from the bottom to the top with high resolution, that is, scanning is performed by 0.1 degree from bottom to top, Only layer 3 is scanned from the top to the bottom with high resolution, that is, scanning is performed 0.1 degree from top to bottom.

  Assuming that layer 1 corresponds to “first angle range”, layer 2 corresponds to “second angle range”, and layer 3 corresponds to “third angle range”, in other words, the former has a predetermined range in the vertical direction. The first angle range and at least a second angle range adjacent to the lower end of the first angle range and a third angle range adjacent to the lower end of the second angle range, and the object (marker 102) is the first Is detected in this angle range, this corresponds to transmitting the electromagnetic wave again from the lower end to the upper end of the first angle range while increasing the resolution. Further, the latter corresponds to transmitting the electromagnetic wave again from the upper end to the lower end of the third angle range while increasing the resolution when the object (marker 102) is detected in the third angle range in the same configuration. .

  Returning to the explanation of the flow chart of FIG. 5, the process then proceeds to S20 to correct the height information of the object. This will be described with reference to the diagram shown on the right side of FIG. It means a process of correcting from 5 degrees to 0.4 degrees at the lower end and 1.4 degrees at the upper end.

  Next, the process proceeds to S22, where it is determined whether or not there is a possibility of contact with the object having the corrected height information. When the determination is negative, the subsequent processing is skipped. 22 or the contact avoidance support means including the brake hydraulic mechanism 32 and the brake 34 is operated (in other words, an alarm and a brake are performed according to the degree of danger).

  In this embodiment, as described above, a predetermined range (detection area 42a, layers 1, 2, 3) Based on the transmission / reception means (radar 42, radar output processing ECU 44) for receiving the reflected wave obtained by transmitting the electromagnetic wave over the object (can 100, sign 102) and the reception result of the transmission / reception means. In the vehicular object detection device including an object detection means (ECU 40) for detecting the object, when the transmission / reception means receives a reflected wave from the object, the vertical direction while increasing the resolution at the detection position of the object Transmission / reception operation means (ECU 40, specifically, S14 to S18) for operating the transmission / reception means so as to transmit the electromagnetic wave again, and reception after increasing the resolution. Since it is configured to include object height determination means (ECU 40, specifically S20) for determining (or correcting the height) the detected object from the road surface based on the result, it is simple. Although it is configured, it is possible to detect an object such as the sign 102 on the traveling path of the own vehicle and accurately determine its height. That is, the configuration can be simplified by transmitting in the vertical direction only at the detection position 42a1 of the object (mark 102), and the height of the object (mark 102) can be determined based on the reception result after increasing the resolution. Can be determined with high accuracy.

  The predetermined range in the vertical direction includes at least a first angle range (layer 1) and a second angle range (layer 2) adjacent to the lower end of the first angle range, and the object (marker 102) Is detected in the first angle range and the second angle range, the transmission / reception operation means transmits the electromagnetic wave again from the upper end to the lower end of the second angle range while increasing the resolution (S18, S100). , S102, 104), in addition to the effects described above, electromagnetic waves are transmitted according to the detected position of the object, and the processing time can be shortened.

  The predetermined range in the vertical direction includes at least a first angle range (layer 2) and a second angle range (layer 3) adjacent to the lower end of the first angle range, and the object (marker 102) Is detected in the first angle range and the second angle range, the transmission / reception operation means transmits the electromagnetic wave again from the lower end to the upper end of the first angle range while increasing the resolution (S18, S100). , S102, 106), in addition to the effects described above, electromagnetic waves are similarly transmitted according to the detected position of the object, and the processing time can be shortened.

  Further, the predetermined range in the vertical direction is adjacent to the first angle range (layer 1), the second angle range (layer 2) adjacent to the lower end of the first angle range, and the lower end of the second angle range. And when the object (marker 102) is detected in the first angle range, the transmission / reception operation means increases the resolution while the first angle range (layer 3) is detected. When the electromagnetic wave is transmitted again from the lower end to the upper end of the range (S18, S100, S108), or when the object (marker 102) is detected in the third angle range, the transmission / reception operation means increases the resolution. Since the electromagnetic wave is transmitted again from the upper end to the lower end of the third angle range (S18, S100, S108), in addition to the above-described effect, the electromagnetic wave is similarly transmitted according to the detection position of the object. Become a Rukoto, it is possible to shorten the processing time.

  In addition, since the first and second angle ranges (layers 1 and 2) are configured to include the horizontal direction, in addition to the effects described above, it is possible to set a vertical angle range based on the horizontal direction. The height of the object can be determined with higher accuracy.

  Further, travel state detection means (ECU 40, specifically S12) for detecting the travel state of the host vehicle (vehicle) 10, and course estimation means for estimating the course of the host vehicle based on the detected travel state. (ECU 40, specifically S12), and the transmission / reception operation means increases the resolution at the detection position of the object and increases the resolution when the detected object is present on the estimated path. In addition to the above-described effects, the processing time can be further shortened in addition to the effects described above, because the transmitting / receiving means is operated so as to transmit the electromagnetic wave again (ECU 40, specifically, S14 to S18). Can do.

  In the above description, the object is detected from the output of the laser radar. However, instead of or in addition to this, a millimeter wave radar may be used.

It is the schematic which shows the vehicle object detection apparatus containing the radar based on the Example of this invention generally. It is a top view of the vehicle (own vehicle) which shows the detection area (scan range) of the horizontal direction of the radar shown in FIG. It is a side view of the vehicle which shows the detection area (layer) of the vertical direction of the radar shown in FIG. It is explanatory drawing when the image which image | photographed the traveling path of the vehicle from the room | chamber interior, and the traveling path is scanned with a radar. It is a flowchart which shows operation | movement of the apparatus shown in FIG. 5 is a sub-routine flow chart showing the vertical rescan process of the flow chart.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Own vehicle (vehicle), 12 engine (internal combustion engine), 16 front wheel, 20 rear wheel, 22 alarm device, 34 brake, 36 brake switch, 40 ECU (electronic control unit), 42 radar, 44 radar output processing ECU, 100 Can (object), 102 Sign (object)

Claims (7)

  Transmitting / receiving means for transmitting electromagnetic waves over a predetermined range in a horizontal direction parallel to the road surface around the vehicle at a predetermined time interval and a vertical direction orthogonal to the road surface, and for receiving reflected waves obtained by reflecting on an object; In a vehicle object detection device comprising: an object detection means for detecting the object based on a reception result of the transmission / reception means; when the transmission / reception means receives a reflected wave from the object, resolution at the detection position of the object Transmitting / receiving operation means for operating the transmitting / receiving means so as to transmit the electromagnetic wave again in the vertical direction while raising the height of the detected object from the road surface based on the reception result after increasing the resolution. A vehicle object detection device comprising: an object height determination means for determining.   The predetermined range in the vertical direction includes at least a first angle range and a second angle range adjacent to a lower end of the first angle range, and the object is in the first angle range and the second angle range. 2. The vehicle object detection device according to claim 1, wherein, when detected, the transmission / reception operation unit transmits the electromagnetic wave again from the upper end to the lower end of the second angle range while increasing the resolution.   The predetermined range in the vertical direction includes at least a first angle range and a second angle range adjacent to a lower end of the first angle range, and the object is in the first angle range and the second angle range. 2. The vehicle object detection device according to claim 1, wherein, when detected, the transmission / reception operation unit transmits the electromagnetic wave again from the lower end to the upper end of the first angle range while increasing the resolution.   The predetermined range in the vertical direction includes at least a first angle range, a second angle range adjacent to the lower end of the first angle range, and a third angle range adjacent to the lower end of the second angle range. When the object is detected in the first angle range, the transmission / reception operation means transmits electromagnetic waves again from the lower end to the upper end of the first angle range while increasing the resolution. The vehicle object detection device according to claim 1.   The predetermined range in the vertical direction includes at least a first angle range, a second angle range adjacent to the lower end of the first angle range, and a third angle range adjacent to the lower end of the second angle range. When the object is detected in the third angle range, the transmission / reception operation means transmits an electromagnetic wave again from the upper end to the lower end of the third angle range while increasing the resolution. The vehicle object detection device according to claim 1.   6. The vehicle object detection device according to claim 2, wherein the first and second angle ranges include the horizontal direction.   The transmission state detecting means for detecting the traveling state of the own vehicle, and the course estimating means for estimating the course of the own vehicle based on the detected traveling state, and the transmission / reception operation means are the estimated 7. When the detected object is present on a path, the transmitting / receiving means is operated so as to transmit an electromagnetic wave again in the vertical direction while increasing the resolution at the detection position of the object. The vehicle object detection device according to any one of the above.