JP2011089879A - Object detection apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object detection apparatus which suppresses misdetection of object. <P>SOLUTION: The object detecting apparatus 10 divides a detection region in a prescribed angle range from own vehicle into a plurality of vertical angle regions and horizontal-angle regions. The object detector 10 includes a segment generation section 32 for classifying a plurality of reflection points, detected corresponding to electromagnetic waves dispatched toward the plurality of horizontal angle regions each into a plurality of segments, based on the positions of the reflection points for the plurality of vertical angle regions each; a target object generating section 33 for generating target objects constituting segments which exist within a prescribed position range and including peculiar targets; a course estimating section 34 for estimating the course of own vehicle, including prescribed width according to the width of own vehicle; an overlapping determining section 35 for determining whether at least one segment of segments for composing the target objects overlaps with the course; and an object detection section 37. The object detecting section 37 detects an object, according to results determined by the overlapping determining section 35. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an object detection device.

  Conventionally, for example, a detection target region set in the external environment of a vehicle is divided into a plurality of angle regions, electromagnetic waves are transmitted so as to scan each angular region, and each electromagnetic wave receives a reflected wave reflected by an object, An object recognition device that recognizes an object existing outside a vehicle by integrating a plurality of reflection points into an object based on the position of the reflection point of the reflected wave and the intensity of the reflected wave is known (for example, Patent Document 1). reference).

JP 2004-198323 A

  By the way, according to the object recognition device according to the above prior art, the reflection points whose reflection points are adjacent to each other and whose reflected wave intensity difference is a predetermined value or less are simply integrated as the same object. For example, an object with high electromagnetic wave reflectance that is installed outside the traveling path of the host vehicle is erroneously detected as an object on the traveling path of the host vehicle, or is installed vertically above the traveling path of the host vehicle. There is a risk of erroneously detecting a signboard or sign board that is present on the road as an object.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an object detection device capable of suppressing erroneous detection of an object.

  In order to solve the above-described problems and achieve the object, the object detection device according to the first aspect of the present invention automatically detects a region within a predetermined angle range from the host vehicle (for example, the detection region A in the embodiment). A plurality of vertical angle regions in the vertical direction of the vehicle (for example, the vertical angle region Va in the embodiment, the first to third layers L1, L2, and L3) and a plurality of horizontal angle regions in the horizontal direction (for example, the embodiment) The horizontal angle regions Ha) are divided into a plurality of the vertical angle regions and the plurality of the horizontal angle regions are sequentially switched for each of the plurality of the vertical angle regions. Transmitting means (for example, the transmitting unit 11a in the embodiment) that transmits an electromagnetic wave toward each time, and reflection in which the electromagnetic wave transmitted by the transmitting means is reflected by an object in the region within the predetermined angle range Receiving means (for example, the receiving unit 11b in the embodiment), and an object detecting means (for example, in the embodiment) that detects the object based on the transmission result by the transmitting means and the reception result by the receiving means. An object detection device 37), a reflection point detection means for detecting a reflection point of the reflected wave corresponding to the electromagnetic wave (for example, the reflection point detection unit 31 in the embodiment), For each of the plurality of vertical angle regions, a plurality of the reflection points detected by the reflection point detecting means corresponding to the electromagnetic waves transmitted toward the plurality of horizontal angle regions are defined as positions of the reflection points. Based on the position of the plurality of segments classified by the classification means (for example, the segment generation unit 32 in the embodiment) and the classification means classified by the classification means. Target object generation means (for example, a target object generation unit 33 in the embodiment) that generates a target object that includes the segments existing in the position range and has a unique target, and the vehicle of the host vehicle At least one of the segments constituting the target object and route estimation means (for example, the route estimation unit 34 in the embodiment) for estimating the route of the host vehicle having a predetermined width corresponding to the width is the segment. An overlap determination unit (for example, an overlap determination unit 35 in the embodiment) for determining whether or not the route overlaps, and the object detection unit detects the object according to a determination result by the overlap determination unit. To do.

  Furthermore, in the object detection device according to the second aspect of the present invention, the object detection means exists in a region overlapping the path in the segment determined to overlap the path based on a determination result by the overlap determination means. When the reception intensity of the reflected wave corresponding to a reflection point at the reception unit is less than a predetermined value, the object corresponding to the target object configured by the segment determined to overlap the path, It is detected that the electromagnetic wave reflector is provided outside the traveling road of the host vehicle.

  Furthermore, in the object detection device according to the third aspect of the present invention, the object detection means exists in a region overlapping the path in the segment determined to overlap the path based on a determination result by the overlap determination means. The segment determined that the reception intensity of the reflected wave corresponding to the reflection point at the receiving unit is equal to or greater than a predetermined value and overlaps the path is in the upper vertical angle region of the plurality of vertical angle regions. In the case of the segment classified by the classification means, the plate corresponding to the target object constituted by the segment determined to overlap the course is present above the traveling path of the host vehicle. Detects body.

  According to the object detection device of the first aspect of the present invention, at least one segment among the segments constituting the target object, for example, a number of segments smaller than the total number of segments constituting the target object is determined. By detecting an object according to the determination result of whether or not it overlaps the course of the vehicle, an object supported by a column or the like outside the traveling path of the host vehicle may be erroneously detected as an object on the traveling path. Can be prevented.

  Furthermore, according to the object detection device according to the second aspect of the present invention, the electromagnetic wave disposed at a position outside the traveling road that does not actually overlap the course due to the reflection intensity of the electromagnetic wave being greater than a predetermined value. Even if the reflection point is detected in the area of the segment that overlaps the path so that the apparent size of the reflector is large, the object is located at the position that overlaps the path or the object on the travel path. Can be prevented from being erroneously detected.

  Furthermore, according to the object detection apparatus according to the third aspect of the present invention, a plate body such as a signboard or a sign board that is supported by a support column or the like outside the traveling road of the host vehicle and is installed vertically above the traveling road. On the other hand, even when the reception intensity of the reflection point detected in the segment area overlapping the path is equal to or higher than the predetermined value, the segment overlapping the path is the upper vertical angle area (e.g. In the case of a segment in a vertical angle region above the middle in the vertical direction), it can be prevented that the object is erroneously detected as an object on the traveling road.

It is a block diagram of the object detection apparatus which concerns on embodiment of this invention. It is a figure which shows several vertical angle area | region and several horizontal angle area | region of the detection area of the radar apparatus of the object detection apparatus which concerns on embodiment of this invention. The figure which shows the detection area | region of the radar apparatus of the object detection apparatus which concerns on embodiment of this invention, and the preceding vehicle which is a detection target, and the target object based on each segment set for every some vertical angle area | region of a detection area It is a figure which shows the position (position of the left-right direction and the position of the front direction). The figure which shows the detection area | region of the radar apparatus of the object detection apparatus which concerns on embodiment of this invention, the sign board outside a driving | running | working road which is a detection target, and a gaze guidance mark, and was set for every several vertical angle area | regions of a detection area It is a figure which shows the position (position of the left-right direction and the position of the front direction) of the target object based on each segment. The figure which shows the detection area | region of the radar apparatus of the object detection apparatus which concerns on embodiment of this invention, and the plate body which exists in the perpendicular direction upper direction of the traveling path of the own vehicle which is a detection object, and several vertical angle area | regions of a detection area It is a figure which shows the position (the position of the left-right direction and the position of the front direction) of the target object based on each segment set for every. It is a flowchart which shows operation | movement of the object detection apparatus which concerns on embodiment of this invention. It is a flowchart which shows the segment process shown in FIG. It is a flowchart which shows the merge process shown in FIG. It is a flowchart which shows the object determination process shown in FIG.

Hereinafter, an object detection device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The object detection apparatus 10 according to the present embodiment is mounted on a vehicle that transmits a driving force of an internal combustion engine (not shown) to drive wheels (not shown) via a transmission (not shown), for example, as shown in FIG. , Radar device 11, yaw rate sensor 12, vehicle speed sensor 13, processing device 14, brake switch 15, accelerator switch 16, cancel switch 17, set / resume switch 18, inter-vehicle setting switch 19, and throttle The actuator 20 includes a brake actuator 21, a brake lamp 22, a display unit 23, and a buzzer 24.

The radar apparatus 11 includes a transmission unit 11a and a reception unit 11b, divides a detection target area set in the external environment of the host vehicle into a plurality of angle areas, and scans each angle area so that an infrared laser is used. An electromagnetic wave transmission signal such as millimeter wave or millimeter wave is transmitted from the transmission unit 11a. And the reflected signal which arose by reflecting each transmission signal by the object (For example, another vehicle, a structure, a road surface, etc.) outside the own vehicle is received by the receiving part 11b. Then, the signal relating to the transmission signal and the reflection signal is output to the processing device 14.
For example, as shown in FIG. 2, the transmission unit 11 a uses a plurality of vertical angle regions Va (for example, three first to third layers L <b> 1) in the vertical direction of the host vehicle to detect a detection region A within a predetermined angle range from the host vehicle. L2 and L3) and a plurality of horizontal angle regions Ha (for example, 144) in the horizontal direction. The plurality of vertical angle regions Va are directed from the upper side to the lower side in the vertical direction, for example, and the horizontal angle regions Ha are changed from the left side in the horizontal direction to the right side, for example, for each of the plurality of vertical angle regions Va. The electromagnetic waves are transmitted toward each of the plurality of horizontal angle regions Ha while sequentially switching.

The yaw rate sensor 12 detects the yaw rate, that is, the rotational angular velocity around the vertical axis of the center of gravity of the vehicle, and outputs a signal of the detection result.
The vehicle speed sensor 13 detects the speed (vehicle speed) of the host vehicle and outputs a signal of the detection result.

  For example, as illustrated in FIG. 1, the processing device 14 includes a reflection point detection unit 31, a segment generation unit 32, a target object generation unit 33, a course estimation unit 34, an overlap determination unit 35, and a reception intensity determination unit. 36, an object detection unit 37, a target determination unit 38, a control state determination unit 39, a target vehicle speed determination unit 40, a target inter-vehicle determination unit 41, a throttle control unit 42, a brake fluid pressure determination unit 43, A brake control unit 44 and a notification processing unit 45 are provided.

Each signal output from the brake switch 15, the accelerator switch 16, the cancel switch 17, the set / resume switch 18, and the inter-vehicle distance setting switch 19 is input to the processing device 14.
The brake switch 15 outputs a signal related to the operating state of a brake pedal (not shown) by the driver. The accelerator switch 16 outputs a signal related to the operating state of an accelerator pedal (not shown) by the driver. The cancel switch 17 outputs a signal instructing to stop execution of the follow-up control according to the driver's input operation. The set / resume switch 18 outputs a signal instructing start of the own vehicle (for example, start from a stop state when the follow-up running control is executed) or increase / decrease of the set vehicle speed (target vehicle speed) in accordance with the driver's input operation. To do. The inter-vehicle distance setting switch 19 outputs a signal for setting a target value (target inter-vehicle distance) for the distance between the host vehicle and the preceding vehicle when the follow-up traveling control is executed in accordance with the driver's input operation.

The reflection point detection unit 31 detects the position of the reflection point of the reflection signal based on the signal output from the radar device 11.
For each of the plurality of vertical angle regions Va, the segment generation unit 32 displays a plurality of reflection points detected by the reflection point detection unit 31 corresponding to the electromagnetic waves transmitted toward the plurality of horizontal angle regions Ha. It classifies into multiple segments based on the position of.
For example, in each layer L1, L2, and L3, the segment generation unit 32 classifies adjacent reflection points into the same segment when the distance between adjacent reflection points is less than a predetermined threshold, and is adjacent to each other. When the distance between reflection points is equal to or greater than a predetermined threshold, adjacent reflection points are classified into different segments.

The target object generation unit 33 identifies a plurality of segments existing within a predetermined distance range based on the positions of the plurality of segments classified by the segment generation unit 32 as unique targets (that is, for identifying an object). Integrate as target object with identifier). When only a single segment exists within the predetermined distance range, a target object having a unique target is generated for this single segment.
For example, the target object generation unit 33 first selects the second layer L2 as the reference layer from the three first to third layers L1, L2, and L3, and sequentially selects the first layer L1 and the third layer as the target layer. The layer L3 is selected, and a combination of the reference layer and the target layer is set.
For each different combination of the reference layer and the target layer, the distance between the segment of the reference layer and the segment of the target layer (for example, in the horizontal direction with respect to the route of the host vehicle estimated by the route estimation unit 34 described later) It is determined whether or not the distance between the positions of any one of the end points in the horizontal direction selected according to the relative position is less than a predetermined threshold value.
When the determination result is “YES”, the segment of the reference layer and the segment of the target layer are integrated as the same target object.
On the other hand, when the determination result is “NO”, the segment of the reference layer and the segment of the target layer are set as different target objects.

  For example, as shown in FIGS. 3A and 3B, each of the three first to third layers L1, L2, and L3, which are all the vertical angle regions Va, uses the preceding vehicle F of the host vehicle as a reflection point. When the segments S (L1), S (L2), and S (L3) are generated, the reflection points R1, R2, and R3 detected for each of the three first to third layers L1, L2, and L3. The distance between the positions of the end points in the horizontal direction of each segment S (L1), S (L2), S (L3) is within the predetermined distance range. Each segment S (L1), S (L2), S (L3) is integrated as the same target object OB.

  The course estimation unit 34 calculates a future travel locus (own vehicle locus) of the own vehicle based on the yaw rate and the vehicle speed of the own vehicle, and has a predetermined width (for example, the vehicle width of the own vehicle or the own vehicle). The course of the own vehicle having a width larger than the vehicle width by a predetermined value) is estimated.

  The overlap determination unit 35 is at least one segment among the segments constituting the target object generated by the target object generation unit 33, and for example, there are fewer segments than the total number of segments constituting the target object. Then, it is determined whether or not the route of the host vehicle estimated by the route estimation unit 34 overlaps.

The reception intensity determination unit 36 performs a predetermined determination process on the reception intensity at the reception unit 11 b of the reflected signal corresponding to the reflection point detected by the reflection point detection unit 31.
For example, the reception intensity determination unit 36 in the segment determined to overlap the course of the host vehicle in the determination result by the overlap determination unit 35 receives the reflected signal at the reception unit 11b corresponding to the reflection point existing in the area overlapping the path. It is determined whether the reception intensity is less than a predetermined threshold.

  The object detection unit 37 travels in front of the host vehicle (for example, in front of the host vehicle) based on the target target generated by the target target generation unit 33 and the segments classified by the segment generation unit 32. Vehicle or stationary object).

Further, the object detection unit 37 detects an object according to the determination result by the overlap determination unit 35 and the determination result by the reception intensity determination unit 36.
For example, in the segment determined to overlap the course of the host vehicle in the determination result by the overlap determination unit 35, the reception intensity at the reception unit 11b of the reflected signal corresponding to the reflection point existing in the region overlapping the path is less than a predetermined value. And the reception intensity determination unit 36 determines that the object corresponding to the target object constituted by the segment determined to overlap the route is an electromagnetic wave reflector provided outside the traveling path of the host vehicle. Detect.

  For example, as shown in FIGS. 4A to 4C, when the sign board GPa and the line-of-sight guidance sign GPb provided outside the traveling path of the host vehicle E are detected by the radar apparatus 11, each sign board GPa In addition, because the reflection intensity of the electromagnetic wave at the line-of-sight guidance mark GPb is larger than a predetermined value, the target objects OBa and OBb larger than the actual sizes of the respective mark plates GPa and the line-of-sight guidance mark GPb are generated. Then, at least one segment among the segments constituting the target objects OBa and OBb overlaps the course P of the host vehicle.

  For example, in the sign board GPa, among the first to third layers L1, L2, and L3 that are the plurality of vertical angle regions Va, the first layer L1 that is the uppermost in the vertical direction and the lower one in the vertical direction than the first layer L1 The reflection points R1 and R2 relating to the reflection on the main body of the sign plate GPa are detected with the second layer L2, and the segments S (L1) and S (L2) are generated by the reflection points R1 and R2. In addition, a reflection point R3 related to reflection by the support of the sign board GPa is detected in the third layer L3 which is the lowermost in the vertical direction, and a segment S (L3) is generated by the reflection point R3. The first and second layers L1 out of the segments S (L1), S (L2), and S (L3) in the three first to third layers L1, L2, and L3 constituting the target object OBa. , L2 segments S (L1) and S (L2) are larger than the actual size of the sign plate GPa and overlap the course P of the host vehicle.

  Further, for example, in the line-of-sight guidance mark GPb, among the three first to third layers L1, L2, and L3 that are the plurality of vertical angle regions Va, the second layer L2 in the middle in the vertical direction is the A reflection point R2 related to reflection is detected, and a segment S (L2) is generated by the reflection point R2. In addition, the reflection point R3 related to the reflection of the line-of-sight guidance mark GPb by the support column is detected in the third layer L3 at the lowermost vertical direction, and the segment S (L3) is generated by the reflection point R3. Of the two segments S (L2) and S (L3) in the two second and third layers L2 and L3 constituting the target object OBb, the segment S (L2) of the second layer L2 It becomes larger than the actual size of the mark GPb and overlaps the course P of the host vehicle.

  In these cases, the object detection unit 37 determines the segments determined to overlap the course P of the host vehicle (that is, the segments S (L1) and S (L2) in the target object OBa and the segments in the target object OBb). S (L2)), the reflection signal receiving unit corresponding to the reflection points existing in the region overlapping the path P (that is, the reflection points R1, R2 on the target object OBa and the reflection point R2 on the target object OBb). When it is determined that the reception intensity at 11b is less than the predetermined value, objects corresponding to the target objects OBa and OBb that are determined to overlap the path P are provided outside the traveling path of the host vehicle. The detected electromagnetic wave reflector (that is, the sign plate GPa and the line-of-sight guidance mark GPb) is detected.

For example, in the sign board GPa, the segments S (L1), S (L2), and S (L3) in the three first to third layers L1, L2, and L3 constituting the target object OBa are the own vehicle. Since the relative position with respect to the course P is the left side position in the horizontal direction, it is determined whether the distance between the positions of the left end points in the horizontal direction is less than a predetermined threshold value. Are integrated as the same target object OBa.
In the line-of-sight guidance mark GPb, the segments S (L2) and S (L3) in the two second and third layers L2 and L3 constituting the target object OBb have relative positions with respect to the course P of the host vehicle. Since the position is on the right side in the horizontal direction, it is determined whether or not the distance between the positions of the right side end points in the horizontal direction is less than a predetermined threshold, and the same target is determined according to this determination result. Integrated as the target OBb.

  Further, the object detection unit 37 receives, at the reception unit 11b, the reflection signal corresponding to the reflection point existing in the region overlapping the path in the segment determined to overlap the path of the host vehicle in the determination result by the overlap determination unit 35. A segment that is determined by the reception strength determination unit 36 to have an intensity that is equal to or greater than a predetermined value and that overlaps the course of the host vehicle is an upper vertical angle area Va (for example, the highest in the plurality of vertical angle areas Va). When the segment is classified by the segment generation unit 32 in the first layer L1 that is the vertical angle region Va that is above the vertical direction, the vertical angle region Va that is above the middle in the vertical direction, or the like, The corresponding object is detected as a plate existing vertically above the traveling path of the host vehicle.

For example, as shown in FIGS. 5A and 5B, when the radar apparatus 11 detects a guide plate GPc that exists above the traveling path of the host vehicle, the vertical angle regions Va are a plurality of vertical angle regions Va. Of the three first to third layers L1, L2, and L3, the reflection point R1 related to the reflection on the main body of the guide plate GPc is detected only in the first layer L1 that is uppermost in the vertical direction, and the first intermediate layer in the vertical direction. When each of the reflection points R2 and R3 related to the reflection at the support column of the guide plate GPc is detected by the second layer L2 and the third layer L3 which is the lowermost vertical direction, each segment S ( L1), S (L2), and S (L3) are generated. Of the segments S (L1), S (L2), and S (L3) constituting the target object OBc, the reflection point R1 of the segment S (L1) is actually the vertical direction of the traveling path of the host vehicle E. Because of the main body of the guide plate GPc disposed above, the segment S (L1) overlaps the course P of the host vehicle, and the reception intensity of the reflected signal corresponding to the reflection point R1 at the receiving unit 11b is equal to or higher than a predetermined value. It becomes.
In this case, the object detection unit 37 detects that the object corresponding to the target object OBc is a plate (that is, the guide plate GPc) that exists above the traveling path of the host vehicle in the vertical direction.

  The target determination unit 38 determines whether the vehicle traveling ahead of the host vehicle detected by the object detection unit 37 is a preceding vehicle followed by the host vehicle based on the track of the host vehicle estimated by the route estimation unit 34. In addition, information such as the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle is calculated.

  The control state determination unit 39 performs, for example, running control such as execution and stop of tracking control for causing the host vehicle to follow the preceding vehicle, control of the radar device 11, and the like in accordance with signals output from the switches 15,. Perform various controls.

The target vehicle speed determination unit 40 calculates the target vehicle speed based on the control state by the control state determination unit 39 and the target inter-vehicle distance determined by the target inter-vehicle determination unit 41 so that the host vehicle travels at the target vehicle speed. A command signal for controlling the throttle control unit 42 and the brake hydraulic pressure determination unit 43 is output.
Based on the signal output from the inter-vehicle setting switch 19, the control state by the control state determining unit 39, and the speed of the host vehicle, the target inter-vehicle determining unit 41 sets the target value of the inter-vehicle distance between the host vehicle and the preceding vehicle ( Target distance).
The throttle control unit 42 controls the throttle opening of the throttle actuator 20 according to the target vehicle speed determined by the target vehicle speed determination unit 40.

The brake hydraulic pressure determination unit 43 determines a target hydraulic pressure of the brake hydraulic pressure according to the target vehicle speed determined by the target vehicle speed determination unit 40.
The brake control unit 44 controls the operation of the brake actuator 21 according to the target hydraulic pressure determined by the brake hydraulic pressure determination unit 43.
The lighting of the brake lamp 22 is controlled based on the target hydraulic pressure determined by the brake hydraulic pressure determining unit 43.

  The notification processing unit 45 controls the operation of the display unit 23 and the buzzer 24 according to the control state by the control state determination unit 39, and notifies the driver of the control state by the control state determination unit 39 in a recognizable manner.

  The object detection apparatus 10 according to the present embodiment has the above-described configuration. Next, the operation of the object detection apparatus 10, particularly, an electromagnetic wave reflector provided outside the traveling path of the host vehicle, and the traveling path of the host vehicle. A process for detecting the plate existing above the plate will be described.

First, in step S01 shown in FIG. 6, for example, a plurality of vertical angle areas Va are sequentially switched from the upper side to the lower side in the vertical direction with respect to the detection area A within a predetermined angle range from the host vehicle. For each vertical angle region Va, a plurality of horizontal angle regions Ha are scanned from the left to the right in the horizontal direction, for example, from the left to the right, and sequentially switched to each of the plurality of horizontal angle regions Ha to scan the electromagnetic waves. .
Next, in step S02, the position of the reflection point of the reflected signal is detected based on the signal output from the radar apparatus 11.

Next, in step S03, a segment process described later is executed.
Next, in step S04, a merge process described later is executed.
Next, in step S05, a future travel locus (own vehicle locus) of the own vehicle is calculated based on the yaw rate and vehicle speed of the own vehicle, and a predetermined width (for example, the vehicle width of the own vehicle or The course of the own vehicle having a width that is larger than the width of the own vehicle by a predetermined value is estimated.
Next, in step S06, it is determined whether or not at least one of the segments constituting the target object generated by the merge process overlaps the estimated course of the host vehicle.
Next, in step S07, an object determination process described later is executed.
Next, in step S08, a tracking process for tracking a change in the position of the object detected by the object determination process is executed.
Next, in step S09, the detection result of the object by the object determination process is determined based on the tracking result of the change in the position of the object, the determination result is output, and the process proceeds to the end.

Hereinafter, the segment processing in step S03 described above will be described.
First, for example, in step S11 shown in FIG. 7, among a plurality of vertical angle areas Va (for example, three first to third layers L1, L2, and L3) set with respect to the detection area A of the radar apparatus 11. Then, it is determined whether or not any of the unprocessed vertical angle areas Va, for example, any of the unprocessed layers L1, L2, and L3, is present in steps S12 to S17 described later.
If this determination is “NO”, the flow proceeds to return.
On the other hand, if this determination is “YES”, the flow proceeds to step S12.

In step S12, the target layer is selected from unprocessed layers.
Next, in step S13, among the reflection points detected in the target layer, the execution of the processing of steps S14 to S17 described later is performed as a sequence of unprocessed reflection points (that is, newly in step S14 described later). It is determined whether or not there is a reflection point set as a reflection point to be determined.
If this determination is “NO”, the flow returns to step S 11 described above.
On the other hand, if the determination is “YES”, the flow proceeds to step S14.

  In step S14, the reflection point that is the determination reference and the reflection point that is the determination target are sequentially switched. For example, when the reflection point that is the determination reference is not set at this time, the horizontal point A reflection point at one end (for example, the left end) is used as a determination reference, and a reflection point that is next to the determination reference reflection point in a predetermined horizontal direction (for example, a direction from left to right) is reflected on the determination target. Let it be a point. In addition, when the reflection point that is the determination reference is already set at this time (that is, when the reflection point that is the determination reference is set in the previous process), the reflection that is the determination target in the previous process is set. A point is newly set as a reflection point of the determination criterion, and a reflection point that is present next to the reflection point of the new determination criterion (that is, adjacent to the horizontal direction in a predetermined direction) is set as a reflection point to be determined. . Then, the distance between the reflection point to be determined and the reflection point to be determined is calculated.

In step S15, it is determined whether or not the distance of the reflection point to be determined with respect to the determination reference reflection point is less than a predetermined threshold.
If this determination result is "YES", the process proceeds to step S16, and in this step S16, the determination reference reflection point and the determination target reflection point are classified into the same segment, and the process returns to the above-described step S13.
On the other hand, if the determination result is “NO”, the process proceeds to step S17. In this step S17, if a segment is already set for the reflection point of the determination reference, a new one different from this segment is set. If a segment to be judged is classified into this new segment, and no segment has been set for the criterion reflection point, the criterion reflection point and the criterion reflection A different segment is set for each point, each reflection point is classified into a different segment, and the process returns to step S13 described above.

Hereinafter, the merge process in step S04 described above will be described.
First, for example, in step S21 shown in FIG. 8, a selection is made from a plurality of vertical angle areas Va (for example, three first to third layers L1, L2, L3) set with respect to the detection area A of the radar apparatus 11. Among the combinations of the two vertical angle areas Va (for example, the combination of the reference layer and the target layer), there is any unprocessed combination that has not been processed in steps S22 to S28 described later. It is determined whether or not to do.
If this determination is “NO”, the flow proceeds to return.
On the other hand, if this determination is “YES”, the flow proceeds to step S22.

  In step S22, an appropriate combination of the reference layer and the target layer is selected from the unprocessed combinations. For example, with respect to three first to third layers L1, L2, and L3, the second layer L2 in the middle in the vertical direction is used as a reference layer, and the target layer is the first layer L1 in the upper vertical direction or the third layer in the lower vertical direction. A combination to be the layer L3 is selected.

Next, in step S23, it is determined whether or not there is a segment that has not been processed in steps S24 to S28 described later, among the segments set in the reference layer.
If this determination is “NO”, the flow returns to step S 21 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S24.
In step S24, a reference segment is selected from unprocessed segments of the reference layer.
Next, in step S25, it is determined whether or not there is a segment that has not been processed in steps S26 to S28 described later among the segments set in the target layer.
If this determination is “NO”, the flow returns to step S 23 described above.
On the other hand, if the determination is “YES”, the flow proceeds to step S26.
In step S26, the target segment is selected from the unprocessed segments of the target layer.

In step S27, the distance between the reference segment and the target segment (for example, the distance between the positions of any one of the end points in the horizontal direction selected according to the relative position in the horizontal direction with respect to the path of the host vehicle). calculate.
Next, in step S28, it is determined whether or not the distance between the reference segment and the target segment is less than a predetermined threshold value.
If this determination is “YES”, the flow proceeds to step S 29, where the reference segment and the target segment are integrated as the same target object, and the flow returns to 25 described above.
On the other hand, when the determination result is “NO”, the process proceeds to step S30. In this step S30, when the target object is already set for the reference segment, the target object is different. If a new target target is set for the target segment and the target target has not been set for the base segment yet, set a different target target for the base segment and the target segment, It returns to step S25 mentioned above.

Hereinafter, the object determination process in step S07 described above will be described.
First, for example, in step S31 shown in FIG. 9, the target object is composed of segments of a plurality of vertical angle regions Va (for example, at least any two of the three first to third layers L1, L2, and L3). It is determined whether or not it has been done.
If this determination is “NO”, the flow proceeds to return.
On the other hand, if this determination is “YES”, the flow proceeds to step S32.

In step S32, it is determined whether or not there is a target object that has not been processed in steps S33 to S37, which will be described later, among the target objects determined to overlap the course of the host vehicle. To do.
If this determination is “NO”, the flow proceeds to return.
On the other hand, if the determination is “YES”, the flow proceeds to step S33.

In step S33, the unprocessed target object determined to overlap the course of the host vehicle is all vertical angle regions Va (for example, all three first to third layers L1, L2, L3). It is determined whether or not the layer is composed of segments.
If this determination is “YES”, the flow returns to step S 32 described above.
On the other hand, if this determination is “NO”, the flow proceeds to step S 34.

In step S34, the reception intensity at the reception unit 11b of the reflection signal corresponding to the reflection point existing in the region overlapping the path of the unprocessed target object segment determined to overlap the path of the host vehicle is obtained. It is determined whether or not it is a predetermined threshold value or more.
If this determination is “NO”, the flow proceeds to step S 35, and in this step S 35, the object corresponding to the target object constituted by the segment determined to overlap the route is outside the traveling road of the host vehicle. It determines with it being an electromagnetic wave reflector provided in, and it returns to step S32 mentioned above.
On the other hand, if this determination is “YES”, the flow proceeds to step S36.

In step S36, an area that overlaps the path of an unprocessed target object segment that has been determined to overlap the path of the host vehicle is an upper vertical angle area Va (e.g., a plurality of vertical angle areas Va). It is determined whether or not it is composed of segments of the first layer L1 or the like that is the vertical angle region Va in the uppermost vertical direction.
If this determination is “NO”, the flow returns to step S 32 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S 37.
Then, in step S37, it is determined that the object corresponding to the target object constituted by the segment determined to overlap the course is a plate body that exists vertically above the traveling path of the host vehicle, and is described above. The process returns to step S32.

  In the above-described embodiment, the follow-up control is executed according to the detection result of the object detection unit 37. However, the present invention is not limited to this. For example, collision avoidance or collision reduction is performed according to the detection result of the object detection unit 37. Other travel control such as the above control may be executed.

  As described above, according to the object detection device 10 according to the present embodiment, at least one segment among the segments constituting the target object, for example, a number smaller than the total number of segments constituting the target object. By detecting an object according to the determination result of whether or not the segment overlaps the course of the host vehicle, an object supported by a column or the like outside the host vehicle's road is erroneously detected as an object on the road. Can be prevented.

  Furthermore, due to the fact that the reflection intensity of the electromagnetic wave is greater than a predetermined value, the electromagnetic wave reflectors such as the sign plate GPa and the line-of-sight guidance mark GPb arranged at positions outside the traveling road that do not actually overlap the course Even if the reflection point is detected in the segment area that overlaps the path so that the apparent size increases according to the intensity of the reflected wave, the object at the position overlapping the path or the object on the travel path It is possible to prevent erroneous detection as being.

  Furthermore, the reflection detected in the area of the segment that overlaps the course with respect to a plate such as a signboard or a sign board that is supported by a support column or the like outside the traveling path of the host vehicle and is installed vertically above the traveling path. Even when the received intensity of a point is equal to or higher than a predetermined value, a segment that overlaps the path is an upper vertical angle region (for example, a vertical angle region above the middle in the vertical direction) among a plurality of vertical angle regions. In the case of the segment, it can be prevented that the object is erroneously detected as an object on the road.

  Then, according to the object detection device 10 according to the present embodiment, it is possible to appropriately execute traveling control such as follow-up control according to the detection result of the object detection unit 37 and collision avoidance or collision mitigation control.

10 Object Detection Device 11a Transmission Unit (Transmission Unit)
11b Receiver (Receiving means)
31 Reflection point detection unit (reflection point detection means)
32 segment generator (classification means)
33 Target object generation part (target object generation means)
34 Course estimation part (Course estimation means)
35 Overlap determination unit (overlap determination means)
37 Object detection unit (object detection means)

Claims (3)

A region of a predetermined angle range from the host vehicle is divided into a plurality of vertical angle regions in the vertical direction of the host vehicle and a plurality of horizontal angle regions in the horizontal direction, and the plurality of the vertical angle regions are sequentially switched. Transmitting means for transmitting electromagnetic waves toward each of the plurality of horizontal angle regions while sequentially switching the plurality of horizontal angle regions for each angle region;
Receiving means for receiving the reflected wave reflected by the object in the region of the predetermined angle range, the electromagnetic wave transmitted by the transmitting means;
An object detection device comprising: an object detection unit configured to detect the object based on a transmission result by the transmission unit and a reception result by the reception unit;
Reflection point detecting means for detecting a reflection point of the reflected wave corresponding to the electromagnetic wave;
For each of the plurality of vertical angle regions, a plurality of the reflection points detected by the reflection point detecting means corresponding to the electromagnetic waves transmitted toward the plurality of horizontal angle regions are defined as positions of the reflection points. A classification means for classifying into a plurality of segments based on
Based on the positions of the plurality of segments classified by the classification means, target object generation means for generating a target object consisting of the segments existing in a predetermined position range and having a unique target;
Course estimation means for estimating the course of the host vehicle having a predetermined width corresponding to the width of the host vehicle;
Overlap determination means for determining whether or not at least one of the segments constituting the target object overlaps the path,
The object detection device detects the object according to a determination result by the overlap determination unit. The object detection means receives, at the reception means, the reflected wave corresponding to the reflection point existing in the region overlapping the path in the segment determined to overlap the path based on the determination result by the overlap determination means. When the intensity is less than a predetermined value, the object corresponding to the target object constituted by the segment determined to overlap the path is an electromagnetic wave reflector provided outside the traveling path of the host vehicle. The object detection apparatus according to claim 1, wherein: The object detection means receives, at the reception means, the reflected wave corresponding to the reflection point existing in the region overlapping the path in the segment determined to overlap the path based on the determination result by the overlap determination means. When the segment that is determined to have an intensity equal to or greater than a predetermined value and overlaps the path is the segment classified by the classification unit in the upper vertical angle region of the plurality of vertical angle regions, 2. The apparatus according to claim 1, wherein the object corresponding to the target object constituted by the segments determined to overlap a path is detected as a plate existing above a traveling path of the host vehicle. The object detection apparatus according to claim 2.

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