JP2012237579A - Object detection device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect static and moving states of an object existing on the outside of an own vehicle.SOLUTION: An object detection device 10 for a vehicle includes: a reflection point calculation part 21 for calculating a position of a reflection point, on an object, of an electromagnetic wave transmitted from a radar device 12; a distance calculation part 22 for calculating a distance from the own vehicle up to the object; an end point detection part 23 for detecting both end points of the object in a horizontal direction based on the position of the reflection point; an overlap determination part 24 for determining whether or not either one of the end points of a detecting object overlaps with a comparing object when observing the end points from the own vehicle; and an end point movement speed calculation part 25 for calculating, when the overlap determination part 24 determines an overlap and the distance up to the detecting object becomes nearer than the distance up to the comparing object with the lapse of time, a lateral movement speed of the detecting object on the basis of a lateral movement distance of the other end point of the detecting object which does not overlap with the comparing object. The object detection device 10 for the vehicle improves the detection accuracy of the lateral movement speed of the detecting object.

Description

  The present invention relates to a vehicle object detection device.

  Conventionally, for example, a traveling control device that detects an obstacle around the host vehicle by a radar device and controls to avoid the collision when the possibility of a collision with the obstacle is large is known (for example, Patent Document 1).

Japanese Patent Laid-Open No. 2005-10032

However, in the travel control device according to the related art, since the movement / stillness of the obstacle is determined or the moving speed is calculated based on the movement of the center of gravity of the obstacle, a part of the obstacle is When the vehicle is shielded by a preceding vehicle or the like, there is a problem that the above determination or calculation is not performed with high accuracy. That is, as the positional relationship between the host vehicle, the preceding vehicle, and the obstacle changes every moment, the shielding state in which the obstacle is shielded by the preceding vehicle changes every moment. Therefore, since the area (detection width) that can be detected as an obstacle changes with the change in the shielding state, for example, even if the obstacle is a stationary object, it is determined that the position of the center of gravity has changed. As a result, the accuracy of the determination of movement / stillness or the calculation of the movement speed is lowered, for example, it is erroneously determined that the stationary object is a moving object.
In particular, in the traveling direction of the vehicle, there is an obstacle between the vehicle and the preceding vehicle when the preceding vehicle moves from the state where the preceding vehicle exists between the vehicle and the obstacle. In this situation, the accuracy problem becomes large. That is, since the obstacle shielding state is eliminated, the obstacle detection width spreads toward the shielded portion by the amount corresponding to the width of the shielded portion. Therefore, the position of the center of gravity of the obstacle moves to the side of the shielded part, and even if the obstacle does not move laterally, it is erroneously detected as a moving object that laterally moves to the side of the shielded part. Be recognized.
Even when the obstacle is a highly reflective object or when raindrops are attached to the sensor surface, the detection width is wider than the actual width of the obstacle, so the accuracy problem becomes large. In other words, when the obstacle detection width becomes wider than the actual width, the change in the obstacle detection width with respect to the change in the obstacle shielding state becomes large. The degree of erroneous recognition when the obstacle is exceeded is greater when the obstacle is a reflective object or when a raindrop is attached to the sensor surface than when the obstacle is not.
Furthermore, as described above, in the traveling control device according to the related art, the determination of movement / stillness or the calculation of the movement speed relating to the obstacle partially shielded by the preceding vehicle or the like is performed with high accuracy. As a result, there is a problem that unnecessary collision avoidance control is performed.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle object detection device that can accurately detect the stationary and moving states of an object existing outside the host vehicle.

  In order to solve the above-described problems and achieve the object, the vehicle object detection device according to the first aspect of the present invention transmits an electromagnetic wave toward a predetermined range around the own vehicle, and the electromagnetic wave is around the own vehicle. Transmitting / receiving means (for example, the radar apparatus 12 in the embodiment) that receives a reflected wave that is reflected by the object, and reflection point calculating means (for example, the position of the reflection point of the electromagnetic wave on the object) Reflection point calculation unit 21 in the embodiment and distance calculation means for calculating the distance from the vehicle to the object based on the position of the reflection point calculated by the reflection point calculation means (for example, in the embodiment) Distance calculation unit 22) and end point detection means for detecting both horizontal end points of the object based on the position of the reflection point calculated by the reflection point calculation unit (for example, the end point detection unit in the embodiment) 3) and at least a comparison object having a distance from an end point of the detection target object to the own vehicle, which is closer than the distance from the own vehicle to the detection target object, as the end point by the end point detection means. When an end point is detected, an overlap determination means for determining whether one of the end points of the detection target overlaps the comparison target when viewed from the host vehicle (for example, in the embodiment) When it is determined that the overlap is determined by the overlap determination unit 24) and the overlap determination unit, and the distance to the detection target becomes shorter than the distance to the comparison target over time, the detection target An end point moving speed calculating means for calculating a lateral moving speed of the object to be detected based on a lateral moving amount of the other end point that does not overlap the comparison object (for example, an end point moving speed calculation in the embodiment) Part 25) and a.

  Furthermore, in the vehicle object detection device according to the second aspect of the present invention, the detection object receives the reflected wave having a width larger than the reflected wave having a width corresponding to the actual size of the object by the transmitting / receiving unit. Highly reflective object.

  Furthermore, the vehicle object detection device according to the third aspect of the present invention further includes an adhesion determination unit (for example, an adhesion determination unit 29 in the embodiment) that determines an adhesion state of the deposit on the transmission / reception unit. The end point movement speed calculation means is based on the lateral movement amount of the end point of the detection object that does not overlap the comparison object when the adhesion determination means determines that the attachment is attached. The lateral movement speed of the detection object is calculated.

  Furthermore, in the vehicle object detection device according to the fourth aspect of the present invention, a collision determination unit (for example, the collision determination unit 27 in the embodiment) that determines the possibility of a collision with the detection target object, and the collision Vehicle control means that performs collision avoidance control when the determination means determines that there is a possibility of collision, and vehicle control means that does not perform collision avoidance control when the collision determination means determines that there is no possibility of collision ( For example, the vehicle control unit 28) in the embodiment is further provided, and the collision determination unit is capable of collision when the lateral movement speed of the detection target calculated by the end point movement speed calculation unit is zero. It is determined that there is no sex.

  According to the vehicle object detection device of the first aspect of the present invention, the overlapping state (shielding state) of the detection target object (for example, an obstacle) by the comparison target object (for example, the preceding vehicle) is eliminated, Even if the detection width of the detection object spreads to the comparison object side and extends to the front of the host vehicle, the detection object is based on the lateral movement amount of the end point on the opposite side of the comparison object side of the detection object. Therefore, the lateral movement speed of the detection target can be calculated with high accuracy.

  According to the vehicle object detection device of the second aspect of the present invention, even if the detection target is a highly reflective object whose detection width is likely to spread more than the actual width, the lateral movement speed of the detection target is accurate. Can be calculated.

  According to the vehicle object detection device of the third aspect of the present invention, even if dirt or raindrops adhere to the transmitting / receiving means and the detection width is likely to be wider than the actual width, the detection target is accurate. The lateral movement speed of the object can be calculated.

  According to the vehicle object detection device of the fourth aspect of the present invention, the overlapping state is canceled in order to accurately calculate the lateral movement speed of the detection target even if the detection range is widened by releasing the overlapping state. Even in such a case, the possibility of collision can be accurately determined. Therefore, it is possible to suppress unnecessary collision avoidance control that has been performed even though there is no possibility of collision when the overlapping state is released.

It is a block diagram which shows the structure of the vehicle object detection apparatus which concerns on embodiment of this invention. FIG. 2 is a diagram illustrating an example of each object M1,..., M5 of the total number of objects m (for example, m = 5) detected within a predetermined radar detection region α of the radar apparatus shown in FIG. It is a figure which shows the example of the detection target object and the comparison target object in the predetermined radar detection area | region (alpha) of the radar apparatus shown in FIG. It is a figure which shows the example of the detection target object and the comparison target object in the predetermined radar detection area | region (alpha) of the radar apparatus shown in FIG. It is a flowchart which shows the flow of a process of the vehicle object detection apparatus shown in FIG.

  Hereinafter, a vehicle object detection device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a vehicle object detection device 10 according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of each object M1,..., M5 of the total number of objects m (for example, m = 5) detected within the predetermined radar detection area α of the radar apparatus 12. FIG. 3 is a diagram illustrating an example of a detection target and a comparison target within a predetermined radar detection region α of the radar apparatus 12.

  For example, as shown in FIG. 1, the vehicle object detection device 10 includes a processing unit 11 including a CPU (central processing unit) that controls the vehicle object detection device 10, a radar device 12, and a vehicle state sensor 13. The throttle actuator 14, the brake actuator 15, the steering actuator 16, and the notification device 17 are included.

  For example, the radar apparatus 12 divides a predetermined area (radar detection area α) set in the external environment of the host vehicle into a plurality of angle areas, and transmits an electromagnetic wave transmission signal so as to scan each angle area. A reflection signal generated by reflecting the transmission signal by an object outside the host vehicle (for example, another vehicle or a structure) is received, and the position of the reflection point and the distance from the radar device 12 to the object outside the vehicle are related. A detection signal is generated and output to the processing unit 11.

  The vehicle state sensor 13 includes, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, a gyro sensor that detects the posture and traveling direction of the vehicle body, and a yaw rate (vehicle A yaw rate sensor that detects the rotational angular velocity of the center of gravity about the vertical axis) and a positioning signal reception that receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite, for example. Vehicle and each sensor for detecting a driving operation by the driver (for example, an accelerator pedal depression amount, a brake pedal depression amount, a steering wheel steering angle, a shift position, etc.) The signal of the detection result of various vehicle information is output.

  The processing unit 11 of the vehicle object detection device 10 includes, for example, a reflection point calculation unit 21, a distance calculation unit 22, an end point detection unit 23, an overlap determination unit 24, an end point moving speed calculation unit 25, and a storage unit 26. And a collision determination unit 27 and a vehicle control unit 28. Note that the processing unit 11 may further include an adhesion determination unit 29 as indicated by a broken line.

Based on the detection signal output from the radar device 12, the reflection point calculation unit 21 calculates the position of the reflection point of the electromagnetic wave transmitted from the radar device 12 and reflected on the surface of an object existing outside the host vehicle. .
The distance calculation unit 22 calculates the distance from the host vehicle to the object based on the positions of the plurality of reflection points calculated by the reflection point calculation unit 21.
The end point detection unit 23 detects one or the other end point in the horizontal direction of the object based on the positions of the plurality of reflection points calculated by the reflection point calculation unit 21. For example, the end point detection unit 23 detects the end point of the detection target and the end point of the comparison target.

  The overlap determination unit 24 has at least an end point of the detection target as an end point by the end point detection unit 23 and an end point of the comparison target at a position where the distance from the own vehicle is closer than the distance from the own vehicle to the detection target. When it is detected, it is determined whether one of the end points of the detection object overlaps the comparison object as viewed from the host vehicle. More specifically, the overlap determination unit 24 is based on the distance from the host vehicle to the object calculated by the distance calculation unit 22 and one or the other end point in the horizontal direction of the object detected by the end point detection unit 23. In the plurality of objects detected by the radar device 12, the end point of the detection target is detected from the own vehicle with respect to an appropriate combination of the detection target and the comparison target closer to the own vehicle than the detection target. It is determined whether or not it overlaps with the comparison object.

  For example, as shown in FIG. 2, when a plurality of objects (M1,..., M5) are detected within a predetermined radar detection area α of the radar apparatus 12, the overlap determination unit 24, for example, It is determined that one (right end point) of one (for example, the right side) or the other (for example, the left side) of the object M1 in the horizontal direction overlaps the object M3 as a comparison object when viewed from the host vehicle. To do.

  The overlap determination unit 24 outputs the determination result to the end point movement speed calculation unit 25. For example, the overlap determination unit 24 outputs, as a determination result, an overlap flag indicating that one of the end points of the detection object overlaps the comparison object as viewed from the host vehicle. That is, the overlap determination unit 24 outputs the flag value (= 1) of the overlap flag when it is determined that one of the end points of the detection target overlaps the comparison target as viewed from the host vehicle.

  The end point movement speed calculation unit 25 calculates a lateral movement speed (relative speed in the vehicle width direction) Vy of the detection target. Specifically, for example, the end point moving speed calculation unit 25 determines that one of the end points of the detection target is overlapped with the comparison target when viewed from the own vehicle by the overlap determination unit 24, and the time elapses. In addition, when the distance to the object to be detected becomes closer than the distance to the object to be compared, the other lateral movement amount of the end points of the object to be detected, that is, the amount of lateral movement not overlapping the object to be compared Based on the above, the lateral movement speed of the detection object is calculated. Note that the end point moving speed calculation unit 25 determines that one of the end points of the detection object is overlapped with the comparison object when viewed from the own vehicle by the overlap determination unit 24, and the detection object is detected over time. If the condition “when the distance to the comparison object is closer than the distance to the comparison object” is not satisfied, for example, the lateral movement speed of the detection object is calculated based on the lateral movement amount of the center of gravity of the detection object. May be.

Hereinafter, calculation of the lateral movement speed based on the lateral movement amount of the other end point of the detection target by the end point movement speed calculation unit 25 will be described in detail.
For example, as shown in FIG. 3A, one of the end points (RE) of the detection target (for example, the obstacle M1) overlaps the comparison target (the preceding vehicle M3) when viewed from the own vehicle P. As shown in FIGS. 3B and 3C, the distance from the own vehicle P to the detection object (obstacle M1) is compared with the passage of time (changes in times t0, t1, and t2). When the distance to the object is closer, the end point moving speed calculation unit 25 calculates the lateral moving speed Vy of the detection object based on the amount of lateral movement of the other (LE) of the end points of the detection object. calculate.

That is, the detection width of the detection object by the radar device 12 changes with time, and the center of gravity position of the detection object also changes with the change of detection width, so the lateral movement speed is based on the amount of movement of the center of gravity position. In the conventional technique for calculating the movement, even if the detection target is stationary in the width direction of the host vehicle, the lateral movement speed is calculated according to the amount of movement of the center of gravity position, and the movement of moving in the width direction of the host vehicle is performed. It will be recognized as an object.
On the other hand, in the technique of the present application, even if the detection width of the detection object by the radar device 12 changes with time, the lateral movement speed is based on the lateral movement amount of the end point of the detection object that does not overlap the comparison object. Therefore, when the object to be detected is stationary in the width direction of the host vehicle, the lateral movement speed Vy is zero, and is correctly recognized as a stationary object that has not moved in the width direction of the host vehicle. .

Note that the technique of the present application is particularly useful when the detection target is a highly reflective object, or when some kind of attached matter (for example, raindrops, night dew, dirt, dust) is attached to the radar device 12. is there.
That is, in the above-described case, the reflected wave having a width larger than the reflected wave having a width corresponding to the actual size of the object is received by the radar device 12; Compared to the actual width, the detection width is likely to be larger than the actual width (see, for example, FIG. 4), and the amount of change in the center of gravity position is likely to increase. However, in the technique of the present application, even in the above-described case, the lateral movement speed is calculated based on the lateral movement amount of the end point of the detection target that does not overlap the comparison target. When the vehicle is stationary in the width direction of the vehicle, the lateral movement speed Vy is zero, and is correctly recognized as a stationary object that has not moved in the width direction of the host vehicle.

  Therefore, when the processing unit 11 includes the adhesion determination unit 29, the endpoint movement speed calculation unit 25 detects the endpoint of the detection target when the adhesion determination unit 29 determines that the adhesion is attached to the radar device 12. The lateral movement speed of the detection target may be calculated based on the other lateral movement amount. In addition, since there is a property that the reflected light is blurred when the attached matter is attached to the radar device 12, the attachment determining unit 29 determines that the attached state is present when the degree of blurring of the reflected light is equal to or greater than a predetermined threshold. To do. Similarly, the adhesion determination unit 29 may determine whether or not the detection target is a highly reflective object. That is, the adhesion determination unit 29 may determine that the detection target is a highly reflective object when the degree of blurring of the reflected light is equal to or greater than a predetermined threshold.

  The end point moving speed calculation unit 25 causes the overlap determination unit 24 to overlap both end points in the horizontal direction of the detection target (for example, LE and RE shown in FIGS. 3 and 4) with the comparison target as viewed from the host vehicle. If it is determined that the horizontal movement speed Vy of the detection target is zero, it may be calculated as zero. In addition, the end point moving speed calculation unit 25 has one end point in the horizontal direction of the detection target on the horizontal boundary end (radar detection end) of a predetermined transmission range of the electromagnetic wave transmitted from the radar device 12, or a predetermined end point. The lateral movement speed of the detection target object when it is outside the transmission range and the other end point in the horizontal direction is determined to overlap the comparison target as viewed from the own vehicle by the overlap determination unit 24 Vy may be calculated as zero.

The storage unit 26 stores past data on the position of the end point of the detection target object that is determined not to overlap the comparison target object by the overlap determination unit 24.
In addition, the storage unit 26 stores the flag value of the overlap flag output from the overlap determination unit 24 and the lateral movement speed Vy of the end point of the detection target output from the end point movement speed calculation unit 25.

  The collision determination unit 27 determines the possibility of collision with the detection target. Specifically, the collision determination unit 27 uses the detection result signals of various vehicle information of the host vehicle output from the vehicle state sensor 13, the lateral movement speed Vy calculated by the end point movement speed calculation unit 25, and the like. Based on this, it is determined whether there is a possibility of collision between the host vehicle and the detection target. For example, the collision determination unit 27, when the lateral movement speed Vy of the detection target calculated by the end point movement speed calculation unit 25 is zero (a stationary object in which the detection target is stationary in the width direction of the host vehicle), It is determined that there is no possibility of collision if the vehicle travels while maintaining the current traveling state.

The vehicle control unit 28 controls the traveling state of the host vehicle according to the determination result by the collision determination unit 27. Specifically, the vehicle control unit 28 performs collision avoidance control on the detection target when the collision determination unit 27 determines that there is a possibility of a collision with the detection target.
More specifically, the vehicle control unit 28 outputs a control signal for controlling the traveling of the host vehicle to each actuator in order to avoid a collision with the detection target. The control signal output by the vehicle control unit 28 includes, for example, a control signal for controlling the transmission operation of the transmission (T / M), a control signal for controlling the driving force of the internal combustion engine (E) by the throttle actuator 14, and the brake actuator 15. These include a control signal for controlling deceleration and a control signal for controlling turning by the steering actuator 16.
Note that the vehicle control unit 28 does not perform the above-described collision avoidance control when the collision determination unit 27 determines that there is no possibility of a collision with the detection target.
Moreover, the vehicle control part 28 outputs the control signal which controls the alerting | reporting apparatus 17, when notifying a passenger | crew of the own vehicle various information.

  Next, a process flow of the vehicle object detection device 10 will be described. FIG. 5 is a flowchart showing a process flow of the vehicle object detection device 10. Specifically, it is a flowchart showing a flow of processing for calculating the lateral movement speed of the detection target. In the flowchart shown in FIG. 5, the reflection point calculation unit 21 is on the surface of an object existing outside the host vehicle based on the detection signal related to the distance to the object outside the host vehicle output from the radar device 12. It starts by calculating the position of the reflection point of the electromagnetic wave reflected by.

  First, in FIG. 5, the distance calculation unit 22 calculates the distance from the host vehicle to the object based on the positions of the plurality of reflection points calculated by the reflection point calculation unit 21, and the end point detection unit 23 includes the reflection point calculation unit. One or the other end point in the horizontal direction of the object is detected based on the positions of the plurality of reflection points calculated by 21 (step S01).

  Next, the overlap determination unit 24 determines the presence / absence of the forward / backward moving object MO (for example, a preceding vehicle relative to the host vehicle, which corresponds to the comparison target) based on the positional relationship of the objects in the front / rear direction (step S02). ). For example, if the change in the position of one object at a predetermined time is smaller than a predetermined threshold, the overlap determination unit 24 determines that the object is a forward / backward moving object MO, and determines that the forward / backward moving object MO exists. .

When it is determined in step S02 that the front and rear moving object MO does not exist (step S02: No), the process proceeds to step S06. On the other hand, when it is determined in step S02 that the forward / backward moving object MO exists (step S02: Yes), the overlap determining unit 24 moves the lateral object far away (sideward or backward) as viewed from the own vehicle of the forward / backward moving object MO. It is determined whether or not Nx (corresponding to a detection target) exists (step S03).
Note that if the overlap determination unit 24 determines in step S02 that there are a plurality of front and rear moving objects MO, it determines whether or not there is a side object Nx for each of the front and rear moving objects MO.

If it is determined in step S03 that the side object Nx does not exist far away from the vehicle of the front and rear moving object MO (step S03: No), the process proceeds to step S06. On the other hand, when it is determined in step S03 that the side object Nx exists far away from the own vehicle of the front and rear moving object MO (step S03: Yes), the overlap determination unit 24 determines which of the end points of the side object Nx. It is determined whether or not one of them overlaps the forward / backward moving object MO as viewed from the host vehicle (step S04). In other words, the overlap determination unit 24 determines whether or not the side object Nx, which is a detection target located on the side far from the own vehicle, is blocked by the front-rear moving object MO, which is a comparison target located on the side close to the own vehicle. Determine whether.
Specifically, when the direction of one end point of the forward / backward moving object MO matches the direction of one end point of the side object Nx, the overlap determination unit 24 selects any of the end points of the side object Nx. It is determined that one of them overlaps the forward / backward moving object MO as viewed from the own vehicle, that is, the side object Nx is shielded by the forward / backward moving object MO.
If the overlap determination unit 24 determines in step S03 that there are a plurality of side objects Nx in the distance as viewed from the vehicle of the one back-and-forth moving object MO, It is determined whether or not the moving object MO is shielded. In addition, when it is determined that there are a plurality of back and forth moving objects MO and one or more side objects Nx exist in the distance as viewed from the own vehicle of each of the back and forth moving objects MO, Determination is made for each combination of rectangular objects Nx.

  When it is determined in step S04 that any one of the end points of the side object Nx does not overlap with the forward / backward moving object MO when viewed from the host vehicle (step S04: No), the process proceeds to step S06. On the other hand, when it is determined in step S04 that any one of the end points of the side object Nx overlaps the forward / backward moving object MO when viewed from the host vehicle (step S04: Yes), the overlap determination unit 24 determines whether the end point is based on the end point. “True (= 1)” is set in the necessity determination flag “fEageVJudObj” for the lateral movement speed calculation (step S05). The flag is set for each combination of the forward / backward moving object MO and the side object Nx. The initial value of the flag “fEageVJudObj” is “False (= 0)”.

  Subsequent to step S02 (No), step S03 (No), step S04 (No), and step S05, the overlap determination unit 24 determines that the flag “fEageVJudObj” = 1 and the front-rear position x_MO> side of the front-rear moving object MO. It is determined whether or not the condition of the front and back position x_Nx of the object Nx is satisfied (step S06). That is, the overlap determination unit 24 determines whether or not the forward / backward moving object MO has passed the lateral object Nx in the forward / backward positional relationship by moving forward (whether or not the lateral object Nx is in front of the forward / backward moving object MO). That is, it is determined whether or not the side object Nx is blocked by the front and rear moving object MO.

When the overlap determining unit 24 determines NO in step S06, the end point moving speed calculating unit 25 calculates the lateral moving speed of the side object Nx based on the lateral moving amount of the center of gravity of the side object Nx (step S07). Specifically, the end point moving speed calculation unit 25 determines the lateral moving speed Vy_Nx of the side object Nx, the current center-of-gravity lateral position yNCx of the side object Nx, and the previous center-of-gravity lateral position yNCxz1 of the side object Nx. And according to the following formula (1). Note that t is one processing cycle time.
Vy_Nx = (yNCx−yNCxz1) / t (1)
Then, this flowchart ends.

On the other hand, if the overlap determination unit 24 determines YES in step S06, the end point moving speed calculation unit 25 sets the lateral moving speed Vy_Nx of the side object Nx to the end point far from the front and rear moving object MO of the side object Nx. Is calculated based on the lateral movement amount (step S08). Specifically, the end point moving speed calculation unit 25 sets the lateral moving speed Vy_Nx of the side object Nx, the current end point lateral position yNoutx on the opposite side of the side object Nx to the front and rear moving object MO, and the side object. Using the previous end point lateral position yNoutxz1 on the opposite side of the Nx back-and-forth moving object MO, calculation is performed according to the following equation (2).
Vy_Nx = (yNoutx−yNoutxz1) / t (2)

  Subsequent to step S08, for example, the end point moving speed calculation unit 25 counts up the number CNT_EVJ of lateral movement speed calculation by the end point (step S09). Note that CNT_EVJ exists for each side object Nx, and is counted up each time each side object Nx calculates the lateral movement speed by the end point according to the above equation (2).

  Subsequent to step S09, for example, the endpoint movement speed calculation unit 25 determines whether or not the number of lateral movement speed calculations CNT_EVJ by the endpoints has reached the maximum number of lateral movement speed calculations cnt_EVJ_max by the endpoints (step S10). When it is determined in step S10 that CNT_EVJ has not reached cnt_EVJ_max (step S10: No), this flowchart ends. On the other hand, when it is determined in step S10 that CNT_EVJ has reached cnt_EVJ_max (step S10: Yes), the flag “fEageVJudObj” of the side object Nx is initialized (step S11), and this flowchart ends.

  In the flowchart shown in FIG. 5, the lateral movement speed calculation count CNT_EVJ and the maximum lateral movement speed calculation count cnt_EVJ_max by the end points are obtained from the front / rear moving object MO when the side object Nx is closer to the front / rear moving object MO. A certain number of times since the forefront is provided to calculate the lateral movement speed based on the end point and thereafter calculate the lateral movement speed based on the center of gravity. cnt_EVJ_max is the processing cycle time t, the time required for the lateral position of the end point of the side object Nx on the front and rear moving object MO side to finish changing (predicted value), in other words, the front and rear moving object MO determines the side object Nx. It may be set in advance based on the time (predicted value) required for the detection width of the side object Nx to stabilize after overtaking.

  Further, between step S03 and step S04 in the flowchart shown in FIG. 5, the overlap determination unit 24 takes into consideration the load and effect of the CPU, and in step S03, the overlap determination unit 24 is located far from the front and rear moving object MO as viewed from the own vehicle. It is determined whether or not the detection width of the lateral object Nx is likely to be particularly large, and the process proceeds to step S04 only when it is determined that the detection width is likely to be particularly large. Otherwise, the process proceeds to step S06. You may make it.

  For example, the overlap determination unit 24 has a particularly large detection width when the side object Nx is a highly reflective object or at least one of cases where an attachment is attached to the radar device 12. Judge that it is easy to become. Note that the adhesion determination unit 29 may determine whether it is any of the above cases based on the degree of blurring of the reflected light.

  As described above, the vehicle object detection device 10 according to the present embodiment has been described. However, according to the vehicle object detection device 10, the detection object (for example, an obstacle) is overlapped by the comparison object (for example, the preceding vehicle). Even if the state (shielding state) is canceled and the detection width of the detection object spreads to the comparison object side and extends to the front of the host vehicle, the end point of the detection object on the side opposite to the comparison object side Since the lateral movement speed of the detection object is calculated based on the lateral movement amount of the end point, the lateral movement speed of the detection object can be calculated with high accuracy. In other words, when a part of the detection object is shielded by the preceding vehicle and the preceding vehicle moves further than the detection object and the shielding state is resolved, the detection object is moved laterally. Since the speed is calculated based on the end point on the side that is not shielded in the shielded state, the lateral movement speed can be calculated with high accuracy.

  Furthermore, even if the detection target is a highly reflective object whose detection width is likely to be wider than the actual width when the overlapping state is canceled, the lateral movement speed of the detection target can be calculated with high accuracy. In addition, even when dirt or raindrops adhere to the radar device 12 and the detection width is likely to be wider than the actual width when the overlapping state is canceled, the lateral movement speed of the detection target can be calculated accurately. can do.

  Furthermore, even if the overlap state is released, the lateral movement speed of the detection target is accurately calculated even if the detection range is widened. Can be determined. Therefore, it is possible to suppress unnecessary collision avoidance control that has been performed even though there is no possibility of collision when the overlapping state is released.

3 and 4 are examples in which the detection width corresponding to the part is larger than the actual width of the part not covered by the comparison target in the detection target. Even when the actual width of the portion not covered by the object and the detection width corresponding to the portion are substantially equal, the vehicle object detection device 10 naturally has the above-described effects.
That is, when the actual width of the portion of the detection target that is not shielded by the comparison target is substantially the same as the detection width corresponding to the portion, the detection target is further shielded by the comparison target of the detection target. Even if the detection width corresponding to the part is smaller than the actual width of the part that is not, when the comparison object moves and overtakes the detection object that caused the shielding state, Since the shielding state is canceled and the shielding part is exposed, the detection width of the detection object increases in one direction where the comparison object exists. That is, due to the overtaking described above, the shielding portion on one end side is exposed, so that the position of the center of gravity moves to the one direction side.

  Therefore, in the prior art, the lateral movement speed based on the position of the center of gravity that moves due to the above-mentioned overtaking, regardless of whether or not the detection width of the unshielded portion is larger than the actual width of the portion. Therefore, the lateral movement speed of the detection target cannot be calculated correctly. However, according to the vehicle object detection device 10, it has been exposed from the time when the shielding state has occurred regardless of whether or not the detection width of the unshielded portion is larger than the actual width of the portion. Since the lateral movement speed is calculated based on the movement amount of the other end point, the lateral movement speed of the detection target can be accurately calculated without being affected by the lateral movement of the gravity center position. it can.

DESCRIPTION OF SYMBOLS 10 Vehicle object detection apparatus 12 Radar apparatus (transmission / reception means)
21 Reflection point calculation unit (reflection point calculation means)
22 Distance calculation part (distance calculation means)
23 End point detection unit (end point detection means)
24 Overlap determination unit (overlap determination means)
25 End point moving speed calculation unit (end point moving speed calculating means)
27 Collision judgment unit (collision judgment means)
28 Vehicle control unit (vehicle control means)
29 Adhesion determination unit (adhesion determination means)

Claims (4)

Transmitting and receiving means for transmitting an electromagnetic wave toward a predetermined range around the host vehicle and receiving a reflected wave generated by the reflection of the electromagnetic wave by an object around the host vehicle;
Reflection point calculating means for calculating the position of the reflection point of the electromagnetic wave on the object;
Distance calculating means for calculating a distance from the host vehicle to the object based on the position of the reflecting point calculated by the reflecting point calculating means;
End point detection means for detecting both end points in the horizontal direction of the object based on the position of the reflection point calculated by the reflection point calculation means;
As the end point by the end point detection means, at least, among the objects, the end point of the detection target object and the end point of the comparison target object located at a position closer to the distance from the own vehicle to the detection target object. An overlap determination means for determining whether one of the end points of the detection object overlaps the comparison object when viewed from the own vehicle when detected,
When it is determined that the overlap is determined by the overlap determination unit, and the distance to the detection target becomes shorter than the distance to the comparison target with time, the comparison target of the detection target is An object detection device for a vehicle, comprising: an end point movement speed calculation unit that calculates a lateral movement speed of the detection target based on a lateral movement amount of the other end point that does not overlap.   The detection object is a highly reflective object in which a reflected wave having a width larger than a reflected wave having a width corresponding to the size of an actual object is received by the transmitting / receiving unit. Vehicle object detection device. An adhesion determining means for determining an adhesion state of the deposit on the transmitting / receiving means;
The end point moving speed calculating means includes:
When it is determined by the adhesion determination means that the adhered object is adhered, the lateral movement of the detection object is based on the lateral movement amount of the end point of the detection object that does not overlap the comparison object. The vehicle object detection device according to claim 1, wherein a speed is calculated. Collision determination means for determining the possibility of collision with the detection object;
Vehicle control that performs collision avoidance control when the collision determination means determines that there is a possibility of collision, and does not perform collision avoidance control when the collision determination means determines that there is no possibility of collision And further comprising means
The collision determination means includes
4. The method according to claim 1, wherein when the lateral moving speed of the detection target calculated by the end point moving speed calculating means is zero, it is determined that there is no possibility of a collision. The object detection apparatus for vehicles as described in 2.

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