JP2017009572A - On-vehicle radar device and area detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle radar device that can stable tracking processing with respect to objects.SOLUTION: An on-vehicle radar device comprises: a transmission/reception unit 101 that transmits a radar signal and receives a reflection signal; a detection unit 102 that detects a boundary candidate location of an area in which objects do not exist, using the reflection signal; a calculation unit 103 that calculates an amount of movement of the on-vehicle radar device; an estimation unit 105 that converts the boundary candidate location detected in past frames into a boundary location in a current frame on the basis of data on the amount of movement, and estimates the converted boundary location as an estimation boundary location; and a smoothing unit 106 that calculates a boundary location with the area in which the objects do not exist, using the boundary candidate location and the estimation boundary location in the current frame.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to an on-vehicle radar device and a region detection method.

  In recent years, a collision prevention system that prevents a collision with an object (for example, a vehicle or a pedestrian) by receiving a reflection signal from the object by a radar (for example, a millimeter wave radar) and detecting an object around the vehicle has been developed. Has been developed.

  Patent Document 1 discloses a method in which a radar device mounted on a vehicle detects a reflection point around the vehicle and groups a predetermined range (segment) including the reflection point as one object. The radar apparatus tracks (tracks) the grouped segments over a plurality of frames.

Japanese Patent No. 5206579

  However, when a pedestrian or roadside object that is a weak reflection object is a detection target in addition to a vehicle that is a strong reflection object, it is difficult to separate unnecessary waves (for example, ground clutter) from a reflection object in the conventional radar device. . A conventional radar apparatus needs to set a power threshold level used for detecting a reflection point to a high value in order to remove unnecessary waves. On the other hand, the reflected signal of the weakly reflecting object is easily affected by fading, for example, and the power level received by the radar apparatus is unstable.

  For this reason, in the conventional radar apparatus, by setting the power threshold level high, there is a high probability that the reception power of the reflected signal from the weakly reflecting object to be detected is below the threshold, and the detection accuracy of the reflection point is deteriorated. To do.

  The radar apparatus shown in Patent Document 1 that does not take into account the reflection signal of the weakly reflected object, when the method of grouping the reflection points for each object is used, the detection processing of the object including the weakly reflected object is unstable. Desired.

  The radar apparatus disclosed in Patent Document 1 is an object to be detected, for example, an object whose size can be defined to some extent, such as a vehicle. For this reason, the radar apparatus in Patent Document 1 identifies the same object between frames when grouping processing is performed using size information for a roadside object whose size or separation is difficult to define, and tracking processing is performed. Because it is unstable, coping is required.

  An object of one aspect of the present disclosure is to provide an in-vehicle radar device that can perform stable tracking processing on an object.

  A vehicle-mounted radar device according to one aspect of the present disclosure transmits / receives a radar signal to a detection range for each frame, and receives one or more reflected signals reflected by one or more objects. And, in each direction within the detection range, among the one or more reflection points detected based on the one or more reflection signals, the position of the reflection point closest to the on-vehicle radar device is detected. As a boundary candidate position of a region where the one or more objects do not exist within a range, a detection unit that detects each frame, a calculation unit that calculates movement amount data related to the movement amount of the in-vehicle radar device, and the movement amount An estimation unit that generates an estimated estimated boundary position by converting the boundary candidate position detected in a past frame into a boundary position in a current frame based on the data; and And a smoothing unit that performs a smoothing process using the boundary candidate position of the frame and the estimated boundary position, and calculates a boundary position with an area where the one or more objects do not exist within the detection range. take.

  In the region detection method according to an aspect of the present disclosure, a radar signal is transmitted to a detection range for each frame, and the radar signal receives one or more reflected signals reflected by one or more objects, Among each of the one or more reflection points detected based on the one or more reflection signals in each azimuth within the detection range, the position of the reflection point closest to the in-vehicle radar device is determined within the detection range. Detected for each frame as a boundary candidate position of the area where the one or more objects do not exist, calculates movement amount data related to the movement amount of the in-vehicle radar device, and detects in a past frame based on the movement amount data The estimated boundary position is generated by converting the determined boundary candidate position into a boundary position in the current frame, and the boundary candidate position and the estimated boundary position in the current frame are There smoothing processing, and calculates the boundary position between the region where no object exists within the detection range.

  According to one aspect of the present disclosure, since the smoothing process of the boundary candidate position is used, a stable tracking process for an object can be performed.

The figure which shows an example of the operation | movement which tracks an object over several frames The figure which shows another example of the operation | movement which tracks an object over several frames. Diagram showing objects around the vehicle Diagram showing clearance area The figure which shows the structural example of the radar apparatus which concerns on Embodiment 1 of this indication. The figure which shows an example of the boundary estimation process which concerns on Embodiment 1 of this indication Flow chart showing the operation of the radar apparatus according to the first embodiment of the present disclosure. Diagram showing the radar profile of the current frame The figure which shows the boundary candidate position (selected cell) shown by the boundary candidate information of the present frame The figure which shows the boundary candidate position (selected cell) of a front frame The figure which shows the estimated boundary position (estimated cell) shown in the estimated boundary information of the current frame Diagram showing composition of boundary candidate information and estimated boundary information Figure showing boundary information of the current frame The figure which shows the matrix of object direction x object boundary information Figure showing the effective position list Figure showing the list of valid positions after sorting Diagram showing objects around the vehicle Diagram showing clearance area The figure which shows the structural example of the radar apparatus which concerns on Embodiment 2 of this indication. The figure which shows the relationship between the moving vehicle and the Doppler correction value obtained from a stationary object Diagram showing the radar profile of the current frame The figure which shows the stationary object boundary candidate position (selected cell) shown by the stationary object boundary candidate information of the present frame The figure which shows the stationary object boundary candidate position (selected cell) of the front frame The figure which shows the estimated boundary position (estimated cell) shown in the estimated stationary object boundary information of the current frame Diagram showing synthesis of stationary object boundary candidate information and stationary object estimated boundary information The figure which shows the stationary object boundary information of the present frame Diagram showing the radar profile of the current frame The figure which shows the detection result of the moving object The figure which shows the stationary object boundary information of the front frame The figure which shows the object around the vehicle which concerns on Embodiment 3 of this indication The figure which shows the structural example of the object recognition apparatus which concerns on Embodiment 3 of this indication. Diagram showing the raster can method Diagram showing object recognition area information The figure which shows the stationary object boundary information of the present frame

[Background to Aspect of the Present Disclosure]
FIG. 1A is a diagram illustrating an example of an operation in which a radar apparatus detects an object (segment) and follows the object over a plurality of frames in Patent Document 1. 1A, the horizontal axis represents the direction measured by the radar apparatus (in FIG. 1A, the range from the front direction to the right direction), the vertical axis represents the distance from the radar apparatus, and each square (hereinafter referred to as “cell”). ) Represents the reflection intensity (power) at the position of the corresponding azimuth and distance.

  In FIG. 1A, the radar apparatus first determines a representative point cell from the reflection points in each frame based on a predetermined condition. Next, the radar apparatus groups other reflection points included in the segment area set for each representative point as a cell of a segment member. Each segment has a different group ID. That is, the radar apparatus detects a segment including a representative point cell and a member cell (however, a member cell may not be included) as one object.

  In FIG. 1A, the radar apparatus follows an object in each frame by taking over the group ID for the same segment as that detected in the previous frame (segment association). For example, the radar apparatus determines the presence or absence of the same segment depending on whether a representative point exists within the search range. In FIG. 1A, as a tracking result, the radar apparatus tracks three segments A to C in the current frame among the four segments A to D detected in the previous frame (continuation group: 3).

  In the conventional radar apparatus, since the monitoring target is a vehicle, it is only necessary to extract a strong reflected wave, and the output position of the reflected wave is sparse. In addition, when a conventional radar apparatus does not include a pedestrian as a monitoring target, for example, using a vehicle size or lane information to group reflected waves from the same vehicle into the same segment is compared. Easy.

  In the radar device, when the monitoring target is a vehicle and a pedestrian, walking depends on the situation around the pedestrian, for example, whether there is an obstacle (for example, implantation, guardrail) between the vehicle and the pedestrian. The monitoring importance for the person is different. For this reason, when a pedestrian is included in the monitoring target, it is necessary to detect a roadside object.

  When the monitoring target of the conventional radar apparatus is a pedestrian or a roadside object, the following problem occurs.

  In the conventional radar apparatus, it is difficult to separate weakly reflected waves including pedestrians or roadside objects from unnecessary waves of, for example, ground clutter. In order to detect all detection objects of weak reflected waves, it is necessary to set the detection threshold value low. For this reason, the conventional radar apparatus detects unnecessary waves in addition to the desired detection target. The detection of unnecessary waves is a cause of erroneous detection and imposes a load on the subsequent processing of the radar apparatus. For this reason, inconveniences such as degradation in the performance of an application that receives the detection result of the radar apparatus occur. It is difficult to set the detection threshold value too low. As a result, the conventional radar apparatus becomes unstable in detecting the detection target. For example, in the conventional radar apparatus, a case where a reflection point that has not been detected in the previous frame is newly detected in the current frame (or the reverse case) easily occurs.

  FIG. 1B shows another example of the operation of following an object over a plurality of frames. For example, FIG. 1B shows that four segments A to D are detected in the previous frame, three segments A to C of the four segments of the previous frame are detected again in the current frame, and the remaining segment D is framed out. (No corresponding segment in the current frame) and a state where one more segment E is detected by a new representative point.

  In FIG. 1B, the conventional radar apparatus associates different segments as the same segment (same group ID) due to the occurrence of segment E in the tracking process (segment association) between the previous frame and the current frame. .

  In the current frame shown in FIG. 1B, the three segments A to C in the previous frame are tracked as the three segments A to C of the current frame, and the segment E of the current frame is not output as a new segment. C is erroneously associated with the segment E of the current frame, the segment D of the previous frame is erroneously associated with the segment C of the current frame, and four segments A to D are output as a result of the follow-up process.

  Since the conventional radar apparatus has insufficient object detection accuracy, for example, when an object enters the detection range of the radar apparatus and leaves the object, for example, a group ID is incorrectly assigned or a segment out of the frame is detected. False detection occurs and object tracking is unstable.

  Furthermore, since various shapes and sizes of roadside objects (for example, planting or guardrails) are assumed, it is difficult to define a predetermined size as an object region (segment region) like a vehicle.

  For this reason, as in Patent Document 1, in the method of detecting the reflection point for each individual object using the size (segment area) of the detection target object accumulated in advance, the object different from the accumulated object size is detected. In this case, since there are many candidate segment areas when taking over the group ID, mistakes are likely to occur in taking over (associating) the group ID, and the tracking process is unstable.

  One aspect according to the present disclosure solves such a problem, and aims to improve the detection accuracy of a reflection object by a radar and perform stable tracking processing on the object.

(Embodiment 1)
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[Configuration of Radar Device 100]
The radar apparatus 100 according to the embodiment of the present disclosure is mounted on the vehicle illustrated in FIG. 2A.

  The radar apparatus 100 detects an object (another vehicle, a pedestrian, a roadside object) existing around a mounted vehicle (for example, the front side or the front side), and based on the detected information ( That is, a region where no obstacle is present (hereinafter referred to as “clearance region”) is determined (see, for example, FIG. 2B, details will be described later). In addition, a roadside thing contains a guardrail and a tree, for example.

  For example, the radar apparatus 100 provides information on the determined clearance area to, for example, a collision prevention apparatus (not shown) as a driving support apparatus. In addition to the clearance area, the radar apparatus 100 may detect a moving object (for example, a vehicle or a pedestrian) using another method (see FIG. 2B).

  FIG. 3 is a block diagram illustrating a configuration example of the radar apparatus 100. 3 includes a transmission / reception unit 101, a boundary detection unit 102, a movement amount calculation unit 103, a buffer 104, a boundary estimation unit 105, and a smoothing unit 106.

  The transmission / reception unit 101 transmits a radar signal generated by using a millimeter wave radar from a transmission antenna to a predetermined direction (for each predetermined angle), and transmits a radar signal reflected by each object existing in each direction. Received as a reflected signal at the receiving antenna. Further, the transmission / reception unit 101 detects a reflection point using the reflection signal, and generates reflection point information representing the detected reflection point. The reflection point information includes, for example, distance, azimuth, relative speed, and reflection intensity. The transmission / reception unit 101 outputs reflection point information (referred to as a radar profile) generated for each frame to the boundary detection unit 102.

  The boundary detection unit 102 uses the reflection point information of each frame input from the transmission / reception unit 101, and the position of a reflection point that becomes a boundary with a region (clearance region) where no object around the vehicle exists (hereinafter referred to as a boundary candidate position). Called).

  The boundary detection unit 102 determines the position of the reflection point having the closest distance from the radar device 100 among the reflection points indicated by the reflection point information in each direction within the detection range of the radar device 100 as the boundary candidate position in each direction. Is detected for each frame. That is, the boundary detection unit 102 detects a boundary candidate between the clearance area and the area where the object exists. For example, the boundary detection unit 102 uses information on a plurality of peripheral cells of the evaluation target cell (reflection point to be evaluated) as an interpolation process, and the ratio of the number of cells exceeding the power threshold in the plurality of peripheral cells is a certain level or more. If there is, the evaluation target cell may be detected as a boundary candidate.

  The boundary candidate position may not be the closest reflection point, but may be a reflection point after averaging processing in a plurality of frames.

  The boundary detection unit 102 outputs boundary candidate information indicating the detected boundary candidate position to the buffer 104 and the smoothing unit 106. In addition, boundary candidate information is represented by the radar coordinate system of the transmission / reception part 101, for example.

  The movement amount calculation unit 103 includes, for example, vehicle movement data (for example, vehicle speed and azimuth) relating to the movement amount of the vehicle calculated from the vehicle speed and steering angle information detected by a sensor (not shown), and the vehicle. Using the installation information of the mounted radar device 100, the movement data of the radar device 100 (for example, the moving speed of the radar device 100 and the moving direction of the radar device 100) is calculated. The movement data of the radar apparatus 100 is calculated in units of frames, for example. The movement amount calculation unit 103 outputs movement information including movement data of the radar device 100 and vehicle movement data to the buffer 104.

  Note that the calculation of the vehicle movement data is not limited to the method calculated from the vehicle speed and steering angle information, and may be calculated using the information of the gyro sensor or the acceleration sensor. Based on the description in Patent Document 1, it may be calculated by specifying the reflected wave of a stationary object from the surrounding reflected waves received by the radar apparatus 100 without using other sensor information (Reference Patent Document 1: International Publication). 2015/037173).

  The buffer 104 stores (stores) boundary candidate information input from the boundary detection unit 102 and movement information input from the movement amount calculation unit 103. Note that the number of past frames is not limited to one, and may be a past frame group from a plurality of previous frames. When the past frame group is stored in the buffer 104, the movement information is also paired (associated) and stored. Further, the buffer 104 outputs the stored boundary candidate information and movement information of the past frame to the boundary estimation unit 105.

  The boundary estimation unit 105 is input with boundary candidate information of the past frame and movement information indicating the movement state of the vehicle from the past frame to the current frame. The boundary estimation unit 105 estimates the position of the reflection point having the closest distance from the radar apparatus 100 in the current frame as the estimated boundary position based on the boundary candidate information and movement information of the past frame.

  FIG. 4 shows an example of the boundary estimation process. The boundary estimation unit 105 calculates a position where the boundary candidate position in the past frame is moved according to the movement information (for example, azimuth and distance) of the radar apparatus 100 from the past frame to the current frame. Then, the boundary estimation unit 105 converts the calculated position into a position in the radar coordinate system of the current frame, and sets the converted position as the estimated boundary position (white triangle Δ) of the current frame.

  In addition, the boundary candidate position of the past frame is output continuously, and in the direction (white square □) where continuity is lost at the position after conversion to the current frame, it is output as the continuous boundary position even in the current frame. In order to do this, the boundary estimation unit 105 performs an interpolation process using, for example, a linear interpolation method. For example, an average value of distances in both side directions is used.

  Further, the boundary estimation unit 105 assigns, for example, “value indefinite” information to the azimuth (cross mark x) where the boundary position does not exist in the past frame in the azimuth after conversion to the current frame. Similarly, the boundary estimation unit 105 also assigns “value indefinite” information, for example, to the direction (cross mark x) newly framed in by the movement information.

  When the past frame group is used, the boundary estimation unit 105 calculates an estimated boundary position in the next frame for each frame from the past frame. The boundary estimation unit 105 calculates the estimated boundary position of the next frame based on the calculation result, and repeats the boundary estimation process recursively until the estimated boundary position in the current frame is calculated. As a result, when there are N past frame groups, N pieces of estimated boundary information are output.

  The boundary estimation unit 105 outputs one or more pieces of estimated boundary information indicating the estimated boundary position to the smoothing unit 106.

  The smoothing unit 106 receives boundary candidate information (information indicating the boundary position detected by the transmission / reception unit 101 in the current frame) input from the boundary detection unit 102 and estimated boundary information (past frame) input from the boundary estimation unit 105. Smoothing processing (combination processing) is performed on one or more pieces of information indicating the boundary position of the current frame estimated from (1), and a boundary position with an area (clearance area) where no object exists around the vehicle is calculated. The smoothing unit 106 outputs boundary information indicating the calculated boundary position.

  The smoothing unit 106 calculates the average value or the weighted average value of the positions of the reflection points (that is, the distance from the radar apparatus 100) indicated in each of the boundary candidate information and the estimated boundary information as the boundary position of the current frame for each direction. May be.

  In the smoothing process, for example, the smoothing unit 106 obtains the presence / absence of a boundary position for each azimuth in each of the boundary candidate information and the estimated boundary information. The smoothing unit 106 calculates a likelihood value using preset likelihood weights for the boundary candidate information or the estimated boundary information, and determines that a boundary position exists when the likelihood value is equal to or greater than a predetermined threshold. To do.

  Further, when there is a boundary position for each azimuth in each of the boundary candidate information and the estimated boundary information, the smoothing unit 106 uses the preset output value weight to determine the boundary position in each of the boundary candidate information and the estimated boundary information. The distance is weighted, and the output distance is calculated using the weighted average.

  That is, the smoothing unit 106 outputs the output distance as the boundary position when it is determined that the boundary position exists based on the presence / absence of the boundary position determined using the likelihood value.

  Note that the processing of the smoothing unit 106 described above is an example, and the boundary position may be derived by another method. For example, the smoothing unit 106 extracts, in the boundary candidate information or the estimated boundary information, the target orientation to be extracted and the distance between the boundary positions in the left and right directions adjacent to the left and right of the target orientation, and rearranges the extracted distances in ascending order. After the rearrangement, the smoothing unit 106 outputs the distance that is the median value as the distance of the boundary position with respect to the target azimuth. Details will be described later.

  As a result, the radar apparatus 100 determines the area between the boundary line (the position of the reflection point closest to the vehicle) formed by connecting or interpolating the boundary position of each direction in the detection range and the vehicle. , As a clearance area (see, for example, FIG. 2B).

[Operation of Radar Device 100]
Next, an operation example of the above-described radar apparatus 100 will be described in detail with reference to FIGS. 5 and 6A to 6F.

  FIG. 5 is a flowchart showing an operation flow of the radar apparatus 100.

  6A to 6F are diagrams showing information obtained in each component of the radar apparatus 100 in the radar coordinate system. In FIGS. 6A to 6F, as an example, the orientation (horizontal axis) is 10 cells, and the distance (vertical axis) is 8 cells. That is, in FIGS. 6A to 6F, the transmission / reception unit 101 detects the reflection point for each cell. In FIGS. 6A to 6F, as an example of the past frame, the frame immediately before the current frame (previous frame) is the past frame.

  In FIG. 5, in step (hereinafter simply referred to as “ST”) 101, transmission / reception section 101 calculates a radar profile in the radar detection range (for example, see FIG. 2A) for each frame. In FIG. 6A to FIG. 6F, the transmission / reception unit 101 generates a radar profile in which a cell having a reflection point whose reflection intensity (power) is equal to or greater than a predetermined threshold is represented as a dominant cell.

  In ST102, the boundary detection unit 102 detects the position of the reflection point (cell) that is closest to the radar apparatus 100 as a boundary candidate position based on the radar profile generated in ST101. 6A to 6F, the boundary detection unit 102 detects, as a selected cell, the position of the reflection point that is closest to the radar apparatus 100 among the reflection points (potential cells) indicated in the radar profile in each direction. . The boundary detection unit 102 may determine whether the point is a reflection point (potential cell) by using information on neighboring cells even when there is no reflection point. 6A to 6F, the boundary detection unit 102 generates boundary candidate information that represents the position of the reflection point (selected cell) detected for each azimuth as the boundary candidate position.

  In ST103, the movement amount calculation unit 103 calculates sensor (radar apparatus) movement data (radar apparatus movement azimuth, radar apparatus movement speed) from vehicle movement data (direction and speed) detected by various vehicle sensors. Then, movement information including movement data of the radar apparatus 100 is generated.

  In ST104, boundary estimation section 105 determines whether or not boundary candidate information and movement information (past data) generated in the past are stored in buffer 104. When there is no past data (ST104: No), the radar apparatus 100 proceeds to the process of ST108. Here, the case where there is no past data is, for example, the first calculation of boundary information.

  If there is past data (ST104: Yes), in ST105, the boundary estimation unit 105 inputs one or more past frame boundary candidate information as past data from the buffer 104 and movement information corresponding to each past frame. To do.

  In ST106, the boundary estimation unit 105 converts the boundary candidate position (selected cell) of the past frame into the position (estimated cell) of the coordinate system (current coordinate system) of the current frame using the past data input in ST105. . When there are a plurality of positions in the same direction in the result after conversion, the boundary estimation unit 105 estimates the position of the reflection point that is closest to the radar apparatus 100 as the estimated boundary position. If the boundary position is continuously output in the past frame, the boundary estimation unit 105 may perform interpolation processing, for example, to ensure the relationship with the past frame even after conversion to the current frame. Good.

  Specifically, the boundary estimation unit 105 moves the boundary candidate position (selected cell) indicated in the boundary candidate information of the previous frame according to the movement status of the vehicle indicated by the movement information, and determines the position of the reflected point after the movement. Set to the estimated boundary position (estimated cell). For example, in FIGS. 6A to 6F, the movement information is a radar profile in which the vehicle approaches one cell in the front direction from the previous frame to the current frame. The boundary estimation unit 105 sets, as the estimated boundary position (estimated cell), the position of the boundary candidate position (selected cell) of the previous frame that is closer to the front direction by one cell.

  6A is a diagram illustrating a radar profile of the current frame, FIG. 6B is a diagram illustrating boundary candidate positions (selected cells) indicated in the boundary candidate information of the current frame, and FIG. 6C is a boundary candidate of the previous frame. FIG. 6D is a diagram illustrating an estimated boundary position (estimated cell) indicated in the estimated boundary information of the current frame, and FIG. 6E is a diagram illustrating boundary candidate information and estimated boundary information. FIG. 6F is a diagram illustrating combining, and FIG. 6F is a diagram illustrating boundary information of the current frame.

  In ST107, smoothing section 106 determines the boundary candidate position (FIG. 6B) indicated in the boundary candidate information of the current frame obtained in ST102, and the estimated boundary position (FIG. 6D) indicated in the estimated boundary information obtained in ST106. Is smoothed (FIG. 6E). That is, the smoothing unit 106 combines the boundary candidate information and the estimated boundary information. The smoothing unit 106 performs a smoothing process between the boundary candidate position detected in the current frame and the estimated boundary position estimated from the boundary candidate position detected in the previous frame (that is, the boundary candidate position between frames).

  For example, when the boundary candidate position of the current frame and the estimated boundary position are the same position in each direction, the smoothing unit 106 sets the position as the boundary position of the current frame. Further, when the boundary candidate position of the current frame is different from the estimated boundary position in each direction, the smoothing unit 106 performs, for example, an average or weighted average smoothing process on the distance corresponding to these positions, The position corresponding to the processing result is set as the boundary position of the current frame (FIG. 6F).

  When there are one or more estimated boundary positions, the smoothing unit 106 performs output determination by weighting each piece of information including the boundary candidate positions, for example, the presence / absence of the boundary positions or the output distance. (An example of the process is a method using a likelihood value).

  In addition to determining the output distance from the boundary positions shown in FIGS. 6A to 6F, the smoothing unit 106 may determine the output position from the boundary position in the peripheral direction.

  The smoothing unit 106 extracts the target azimuth and the distance in the adjacent left and right azimuths from the boundary candidate information of the current frame and the estimated boundary information of the past frame, and stores (stores) them in the list. The smoothing unit 106 rearranges the stored list in ascending order, and then outputs the median value of the list as the distance of the boundary position with respect to the target azimuth. The above process is repeated in all directions.

  7A to 7C show processing images. In FIG. 7A, the range of ± 2 azimuths adjacent to the target azimuth θ is set as the target azimuth, and the past four frames are used as the estimated boundary information. In FIG. 7A, the smoothing unit 106 extracts a distance in a matrix of target orientation × target boundary information (current frame boundary candidate information and past frame estimated boundary information). An element that is “indefinite” is an element whose distance has not been determined as a result of processing by the boundary detection unit 102 or the boundary estimation unit 105.

  In the matrix shown in FIG. 7A, the smoothing unit 106 extracts effective positions excluding “undefined” positions, generates an effective position list shown in FIG. 7B, and rearranges the effective position list in ascending order in FIG. 7C. In FIG. 7C, the median value in the sorted list is “55”, and “55” is the distance of the boundary position with respect to the attention direction θ.

  A region closer to the vehicle than the boundary position (output cell) of the current frame output by the smoothing unit 106 may be regarded as a region where there is no object around the vehicle (clearance region) (FIGS. 6A to 6F). See).

  In ST108, the smoothing unit 106 outputs boundary information indicating the boundary position of the current frame calculated in ST107 when there is past data (ST104: Yes), and when there is no past data (ST104: No). The boundary candidate information calculated in ST102 is output as boundary information of the current frame.

  The boundary information is not limited to information indicating the boundary position, but may be information indicating a clearance area.

  In ST109, the radar apparatus 100 determines whether or not to continue the boundary information output process. When the boundary information output process is continued (ST109: Yes), the radar apparatus 100 returns to the process of ST101, and when the boundary information output process is not continued (ST109: No), the radar apparatus 100 ends the process. .

  The radar apparatus 100 uses the estimated boundary position of the current frame estimated from the boundary candidate position detected in the past frame in addition to the boundary candidate position detected by the transmission / reception unit 101 in the current frame, Determine the boundary position with the region where.

  In a conventional radar apparatus, for example, when a weak reflected wave by a pedestrian or a roadside object is also to be detected (see FIG. 2A), the radar apparatus is set to set a slightly high threshold for detecting the weak reflected wave. The reflected wave detection accuracy due to is insufficient. For example, there is an unstable object in which the presence or absence of detection by the radar apparatus varies between frames.

  However, the radar apparatus 100 according to the present embodiment determines a dominant cell in the same frame using neighboring cells, or estimates the position of the reflection point detected by the transmission / reception unit 101 using a plurality of frames. Thus, the boundary position with the clearance area can be detected. That is, the radar apparatus 100 compensates for a decrease in the detection accuracy of the reflected wave by the transmission / reception unit 101 in the current frame by using the detection results (boundary candidate information) of at least one past frame.

  Therefore, according to the present embodiment, the boundary position between the clearance region and the region where the object exists can be detected with high accuracy even when the detection accuracy of the reflection point by the transmission / reception unit 101 in each frame decreases.

  Furthermore, according to the present embodiment, radar device 100 detects the boundary position between a clearance region where an object around the vehicle does not exist and a region where an object exists, and specifies the clearance region (see FIGS. 6A to 6F). reference). That is, the radar apparatus 100 does not output a plurality of areas (segments) as in Patent Document 1 (see, for example, FIG. 2A and FIG. 2B), but outputs a group of areas as a detection result (FIG. 6F). That is, the radar apparatus 100 omits identification of the same object between frames and uses a smoothing process of boundary candidate positions.

  By treating a series of objects (for example, other vehicles, pedestrians, roadside objects) around the vehicle on which the radar apparatus 100 is mounted as a continuous object, the radar apparatus 100 is configured so that each object is It is possible to suppress erroneous determination as an object that has not been detected before entering the detection range and then detected as a different object (different ID).

  For example, even if the detection result by the transmission / reception unit 101 varies between frames and the object becomes an unstable detection result, the radar apparatus 100 can detect the boundary position (output cell shown in FIGS. 6A to 6F) with high accuracy. ) Is suppressed, the influence caused by the object of the unstable detection result can be suppressed, and the clearance region can be identified stably.

  According to the present embodiment, the radar apparatus 100 is capable of detecting an object across a plurality of frames even if an object whose shape or size is assumed to be a detection target, such as a roadside object (for example, planting or guardrail). The detection and the object can be followed stably.

  As described above, according to the present embodiment, the radar apparatus 100 can stably process tracking of an object and can improve the detection performance of the clearance region. The system accuracy and responsiveness of the driving support device (not shown) can be improved.

  In the above-described embodiment, the case where the past boundary candidate information is stored as past data in the buffer 104 has been described. However, the past boundary information (that is, the output of the smoothing unit 106) is stored as past data in the buffer 104. May be.

(Embodiment 2)
In the first embodiment, a region where a stationary object and a moving object do not exist is extracted as a clearance region. In the present embodiment, a region where a stationary object does not exist is extracted as a stationary object clearance region.

[Configuration of Radar Device 200]
The radar apparatus 200 according to the embodiment of the present disclosure is mounted on the vehicle illustrated in FIG. 8A.

  The radar apparatus 200 detects an object (another vehicle, a pedestrian, a roadside object) existing around the mounted vehicle (for example, forward or front side), and based on the detected information, a stationary object around the vehicle Is determined (hereinafter referred to as “stationary object clearance region”) (see, for example, FIG. 8B, details will be described later). In addition, a roadside thing contains a guardrail and a tree, for example.

  For example, the radar apparatus 200 provides information on the determined stationary object clearance area to, for example, a collision prevention apparatus (not shown) as a driving support apparatus. The radar apparatus 200 may detect a moving object (for example, a vehicle or a pedestrian) in addition to the stationary object clearance area using another method (see FIG. 8B).

  FIG. 9A is a block diagram illustrating a configuration example of the radar apparatus 200. The radar apparatus 200 illustrated in FIG. 9A includes a transmission / reception unit 101, a stationary object extraction unit 201, a stationary object boundary detection unit 202, a movement amount calculation unit 103, a buffer 104, a boundary estimation unit 105, and a smoothing unit 106. Except for the stationary object extraction unit 201 and the stationary object boundary detection unit 202, descriptions of the contents already described in the first embodiment are omitted.

  The stationary object extraction unit 201 uses the reflection point information (Doppler value) of each frame input from the transmission / reception unit 101 and the movement direction and movement speed, which are movement data of the radar apparatus 200 input from the movement amount calculation unit 103. Extract a stationary object.

  Here, an example of a method for extracting a stationary object will be described with reference to FIG. 9B. FIG. 9B is a diagram illustrating a relationship between a moving vehicle and a Doppler correction value obtained from a stationary object.

θ _s is the moving direction of the vehicle (sensor moving direction), and moves in the first quadrant in the positive direction (upper right in FIG. 9B). Vs is the moving speed (sensor speed) of the vehicle, Xs indicates the front direction of the radar apparatus 200 (sensor), θ indicates the direction in which the stationary object is located, and in FIG. 9B, there is a stationary object in the first quadrant. To do.

The calculation formula for observing a stationary object located in the azimuth θ (the Doppler correction value of the azimuth θ) is an angle α (= θs) defined by the sensor moving speed Vs, the sensor moving azimuth θs and the stationary object direction θ. -θ) can be calculated as in Equation (1).
D _Offset (θ) [km / h] = V _S cos (α) = V _S cos (θs-θ) (1)

  The stationary object extraction unit 201 includes the Doppler values of the reflection points in each frame and each direction measured by the radar apparatus 200 in a range in which a margin is added to the Doppler correction value calculated based on Equation (1). If it is included, it is extracted as a stationary object and output to the stationary object boundary detection unit 202.

  The stationary object boundary detection unit 202 detects the position of a reflection point (hereinafter referred to as a stationary object boundary candidate position) that becomes a boundary with a region where there is no stationary object around the vehicle (stationary object clearance region).

  The stationary object boundary detection unit 202 is a distance from the radar device 200 among the stationary objects extracted by the stationary object extraction unit 201 among the reflection points indicated by the reflection point information in each direction within the detection range of the radar device 200. Is detected for each frame as a still object boundary candidate position in each direction.

  That is, the stationary object boundary detection unit 202 detects a boundary candidate between the stationary object clearance area and the area where the stationary object exists. For example, the stationary object boundary detection unit 202 uses information on a plurality of peripheral cells of the evaluation target cell (reflection point to be evaluated) as an interpolation process, and the ratio of the number of cells exceeding the power threshold in the plurality of peripheral cells is determined. If it is above a certain level, the evaluation target cell may be detected as a stationary object boundary candidate.

  Note that the stationary object boundary candidate position may not be the closest reflection point of the stationary object, but may be a reflection point after averaging processing in a plurality of frames.

  The stationary object boundary detection unit 202 outputs stationary object boundary candidate information indicating the detected stationary object boundary candidate position to the buffer 104 and the smoothing unit 106. The stationary object boundary candidate information is represented by, for example, a radar coordinate system of the transmission / reception unit 101.

  The buffer 104 stores (stores) the stationary object boundary candidate information input from the stationary object boundary detection unit 202 and the movement information input from the movement amount calculation unit 103. Note that the number of past frames is not limited to one, and may be a past frame group from a plurality of previous frames. When the past frame group is stored in the buffer 104, the movement information is also paired (associated) and stored. Further, the buffer 104 outputs the stored stationary object boundary candidate information and movement information of the past frame to the boundary estimation unit 105.

  The boundary estimation unit 105 receives the stationary object boundary candidate information of the past frame and the movement information indicating the movement state of the vehicle from the past frame to the current frame. Based on the stationary object boundary candidate information and the movement information in the past frame, the boundary estimation unit 105 determines the position of the reflection point that is a stationary object and has the closest distance from the radar apparatus 200 in the current frame. Estimated as position.

  The boundary estimation unit 105 outputs one or a plurality of estimated stationary object boundary information indicating the estimated stationary object boundary position to the smoothing unit 106.

  The smoothing unit 106 includes stationary object boundary candidate information (information indicating the boundary position detected by the transmission / reception unit 101 in the current frame) input from the stationary object boundary detection unit 202 and estimated stationary input input from the boundary estimation unit 105. Smoothing process (compositing process) on object boundary information (one or more pieces of information indicating the position of the stationary object boundary in the current frame estimated from the past frame) ) Is calculated. The smoothing unit 106 outputs stationary object boundary information indicating the calculated boundary position.

  As a result, the radar apparatus 200 includes a boundary line (position of a reflection point from a stationary object having the closest distance from the vehicle) formed by connecting or interpolating stationary object boundary positions in each direction in the detection range, and the vehicle. Is specified as a stationary object clearance area (see, for example, FIG. 8B).

[Operation of Radar Device 200]
Next, an operation example of the above-described radar apparatus 200 will be described in detail with reference to FIGS. 10A to 10F.

  10A to 10F are diagrams showing information obtained in each component of the radar apparatus 200 in the radar coordinate system. 6A to 6F, as an example, the azimuth (horizontal axis) is 10 cells, and the distance (vertical axis) is 8 cells. That is, in FIG. 10A to FIG. 10F, the reflection point is detected for each cell in the transmission / reception unit 101. In FIGS. 10A to 10F, as an example of the past frame, the frame immediately before the current frame (previous frame) is set as the past frame.

  FIG. 10A is a diagram showing a radar profile of the current frame, FIG. 10B is a diagram showing boundary candidate positions (selected cells) indicated in the stationary object boundary candidate information of the current frame, and FIG. 10C is a diagram of the previous frame. FIG. 10D is a diagram illustrating an estimated stationary object boundary position (estimated cell) indicated in the estimated stationary object boundary information of the current frame, and FIG. 10E is a diagram illustrating a stationary object boundary candidate position (selected cell). It is a figure which shows the synthesis | combination of object boundary candidate information and estimated stationary object boundary information, and FIG. 10F is a figure which shows the stationary object boundary information of the present flame | frame.

  10A to 10F, the transmission / reception unit 101 generates a radar profile in which a cell having a reflection point whose reflection intensity (power) is equal to or greater than a predetermined threshold is represented as a dominant cell.

  The stationary object extraction unit 201 extracts a stationary object from the radar profile using the Doppler correction value shown in FIG. 9B, and the stationary object boundary detection unit 202 extracts the reflection point of the stationary object extracted by the stationary object extraction unit 201. Among them, the position of the reflection point (cell) that is closest to the radar apparatus 200 is detected as a stationary object boundary candidate position.

  10A to 10F, the stationary object boundary detection unit 202 may determine whether a reflection point (potential cell) is used by using information on neighboring cells even when there is no reflection point. 10A to 10F, the stationary object extraction unit 201 extracts the position of the stationary object from the position of the reflection point (selected cell) detected for each azimuth (FIG. 10B), and the stationary object boundary detection unit 202 from among them. Still object boundary candidate information expressed as a stationary object boundary candidate position is generated.

  Note that the moving object is, for example, an object that is not a stationary object, that is, an object that has been determined to have a Doppler speed equal to or higher than a set threshold in the stationary object extraction unit 201 described with reference to FIG. 9B.

  The boundary estimation unit 105 determines whether or not stationary object boundary candidate information and movement information (past data) generated in the past are stored in the buffer 104. The case where there is no past data is, for example, when the boundary information is calculated for the first time.

  When there is past data, the boundary estimation unit 105 inputs, as past data, stationary object boundary candidate information of one or more past frames and movement information corresponding to each past frame from the buffer 104.

  The boundary estimation unit 105 converts the stationary object boundary candidate position (selected cell) of the past frame into the position (estimated cell) of the coordinate system (current coordinate system) of the current frame using the past data (FIG. 10C). If there are a plurality of positions in the same direction in the result after conversion, the boundary estimation unit 105 estimates the position of the reflection point from the stationary object having the closest distance from the radar apparatus 200 as the estimated stationary object boundary position. (FIG. 10D). If the boundary position is continuously output in the past frame, the boundary estimation unit 105 may perform interpolation processing, for example, to ensure the relationship with the past frame even after conversion to the current frame. Good.

  Specifically, the boundary estimation unit 105 moves the boundary candidate position (selected cell: FIG. 10C) indicated in the stationary object boundary candidate information of the previous frame in accordance with the movement status of the vehicle indicated in the movement information, The position of the reflection point is set to the estimated stationary object boundary position (estimated cell: FIG. 10D). For example, in FIGS. 10A to 10F, the movement information is a radar profile in which the vehicle approaches one cell in the front direction from the previous frame to the current frame. The boundary estimation unit 105 sets, as the estimated stationary object boundary position (estimated cell), a position that approaches the stationary object boundary position (selected cell) of the previous frame by one cell and approaches the front direction.

  The smoothing unit 106 performs smoothing processing on the stationary object boundary candidate position (FIG. 10B) indicated in the stationary object boundary candidate information of the current frame and the estimated stationary object boundary position (FIG. 10D) indicated in the estimated stationary object boundary information. (FIG. 10E).

  Unlike Embodiment 1, as shown in FIG. 10B, when a moving object exists at a distance closer to the stationary object, a stationary object boundary candidate position is output based on the distance to the stationary object. In the smoothing unit 106, the stationary object boundary candidate information and the estimated stationary object boundary information are combined.

  The smoothing unit 106 is between the stationary object boundary candidate position detected in the current frame and the estimated stationary object boundary position estimated from the stationary object boundary candidate position detected in the previous frame (that is, the stationary object boundary between frames). The candidate position is smoothed.

  For example, when the stationary object boundary candidate position of the current frame and the estimated stationary object boundary position are the same position in each direction, the smoothing unit 106 sets the position as the stationary object boundary position of the current frame. In addition, when the stationary object boundary candidate position of the current frame is different from the estimated stationary object boundary position in each azimuth, the smoothing unit 106 performs, for example, average or weighted average smoothing with respect to the distance corresponding to these positions. Processing is performed, and the position corresponding to the processing result is set as the stationary object boundary position of the current frame (FIG. 10F).

  According to the present embodiment, the radar apparatus 200 extends over a plurality of frames even if a stationary object assumed to have various shapes or sizes such as roadside objects (for example, planting or guardrails) is a detection target. The stationary object detection and the stationary object can be followed stably.

  Of the radar profile of the current frame shown in FIG. 11A, the detection result of the moving object detected by the moving object detection unit (not shown) shown in FIG. 11B is matched with the stationary object boundary position of the current frame shown in FIG. 10F. As a result, the detection performance of an object (for example, a pedestrian) that moves in an area closer to the radar apparatus 200 than the stationary object boundary can be improved (FIG. 11C). System accuracy and responsiveness in a driving assistance device (not shown) can be improved.

(Embodiment 3)
In the present embodiment, an object recognition device (vehicle-mounted radar device) in which a camera device is added to the radar device according to the first and second embodiments will be described.

[Configuration of Object Recognition Device 300]
The object recognition apparatus 300 according to the embodiment of the present disclosure is mounted on the vehicle illustrated in FIG.

  As in the second embodiment, the radar mounted on the object recognition apparatus 300 detects an object (another vehicle, a pedestrian, a roadside object) existing around the mounted vehicle (for example, the front side or the front side). Then, based on the detected information, a region where no stationary object is present around the vehicle (hereinafter referred to as “stationary object clearance region”) is determined (see, for example, FIG. 8B). In addition, a roadside thing contains a guardrail and a tree, for example.

  The camera mounted on the object recognition apparatus 300 perceives an object (another vehicle, a pedestrian, a roadside object) existing around the mounted vehicle (for example, forward, front side), and based on the perceived information. Detect and recognize objects around the vehicle.

  As shown in FIG. 12, it is known that the detection accuracy and recognition accuracy of an object can be improved by overlapping the detection range of the radar and the visual field (perception) range of the camera and fusing each detection and perception result. This is called the fusion method.

  FIG. 13 is a block diagram illustrating a configuration example of the object recognition apparatus 300. Except for the camera receiving unit 301, the object recognizing unit 302, and the object recognizing region setting unit 303, the description of the contents already described in the first embodiment or the second embodiment is omitted.

  The camera receiving unit 301 outputs a light reception signal (also referred to as luminance information / image information) to the object recognition region setting unit 303 at a constant interval (for example, 20 times / second).

  The object recognition area setting unit 303 sets an object recognition area based on the image information from the camera reception unit 301 and the stationary object boundary position of the current frame from the smoothing unit 106, and outputs the object recognition area to the object recognition unit 302. Details will be described below with reference to FIGS. 14A to 14C.

  The object recognition unit 302 detects and recognizes an object within the range of the object recognition region output from the object recognition region setting unit 303. As disclosed in the following references, image pattern recognition uses a learning image DB (Database) including a plurality of positive (detection target) samples and a plurality of negative (non-detection target) samples. A classifier is created by learning calculation (not shown). In order to recognize a pedestrian from the image, the detection target area image can be enlarged / reduced, raster scanned for each window of the sample size, and identification processing can be repeated.

[References]
Nishimura et al., Development of Image Sensing Technology for Automotive Field, Panasonic Technical Journal, Oct. 2011 P.A. 64

  FIG. 14A explains the raster scan method. Identification processing is performed on all detection target area images. As shown in FIG. 14A, identification processing is performed for all cells from the farthest and front (upper left in FIG. 14A) cell to the latest and right (lower right in FIG. 14A) cell. For this reason, the amount of calculation is large, and a response is required as a hardware load or a processing delay.

  FIG. 14B is a diagram illustrating an example of an object recognition area (scan target output cell) in the present exemplary embodiment. Based on the stationary object boundary information (FIG. 14C) of the current frame, the peripheral cells of the output cell, for example, one cell each from the output cell in the distance axis direction are set as identification processing targets (object recognition area information). The peripheral cell is not limited to one cell. As a result, the problem of the amount of computation in the recognition process can be reduced, and the hardware can be downsized and high-speed processing can be achieved.

  In addition, detecting moving objects (vehicles, bicycles, people, or animals) that jump out from the vicinity of a stationary object boundary is highly compatible with traffic accidents and near-misses (incidents), and is effective in reducing or reducing traffic accidents. It is.

  As described above, the object recognition device 300 according to the present embodiment can improve the detection performance for a moving object having a high possibility of collision. Therefore, for example, a driving support device for a collision prevention device ( System accuracy and responsiveness can be improved.

  Although the present embodiment has been described using the stationary object boundary information (FIG. 14C), the present invention is not limited to this. For example, the boundary information of the current frame described in FIG. 6F of the first embodiment is used. Even if it uses, it can implement similarly.

  Although not shown, the radar apparatus 100 includes, for example, a CPU (Central Processing Unit), a storage medium such as a ROM (Read Only Memory) that stores a control program, and a working memory such as a RAM (Random Access Memory). . In this case, the function of each unit described above is realized by the CPU executing the control program. However, the hardware configuration of the radar apparatus 100 is not limited to this example. For example, each functional unit of the radar apparatus 100 may be realized as an IC (Integrated Circuit) that is an integrated circuit. Each functional unit may be individually made into one chip, or may be made into one chip so as to include a part or all of each functional unit.

  Various aspects of the embodiments according to the present disclosure include the following.

  The on-vehicle radar device according to the first disclosure includes a transmission / reception unit that transmits a radar signal for each frame to a predetermined detection range and receives a reflection signal obtained by reflecting the radar signal on an object, and the predetermined detection range. Of the reflection points detected using the reflection signal in each direction, the position of the reflection point that is close to the in-vehicle radar device, and the boundary candidate position of the region where no object exists in the predetermined detection range The detection unit for detecting each frame, the calculation unit for calculating the movement amount data related to the movement amount of the in-vehicle radar device, and the boundary candidate position detected in the past frame based on the movement amount data. An estimation unit that converts the position of the reflection point that is close to the in-vehicle radar device into the boundary position in the current frame and estimates the estimated boundary position; and the boundary of the current frame And smoothing processing using said estimated boundary position between the candidate position, anda smoothing unit that calculates a boundary position between the region where the object is not present within the predetermined detection range.

  The on-vehicle radar device according to a second disclosure is the on-vehicle radar device according to the first disclosure, wherein the smoothing unit is configured to detect the boundary candidate position or the estimated boundary position in each direction within the predetermined detection range. The likelihood value is calculated using a preset likelihood weight, and when the likelihood value is equal to or greater than a predetermined threshold, it is determined that a boundary position exists, and the boundary position is set in each direction within the predetermined detection range. Is present, the distance of the boundary position is weighted using a preset output value weight, and the output distance calculated using the weighted average is output as the boundary position.

  A region detection method according to a third disclosure is a region detection method in an in-vehicle radar device that transmits a radar signal for each frame to a predetermined detection range and receives a reflection signal obtained by reflecting the radar signal on an object. Then, in each direction within the predetermined detection range, among the reflection points detected using the reflection signal, the position of the reflection point that is close to the in-vehicle radar device is the object within the predetermined detection range. Is detected for each frame as a boundary candidate position of a region where no vehicle exists, the movement amount data relating to the movement amount of the in-vehicle radar device is calculated, and the boundary candidate position detected in a past frame based on the movement amount data Is converted into a boundary position in the current frame, a position of a reflection point that is close to the in-vehicle radar device is estimated as an estimated boundary position, and the boundary of the current frame is estimated. And smoothing processing using said estimated boundary position between the candidate positions, calculates the boundary position between the region where the object is not present within the predetermined detection range.

  An area detection method according to a fourth disclosure is the area detection method according to the third disclosure, wherein the smoothing process is performed on the boundary candidate position or the estimated boundary position in each direction within the predetermined detection range. The likelihood value is calculated using a preset likelihood weight, and when the likelihood value is equal to or greater than a predetermined threshold, it is determined that a boundary position exists, and the boundary position is set in each direction within the predetermined detection range. Is present, the distance of the boundary position is weighted using a preset output value weight, and the output distance calculated using the weighted average is output as the boundary position.

  While various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present disclosure. Understood. In addition, each component in the above embodiment may be arbitrarily combined within a scope that does not depart from the spirit of the disclosure.

  In each of the above embodiments, the present disclosure has been described for an example configured using hardware. However, the present disclosure can also be realized by software in cooperation with hardware.

  In addition, each functional block used in the description of the above embodiments is typically realized as an LSI that is an integrated circuit having an input terminal and an output terminal. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them. The name used here is LSI, but it may also be called IC, system LSI, super LSI, or ultra LSI depending on the degree of integration.

  Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI and a reconfigurable processor that can reconfigure the connection or setting of circuit cells inside the LSI may be used.

  Furthermore, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to integrate function blocks using this technology. Biotechnology can be applied.

  One aspect of the present disclosure is suitable as a radar device mounted on a vehicle.

DESCRIPTION OF SYMBOLS 100,200 Radar apparatus 101 Transmission / reception part 102 Boundary detection part 103 Movement amount calculation part 104 Buffer 105 Boundary estimation part 106 Smoothing part 201 Still object extraction part 202 Still object boundary detection part 300 Object recognition apparatus 301 Camera reception part 302 Object recognition part 303 Object recognition area setting section

Claims (10)

A transmission / reception unit that transmits a radar signal to the detection range for each frame and receives one or more reflected signals of the radar signal reflected by one or more objects;
In each azimuth within the detection range, among the one or more reflection points detected based on the one or more reflection signals, the position of the reflection point closest to the in-vehicle radar device is determined within the detection range. A detection unit that detects for each frame as a boundary candidate position of a region where the one or more objects do not exist;
A calculation unit for calculating movement amount data related to the movement amount of the in-vehicle radar device;
An estimation unit that generates an estimated estimated boundary position by converting the boundary candidate position detected in a past frame into a boundary position in a current frame based on the movement amount data;
Performing a smoothing process using the boundary candidate position and the estimated boundary position of the current frame, and calculating a boundary position with an area where the one or more objects do not exist within the detection range; and
An on-vehicle radar device comprising: The smoothing unit is
When a likelihood value is calculated using a preset likelihood weight for the boundary candidate position or the estimated boundary position in each direction within the detection range, and the likelihood value is equal to or greater than a predetermined threshold value, Judge that the boundary position exists,
When there is a boundary position in each direction within the detection range, the distance of the boundary candidate position of the current frame or the estimated boundary position is weighted using a preset output value weight, and calculated using a weighted average Output the output distance as the boundary position,
The on-vehicle radar device according to claim 1. The one or more objects include stationary objects and moving objects;
The on-vehicle radar device according to claim 1. The one or more objects are stationary objects;
The on-vehicle radar device according to claim 1. A camera unit for photographing the detection range;
An area setting unit that sets an image area used for object recognition in the captured video, based on the boundary position;
An object recognition unit that performs object recognition on the set image region;
Further including
The on-vehicle radar device according to claim 1. Transmitting a radar signal to the detection range for each frame, and receiving one or more reflected signals in which the radar signal is reflected by one or more objects;
In each azimuth within the detection range, among the one or more reflection points detected based on the one or more reflection signals, the position of the reflection point closest to the in-vehicle radar device is determined within the detection range. , Detecting for each frame as a boundary candidate position of the region where the one or more objects do not exist,
Calculate movement amount data relating to the movement amount of the in-vehicle radar device,
Based on the movement amount data, the estimated boundary position is generated by converting the boundary candidate position detected in the past frame into the boundary position in the current frame,
Smoothing is performed using the boundary candidate position and the estimated boundary position of the current frame, and a boundary position with an area where no object exists in the detection range is calculated;
Region detection method. The smoothing process includes
When a likelihood value is calculated using a preset likelihood weight for the boundary candidate position or the estimated boundary position in each direction within the detection range, and the likelihood value is equal to or greater than a predetermined threshold value, Determining that the boundary position exists;
When the boundary position exists in each direction within the detection range, the weight of the boundary candidate position or the estimated boundary position of the current frame is weighted using a preset output value weight, and a weighted average is used. Output the calculated output distance as the boundary position,
The region detection method according to claim 6. The one or more objects include stationary objects and moving objects;
The region detection method according to claim 6. The one or more objects are stationary objects;
The region detection method according to claim 6. The detection range is photographed using a camera unit,
An image region used for object recognition among the captured images is set based on the boundary position,
Object recognition is performed on the set image area.
Further including
The region detection method according to claim 6.