JP2019100856A - Control device, detection device, control method, program, and storage medium - Google Patents

Abstract

To provide a control device and a detection device that can suitably adjust a detection range of the detection device that detects an object.SOLUTION: A control device 1 controls a lidar 3 capable of detecting an object existing around a vehicle 5, and obtains gradient information on a gradient θof a slope existing in a direction in which the vehicle 5 may proceed from a map DB 20. The control device 1 then controls the lidar 3 so as to change the direction of a lidar detection range RL of the lidar 3 with respect to the vehicle 5 on the basis of the gradient information on the gradient θand distance information on a slope arrival distance Ds if the slope arrival distance Ds from a current position to a slope start point Ps is equal to or less than a detection target distance Dt.SELECTED DRAWING: Figure 19

Description

  The present invention relates to adjustment technology of a detection range of a detection device for object detection.

  BACKGROUND ART Conventionally, adjustment technology of an irradiation unit for object detection is known. For example, Patent Document 1 discloses an irradiation detection unit that emits laser light from the vehicle to the surroundings to detect reflected light, and a gradient detection unit that detects the presence or absence of a gradient change of a road ahead of the vehicle. There is disclosed a laser radar control device comprising: an output control unit which suppresses an irradiation output of laser light when a gradient change is detected by the gradient detection unit.

JP, 2010-127846, A

  In the vicinity of a slope, an object on a slope may not be included in the irradiation range of the laser light or the like emitted to detect the object. As a result, the object to be detected can not be accurately detected, and the object detection accuracy decreases. There is a risk of

  The present invention has been made to solve the problems as described above, and a main object of the present invention is to provide a control device and a detection device capable of suitably adjusting the detection range of the detection device for detecting an object. To aim.

  The invention recited in the claims is a control device that controls a detection device capable of detecting an object around a mobile object, and acquires gradient information on a slope of a slope existing in a direction in which the mobile object may travel. An acquisition unit, and when the distance from the current position of the moving body to the start point of the slope is within a predetermined distance, the gradient information and distance information on the distance from the current position to the start point And a control unit configured to control the detection device to change the direction of the detection range of the detection device with respect to the movable body.

  The invention described in the claims is a detection device including an irradiation unit that irradiates an electromagnetic wave or an ultrasonic wave to the periphery of the moving body, and a reception unit that receives the electromagnetic wave or the ultrasonic wave reflected by the object. An acquisition unit for acquiring gradient information on slopes of slopes existing in a direction in which the movable body may travel, and a distance from a current position of the movable bodies to a start point of the slope is within a predetermined distance When it becomes, based on the gradient information and the distance information on the distance from the current position to the start point, the irradiation unit changes the direction of the irradiation range to which the electromagnetic wave or ultrasonic wave is irradiated to the moving body And a control unit for controlling.

  The invention described in the claims is a control method executed by a control device that controls a detection device capable of detecting an object in the vicinity of a moving object, and a slope which exists in a direction in which the moving object may travel. Acquisition step of acquiring gradient information on the gradient, and when the distance from the current position of the mobile body to the start point of the slope is within a predetermined distance, the gradient information and the current position to the start point And d) controlling the detection device to change the direction of the detection range of the detection device relative to the moving object based on distance information on the distance.

  The invention recited in the claims is a program executed by a computer that controls a detection device capable of detecting an object in the vicinity of a moving object, and a slope of a slope existing in a direction in which the moving object may travel. The acquisition unit for acquiring the gradient information related to the distance from the current position of the moving body to the start point of the slope within a predetermined distance, the gradient information and the distance related to the distance from the current position to the start point The computer functions as a control unit that controls the detection device to change the direction of the detection range of the detection device with respect to the moving object based on distance information.

It is a schematic structure of a measurement system. 2 shows a block configuration of a control device. The schematic structural example of a rider is shown. The sectional view of the road cut along the direction of movement of vehicles in case vehicles run around the uphill is shown. The cross-sectional view of the road cut along the advancing direction of the vehicle in case the vehicle travels near the downhill is shown. Fig. 6 shows an example of the electronic adjustment of the actual scan range of the lidar. It is a flowchart of 1st Example. The sectional view of the road cut along the direction of movement of vehicles in case vehicles run around the uphill is shown. The cross-sectional view of the road cut along the advancing direction of the vehicle in case the vehicle travels near the downhill is shown. It is a flowchart of 2nd Example. It is sectional drawing of the road which showed roughly the determination method of the center irradiation angle in 3rd Example. Sectional drawing of the road at the time of a vehicle entering a slope from the state of FIG. 11 is shown. The sectional view of the road in case a vehicle is running downhill is shown. It is a flowchart of 3rd Example. It is a figure explaining the necessity of exception processing based on a 4th example. It is sectional drawing of the road which showed the processing outline in 4th Example in the slope which forms a mountain. It is sectional drawing of the road which showed the processing outline in 4th Example in the slope which forms a valley. It is a flowchart of 4th Example. The sectional view of the road which shows the relative position relation between the present position and a slope is shown. It is a flowchart of 5th Example. The structural example of the measurement system which concerns on a modification is shown.

  According to a preferred embodiment of the present invention, there is provided a control device for controlling a detection device capable of detecting an object around a moving object, wherein the gradient with respect to the slope of the slope existing in the direction in which the moving object may travel When the distance from the current position of the mobile unit to the start point of the slope becomes within a predetermined distance, an acquisition unit for acquiring information, the gradient information, and distance information on the distance from the current position to the start point And a control unit configured to control the detection device to change the direction of the detection range of the detection device with respect to the moving object based on and. According to this configuration, the control device can suitably control the detection range of the detection device so that an object on a slope can be detected when the moving object approaches a slope. In a preferred example, the predetermined distance may be a distance at which the detection device can detect the object in the direction.

  In one aspect of the control device, when the distance to the start point is within the predetermined distance, the control unit may detect the position on the slope at the predetermined distance away from the current position in the linear distance. Control to change the direction as included in FIG. According to this aspect, the control device can suitably control the detection range of the detection device so as to be able to detect an object at a predetermined distance ahead on the slope.

  According to another preferred embodiment of the present invention, an irradiation unit for emitting an electromagnetic wave or an ultrasonic wave to the periphery of the movable body and a receiving unit for receiving the electromagnetic wave or the ultrasonic wave reflected by the object are provided. An acquisition unit configured to acquire gradient information on a slope of a slope existing in a direction in which the mobile body may travel, and a predetermined distance from a current position of the mobile body to a start point of the slope When it is within the distance, the direction of the irradiation range to which the irradiation unit irradiates the electromagnetic wave or the ultrasonic wave with respect to the moving body based on the gradient information and the distance information on the distance from the current position to the start point And a control unit that controls to change. Here, “control the irradiation unit to change the direction of the irradiation range to which the irradiation unit irradiates electromagnetic waves or ultrasonic waves with respect to the movable body” means that the irradiation unit is an electromagnetic wave of the actual irradiation range of the irradiation unit. Or, besides the control of changing the ultrasonic wave within the possible range, the control of changing the mechanical (physical) arrangement position of the irradiation unit, and the arrangement angle of the irradiation unit (the installation angle with respect to the moving body) It may include control to change (physically). According to this configuration, when the detection device approaches a slope, the detection range of the detection device can be suitably controlled so that an object on the slope can be detected.

  According to another preferred embodiment of the present invention, there is provided a control method executed by a control device for controlling a detection device capable of detecting an object in the vicinity of a moving object, in a direction in which the moving object may travel. An acquisition step of acquiring gradient information on the slope of the existing slope, and when the distance from the current position of the mobile body to the start point of the slope is within a predetermined distance, the gradient information and the start from the current position And controlling the detection device to change the direction of the detection range of the detection device relative to the moving object based on distance information on a distance to a point. By executing this control method, the control device can suitably control the detection range of the detection device so that an object on a slope can be detected when the moving object approaches a slope.

  According to another preferred embodiment of the present invention, there is provided a program executed by a computer for controlling a detection device capable of detecting an object in the vicinity of a mobile object, the program being in a direction in which the mobile object may travel. An acquisition unit for acquiring gradient information on the slope of the slope; and when the distance from the current position of the mobile body to the start point of the slope is within a predetermined distance, the gradient information and the current position to the start point The computer functions as a control unit that controls the detection device to change the direction of the detection range of the detection device with respect to the moving object based on the distance information on the distance of By executing this program, the computer can suitably control the detection range of the detection device so that an object on a slope can be detected when the moving object approaches a slope. Preferably, the program is stored in a storage medium.

  Hereinafter, first to fifth preferred embodiments of the present invention will be described with reference to the drawings.

First Embodiment
[overall structure]
FIG. 1 is a schematic configuration of a measurement system according to a first embodiment. The measurement system is a system for performing measurement for automatic driving of the vehicle 5, and mainly includes a control device 1 and a sensor group including a lidar (Lidar: Light Detection and Ranging or Laser Illuminated Detection And Ranging) 3. Equipped with

  The control device 1 is connected to a sensor group including the lidar 3 by wire or wirelessly, performs high-accuracy position estimation of the vehicle 5 based on the output data of the sensor group, and controls automatic driving of the vehicle 5 . Further, in the present embodiment, the control device 1 controls the detection range of the object by the lidar 3 by controlling the irradiation direction of the laser of the lidar 3. The control device 1 may be incorporated in the vehicle 5 as an electronic control unit (ECU) that automatically controls the operation of the vehicle 5. Even if the control device 1 is an in-vehicle device or the like that transmits a control signal related to automatic driving to the vehicle 5. Good. In another example, the controller 1 may be configured as part of the rider 3.

  The lidar 3 discretely measures the distance to an object present in the external world by emitting a pulse laser which is an electromagnetic wave to a predetermined angle range in the horizontal direction and the vertical direction, and indicates the position of the object Generate dimensional point cloud information. In this case, the lidar 3 includes an irradiation unit that emits a laser beam while changing the irradiation direction, and a reception unit that receives the reflected light (scattered light) of the irradiated laser beam. The point cloud information is generated based on the irradiation direction corresponding to the laser beam received by the light receiving unit and the response delay time of the laser beam specified based on the above-described light receiving signal. In the present embodiment, the rider 3 includes at least the front (traveling direction) of the vehicle in the irradiation range of the laser light. Hereinafter, a range in which the laser light from the lidar 3 is irradiated and which is within the maximum ranging distance of the lidar 3 is also referred to as a “lidar detection range RL”.

  Moreover, the lidar 3 is provided with an angle adjustment mechanism (not shown), and is configured to adjust the angle (i.e., supine angle) in the vertical direction of the irradiation unit based on the control signal supplied from the control device 1. In the example of FIG. 1, the lidar 3 is provided on the ceiling of the vehicle 5 as an example, but is not limited to this and may be provided on any part of the vehicle 5. For example, the rider 3 may be fitted in the vicinity of the middle of two headlights (not shown) provided on the vehicle 5. The lidar 3 functions as a detection device.

  FIG. 2 shows a block configuration of the control device 1. As shown in FIG. 2, the control device 1 includes an input unit 11, a storage unit 12, an interface 13, a notification unit 14, a communication unit 15, and a control unit 16. The control unit 16 and the other elements are configured to be able to transmit and receive signals via a bus or the like.

  The input unit 11 is a button operated by the user, a touch panel, a remote controller, a voice input device, or the like, and receives various inputs such as switching between automatic operation and manual operation.

  The storage unit 12 stores a program executed by the control unit 16 and information necessary for the control unit 16 to execute predetermined processing. In the present embodiment, the storage unit 12 stores the map DB 20. The map DB 20 may be used for navigation at the time of manual operation of the vehicle, or may be used for operation control of the vehicle at the time of automatic operation of the vehicle. The map DB 20 includes road data represented by links and nodes, facility information, feature information on features to be detected by the rider 3 and the like, and the like.

  The interface 13 supplies output data from various sensor groups provided in the vehicle 5 to the control unit 16 and supplies a control signal from the control unit 16 to a specific sensor of the sensor group. In this embodiment, the sensor group includes the attitude sensor 4 and the GPS receiver 7 in addition to the lidar 3 described above. The attitude sensor 4 is, for example, a three-axis acceleration sensor, and is provided as a sensor for detecting the attitude of the vehicle 5. A sensor for detecting the attitude of the rider 3 may be further provided.

  The notification unit 14 is, for example, a display, a speaker, or the like that performs output based on control of the control unit 16. The communication unit 15 performs data communication with an external device based on the control of the control unit 16.

  The control unit 16 includes a CPU or the like that executes a program, and controls the entire measurement system. In the present embodiment, even when the vehicle 5 passes near a slope, the control unit 16 sets the lidar detection range RL a predetermined distance (also referred to as a “detection target distance Dt”) away from the vehicle 5 on the road. The irradiation angle in the vertical direction of the lidar 3 (that is, the elevation angle of the laser light) is controlled to include the range. In other words, in this case, with the irradiation angle in the horizontal direction of the lidar 3 (i.e., the direction of the laser light) directed to the front of the vehicle 5, the control unit 16 irradiates the irradiation angle in the vertical direction of the lidar 3 (i.e., the laser light Control the supine angle). The detection target distance Dt is, for example, the maximum distance at which the rider 3 can detect an object in the traveling direction of the vehicle 5, and is set to, for example, 100 m. The detection target distance Dt may be longer or shorter than the maximum distance at which the rider 3 can detect an object. Further, the detection target distance Dt may be a predetermined fixed value or may be varied according to the behavior of the vehicle 5. In this case, for example, as the speed of the vehicle 5 is higher, the right object distance Dt may be changed to be longer. The control unit 16 functions as an acquisition unit, a first acquisition unit, a second acquisition unit, a control unit, a computer that executes a program, and the like.

[Configuration example of lidar]
FIG. 3 shows a schematic configuration example of the rider 3. The lidar 3 is a lidar of a TOF (Time Of Flight) system, and mainly includes an optical transmission / reception unit 18 and a signal processing unit 19 as shown in FIG.

  The optical transmission / reception unit 18 mainly includes the synchronization control unit 21, the LD driver 22, the laser diode 23, the drive driver 25, the light receiving element 26, the current / voltage conversion circuit (transimpedance amplifier) 27, and the A / D. A converter 28, a segmentor 29, and a crystal oscillator 30 are included.

  The crystal oscillator 30 outputs a pulse-like clock signal “S1” to the synchronization control unit 21 and the A / D converter. The synchronization control unit 21 outputs a pulse-like trigger signal “S2” to the LD driver 22. The synchronization control unit 21 also outputs a segment extraction signal “S3”, which determines the timing at which the segmenter 29 described later extracts the output of the A / D converter 28, to the segmentator 29.

  The LD driver 22 supplies a pulse current to the laser diode 23 in synchronization with the trigger signal S2 input from the synchronization control unit 21. The laser diode 23 is, for example, an infrared pulse laser, and emits a light pulse based on the pulse current supplied from the LD driver 22.

  The scanning unit L is configured as a scanner including, for example, transmission and reception optical systems, scans the light pulse emitted from the laser diode 23 in a range of predetermined horizontal angle and vertical angle, and is irradiated with the emitted light pulse. The return light reflected by the object is guided to the light receiving element 26. In this case, the scanning unit L emits a light pulse for each segment obtained by dividing the above-mentioned horizontal angle by an equal angle. The scanning unit L adjusts the emission angle or the like of the light pulse based on the signal supplied from the drive driver 25. The scanning unit L may be a mirror driven by a motor or a mirror of an electrostatic drive system. Thus, the scanning unit L functions as an irradiation unit that irradiates an electromagnetic wave.

  The light receiving element 26 is, for example, an avalanche photodiode, and generates a weak current according to the light amount of the reflected light from the object guided by the scanning unit L. The light receiving element 26 supplies the generated weak current to the current voltage conversion circuit 27. Thus, the light receiving element 26 functions as a receiving unit that receives the reflected electromagnetic wave. The current-voltage conversion circuit 27 amplifies the weak current supplied from the light receiving element 26 and converts it into a voltage signal, and inputs the converted voltage signal to the A / D converter 28.

  The A / D converter 28 converts the voltage signal supplied from the current voltage conversion circuit 27 into a digital signal based on the clock signal S1 supplied from the crystal oscillator 30, and supplies the converted digital signal to the segmentor 29. The segmentor 29 generates a digital signal which is an output of the A / D converter 28 in a period in which the segment extraction signal S3 is asserted as a signal (also referred to as "segment signal Sseg") related to the light reception intensity for each segment. The segmentor 29 supplies the generated segment signal Sseg to the signal processor 19.

  The signal processing unit 19 generates point group information indicating the distance and the angle of the object based on the segment signal Sseg transmitted from each of the light transmitting / receiving units TR. Specifically, the signal processing unit 19 detects a peak from the waveform of the segment signal Sseg, and estimates the amplitude and delay time corresponding to the detected peak. Then, the signal processing unit 19 determines, among the peaks of the waveform indicated by the segment signal Sseg, the information of the distance corresponding to the delay time of the peak for which the estimated amplitude is a predetermined threshold or more and the information of the angle corresponding to the target segment. Is generated as information of each point constituting point cloud information.

[Control of lidar detection range]
Next, control of the lidar detection range RL performed by the control device 1 in the first embodiment will be described. Generally speaking, when the control device 1 approaches a slope, the difference in height between the current position of the vehicle 5 and a point ahead of the vehicle 5 by the detection target distance Dt (also referred to as a detection target point Pt). The irradiation angle in the vertical direction of the lidar 3 is controlled based on the information on. Thereby, the control device 1 controls the rider 3 so that the object on the detection target point Pt existing on the slope is preferably included in the rider detection range RL even when the vehicle 5 approaches the slope. Do.

Hereinafter, the difference in height between the current position and the detection target point Pt is also referred to as the “difference in height H”. In addition, the central angle in the vertical direction of the angle range in which the lidar 3 scans the pulse laser (that is, the supination angle at the center of the lidar detection range RL) is also referred to as “central irradiation angle θ _L ”. Here, the central irradiation angle θ _L is not an absolute angle based on the horizontal plane, but is a relative angle based on the vehicle 5 (the traveling direction of the vehicle 5 is 0 °). Also, the “standard angle” refers to the normal central irradiation angle θ _L set when traveling on a flat road where the slope does not exist around the current position.

(1) Determination of the central irradiation angle FIGS. 4A to 4C are cross-sectional views of the road taken along the traveling direction of the vehicle 5 when the vehicle 5 travels in the vicinity of the upward slope of the gradient "θ _B ". Indicates Here, FIG. 4A shows a state in which the forward uphill is separated from the detection target distance Dt or more, and FIG. 4B shows a state in which the forward uphill exists within the detection target distance Dt. FIG. 4C shows a state immediately before the vehicle 5 enters the uphill. Here, the detection target point Pt is determined by regarding the detection target distance Dt as the horizontal distance. Hereinafter, the solid line "LM" indicates the center line in the vertical direction of the irradiation range of the lidar 3, and the solid lines "LT" and "LL" indicate the boundary line in the vertical direction of the irradiation range of the lidar 3. The broken line "J" indicates the latitude and longitude corresponding to the current position of the vehicle 5 estimated by the control device 1, and the broken line "S" indicates the latitude and longitude corresponding to the detection target point Pt estimated by the control device 1. .

  In this case, first, the control device 1 calculates an altitude difference between the current position and the detection target point Pt (also referred to as “altitude difference H”). For example, the control device 1 specifies the height of the current position by extracting the height information of the point on the road corresponding to the current position estimated based on the output of the sensor group from the road data of the map DB 20. Similarly, the control device 1 extracts from the road data of the map DB 20 the elevation information of a point on the road that is separated from the current position by the detection target distance Dt in the horizontal distance in the traveling direction of the vehicle 5. Identify the altitude of the point Pt. In this case, when the route for automatic driving or the route for route guidance has already been determined, the detection target distance Dt may be a distance along the route. Then, the control device 1 calculates the height difference H by subtracting the height of the current position from the height of the detection target point Pt.

And in the example of FIG. 4 (A), the start point (It is a change point of a slope or an altitude, and it is also called "slope start point Ps" hereafter) of the slope (gradient) which exists ahead of the vehicle 5 is the present. It is separated from the position by the detection target distance Dt or more, and the height difference H is zero. Therefore, in this case, the control device 1 determines that it is not necessary to change the lidar detection range RL, and sets the central irradiation angle θ _L to a predetermined standard angle (here, 0 ° as an example). Then, in the example of FIG. 4A, the preceding vehicle existing near the detection target point Pt is included in the rider detection range RL, and the control device 1 detects the presence of the preceding vehicle based on the output of the rider 3 It is possible.

On the other hand, in the example of FIG. 4 (B) and (C), the slope start point Ps exists between the current position of the vehicle 5 and the detection target point Pt, and the detection target point Pt exists on the slope. doing. In this case, the height difference H calculated by the control device 1 is a positive value larger than zero. Therefore, in this case, the control device 1 sets the central irradiation angle θ _L according to the calculated height difference H. For example, the control device 1 stores in advance a formula or map that defines the central irradiation angle θ _L suitable for each height difference H, and refers to the formula or map to set the central irradiation angle. Recognize θ _L Here, using the detection target distance Dt, which is the horizontal distance to the detection target point Pt, and the height difference H, the control device 1 uses a gradient angle between two points of the current position and the detection target point Pt (ie, tan ^{− 1} (H / Dt)) is calculated and added to the central irradiation angle θ _L by the gradient angle. As a result, the central irradiation angle θ _L increases as the vehicle 5 approaches the slope start point Ps. Then, in the example of FIG. 4B, the central irradiation angle θ _L is an angle “θ1” (0 <θ1 <θ _B ) smaller than the slope θ _B of the slope, and the vehicle 5 is just before the slope start point Ps. In the example of FIG. 4 (C) which exists in, the central irradiation angle θ _L is approximately equal to the slope θ _B of the slope. In these cases, the preceding vehicle present at the detection target point Pt on the slope is preferably included in the rider detection range RL.

As described above, the control device 1 increases the central irradiation angle θ _L as the height difference H increases, so that an object on the detection target point Pt existing at a higher altitude than the current position is suitably placed in the lidar detection range RL. It can be included.

5 (A) and 5 (B) show cross-sectional views of a road taken along the traveling direction of the vehicle 5 when the vehicle 5 travels in the vicinity of the downhill of the gradient "-θ _B ". In FIGS. 5A and 5B, the slope start point Ps of the slope of the slope -θ _B exists between the current position of the vehicle 5 and the detection target point Pt, and the detection target point Pt is the slope Exist on. In FIG. 5B, the vehicle 5 is present at a point immediately before the slope start point Ps. And in the example of FIG. 5 (A), (B), the height difference H which the control apparatus 1 calculates becomes a negative value smaller than zero.

In this case, as in the case where the height difference H is a positive value, the control device 1 calculates the height difference H, and then sets the central irradiation angle θ _L based on the calculated height difference H. For example, using the height difference H and the detection target distance Dt, the control device 1 calculates a slope angle (here, a negative value) between two points of the current position and the detection target point Pt, and only the slope angle Add to the central illumination angle θ _L. As a result, the central irradiation angle θ _L decreases as the vehicle 5 approaches the slope start point Ps (that is, the absolute value of the negative value increases), and the central irradiation angle θ _L approaches the slope -θ _B of the slope. Then, in the example of FIG. 5 (A), the central irradiation angle θ _L is an angle “−θ2” (0 <θ1 <θ _B ), and the vehicle 5 is present immediately before the slope start point Ps (FIG. In the example of B), the central irradiation angle θ _L is approximately equal to the angle −θ _B. Then, in any of the examples of FIGS. 5A and 5B, the preceding vehicle present at the detection target point Pt on the slope is preferably included in the rider detection range RL.

The control device 1 may maintain the central irradiation angle θ _L at a standard angle without changing the central irradiation angle θ _L when the absolute value of the height difference H is equal to or less than a predetermined value. Predetermined value mentioned above, for example, in consideration of the vertical scanning angle range of rider 3 (i.e. vertical viewing angle), the object on the even detection target point Pt to maintain a central irradiation angle theta _L standard angle rider The height difference is set to be included in the detection range RL.

FIG. 5C shows a cross-sectional view of the road when the central irradiation angle θ _L is temporarily maintained at the standard angle when approaching an uphill. In this case, most of the laser light of the rider 3 is irradiated to the road in front of the detection target point Pt, so it is difficult to detect the preceding vehicle present on the detection target point Pt with sufficient accuracy.

The control device 1 may set the central irradiation angle θ _L in consideration of the attitude of the vehicle 5 at the current position in addition to the height difference H. For example, when the road corresponding to the current position has a slope, the controller 1 corrects the central irradiation angle θ _L by the slope, since the rider 3 is inclined by the slope. In this case, the control device 1 detects, for example, the inclination in the traveling direction of the vehicle 5 based on the output of the attitude sensor 4 and corrects the central irradiation angle θ _L by the detected inclination. In another example, the control device 1 refers to the map DB 20 to acquire gradient information of the road where the current position is present, and corrects the central irradiation angle θ _L by the gradient indicated by the acquired gradient information.

In addition to the height difference H, the control device 1 may set the central irradiation angle θ _L by further considering the road gradient at the detection target point Pt. For example, when the downward road gradient indicated by the gradient information at the detection target point Pt acquired from the map DB 20 is equal to or greater than a predetermined angle (that is, when the detection target point Pt exists on a steep downward slope), If the central irradiation angle θ _L is set based on the height difference H, it is determined that the laser beam is blocked by the road in front of the slope start point Ps, and the laser beam is not blocked by the road (for example, standard angle) The central irradiation angle θ _L is set to Similarly, when the upward road gradient indicated by the gradient information at the detection target point Pt acquired from the map DB 20 is equal to or greater than a predetermined angle, the control device 1 sets the central irradiation angle θ _L based on the height difference H. It is judged that the preceding vehicle etc. existing from the position to the slope start point Ps can not be detected, and the lidar detection range RL becomes an angle (for example, standard angle) at which the preceding vehicle etc. can be detected near the slope start point Ps. The central irradiation angle θ _L is set to

(2) Angle adjustment example The control device 1 is a mechanism that mechanically (physically) adjusts the vertical direction of the lidar 3 using the angle adjustment mechanism provided in the lidar 3 when adjusting the central irradiation angle θ _L Adjustment may be performed, or electronic adjustment may be performed to change an actual scanning range described later. For a specific example of the mechanical adjustment, the central irradiation angle θ _L is adjusted by physically moving the entire rider 3 with respect to the vehicle 5 by a mechanical adjustment unit configured by, for example, a motor (not shown). Here, a specific example of the above-mentioned electronic adjustment will be described with reference to FIG.

FIG. 6A shows the scannable range “SR” of the lidar 3 and the actual scan range “FOV when the central illumination angle θ _L is a standard angle on a virtual illumination plane perpendicular to the emission direction of the lidar 3. Show the corresponding relationship with Here, the scannable range SR refers to a range in which scanning with a pulse laser is possible, and the actual scan range FOV refers to a range in which scanning with a pulse laser is actually performed. The arrows in the actual scanning range FOV indicate an example of the scanning direction.

  As shown in FIG. 6A, the actual scanning range FOV is set to a range smaller than the scannable range SR, and the lidar 3 instructs a control signal to change the parameter of the internal signal of the optical transceiver 18. By receiving from the control device 1, the position adjustment of the actual scan range FOV is possible within the scannable range SR. Here, the upper side and the lower side of the actual scanning range FOV correspond to the boundary lines LT and LL shown in FIGS. 4 and 5, and the center line of the actual scanning range FOV along the longitudinal direction is shown in FIGS. It corresponds to the center line LM shown.

FIG. 6B shows the correspondence between the scannable range SR and the actual scan range FOV when the actual scan range FOV is moved upward within the scannable range SR based on the control signal supplied from the control device 1. Show the relationship. In this case, as the actual scanning range FOV moves upward within the scannable range SR, the central irradiation angle θ _L is added by a predetermined value from the standard angle, and the lidar detection range RL is greater than in the case of FIG. Move upwards. FIG. 6C shows the correspondence between the scannable range SR and the actual scan range FOV when the actual scan range FOV is moved downward within the scannable range SR based on the control signal supplied from the control device 1. Show the relationship. In this case, as the actual scanning range FOV moves downward within the scannable range SR, the central irradiation angle θ _L is subtracted from the standard angle by a predetermined value, and the lidar detection range RL is smaller than in the case of FIG. Move down. In this case, the actual scanning range FOV does not move in the lateral direction, and the direction of the rider detection range RL with respect to the vehicle 5 is not changed.

As described above, the control device 1 can preferably adjust the central irradiation angle θ _L by electronic adjustment for moving the actual scanning range FOV up and down within the scannable range SR. Therefore, the control device 1 can suitably adjust the central irradiation angle θ _L of the lidar 3 by executing at least one of mechanical adjustment and electronic adjustment with respect to the lidar 3. For example, when it is determined that the central irradiation angle θ _L can not be set to the target angle only by the above-described electronic adjustment, the control device 1 performs mechanical adjustment of the lidar 3 using the angle adjustment mechanism. In this case, the control device 1 may store in advance information on the angular range of the central irradiation angle θ _{L which} can be adjusted by electronic adjustment. Further, in the present embodiment, when adjusting the actual scanning range FOV, the center line LM (the center irradiation angle θ _L ) is adjusted, but the boundary lines LT and LL may be adjusted.

(3) Processing Flow FIG. 7 is a flow chart showing a processing procedure regarding control of the lidar detection range RL of the control device 1 in the first embodiment. The control device 1 repeatedly executes the process of the flowchart of FIG. 7.

  First, after estimating the current position of the vehicle 5 based on the output of the sensor group, the control device 1 calculates the height difference H between the estimated current position and the detection target point Pt by referring to the map DB 20 (step S101) ). In this case, the control device 1 refers to the map DB 20 and extracts the height of a point on the road corresponding to the estimated current position and the height of a point ahead by the detection target distance Dt from the point in question. Thus, the height difference H is calculated.

Next, the control device 1 adjusts the central irradiation angle θ _L based on the height difference H calculated in step S101 (step S102). In this case, the control device 1 sets the central irradiation angle θ _L to be larger as the height difference H is larger. Thereby, the control device 1 can detect a preceding vehicle or the like near the detection target point Pt based on the output of the rider 3 even when the detection target point Pt is present on a slope. In this case, when it is determined that the longitudinal direction of the vehicle 5 is inclined (that is, there is a road gradient at the current position) based on the output of the attitude sensor 4 or the like, the control device 1 performs central irradiation by the detected inclination. The angle θ _L may be corrected.

  As described above, the control device 1 according to the first embodiment controls the rider 3 capable of detecting an object present around the vehicle 5, and detects the current position of the vehicle 5 and the current position. Information (first information) of the height difference H with the detection target point Pt separated by the target distance Dt is acquired. Then, based on the acquired height difference H, the control device 1 controls the rider 3 to change the direction of the rider detection range RL of the rider 3 with respect to the vehicle 5. Thereby, the control device 1 can suitably detect an object present in the vicinity of the detection target point Pt based on the output of the rider 3 even when the detection target point Pt exists on the slope.

Second Embodiment
In the second embodiment, generally, the control device 1 detects a slope when it approaches a slope start point Ps of a slope existing in the traveling direction within a predetermined distance (also referred to as a “threshold distance Lth”). The central irradiation angle θ _L is set based on the gradient θ _B. Hereinafter, each component of the measurement system similar to that of the first embodiment is given the same reference numeral as appropriate, and the description thereof will be omitted.

Figure 8 (A) ~ (C) shows a cross-sectional view of the traveling road of the vehicle 5 when the near uphill slope theta _B vehicle 5 travels. Here, FIG. 8 (A) shows a state where the slope start point Ps is present farther than the threshold distance Lth from the current position of the vehicle 5, and FIG. 8 (B) shows the slope start point Ps being the current of the vehicle 5. FIG. 8C shows a state after the vehicle 5 has passed the uphill slope start point Ps from the position within the threshold distance Lth.

  First, the control device 1 determines the presence or absence of the slope start point Ps within the threshold distance Lth by acquiring, for example, gradient information or altitude information of the traveling road of the vehicle 5 from the map DB 20. The threshold distance Lth is set, for example, to be shorter than the detection target distance Dt used in the first embodiment.

  Here, a specific example of a method of specifying the slope start point Ps will be described. For example, in the map DB 20, when link data exists for each road having different slopes and height information exists for the start point and the end point of each link, the control device 1 determines the start point of each link The slope of each link is calculated based on the difference in height between the and the end point and the horizontal distance difference based on the latitude and longitude, and the start point of the link whose absolute value of the slope is a predetermined angle or more is regarded as the slope start point Ps. In another example, when there is link data including gradient information for each road having different gradients in the map DB 20, the control device 1 generates a link including gradient information indicating a gradient whose absolute value is equal to or greater than a predetermined angle. The start point is regarded as a slope start point Ps.

Then, in the example of FIG. 8A, since the slope start point Ps does not exist within the threshold distance Lth from the current position, the control device 1 determines that it is not necessary to adjust the central irradiation angle θ _L The illumination angle θ _L is maintained at the standard angle.

On the other hand, in the example of FIG. 8B, the control device 1 determines that the slope start point Ps is within the threshold distance Lth from the current position, and determines the central irradiation angle θ _L based on the slope θ _B of the uphill. Do. Specifically, the control device 1 adds the central irradiation angle θ _L by the angle θ _B from the standard angle (here, 0 degree). In this case, the center line LM passing through the center of the rider detection range RL is parallel to the road surface of the slope, so that a preceding vehicle or the like on the slope can be included in the rider detection range RL. Therefore, in this case, based on the output of the rider 3, the control device 1 can suitably detect a preceding vehicle or the like existing on a slope that is to be traveled.

Further, in the example of FIG. 8C, the control device 1 determines the slope start point Ps based on the position information of the slope start point Ps and the current position information of the vehicle 5 estimated from the output of the sensor group, for example. Recognize that it has passed. In this case, the control device 1 returns the central irradiation angle θ _L to a standard angle (here, 0 degree). Here, in the example of FIG. 8C, since the vehicle 5 is present on the slope of the slope θ _B , it is inclined at an elevation angle of the angle θ _B. Therefore, after passing through the slope start point Ps, the control device 1 returns the central irradiation angle θ _L from the angle θ _B to the standard angle, and the center line LM passing the center of the irradiation range of the rider 3 with the road surface of the slope. Continue to be parallel. Thereby, the control device 1 can include the preceding vehicle or the like on the slope in the rider detection range RL, and can appropriately detect the preceding vehicle or the like based on the output of the rider 3.

Figure 9 (A), (B) shows a cross-sectional view of a road taken along a traveling direction of the vehicle when the near downhill slope - [theta] _B the vehicle is traveling. Here, FIG. 9 (A) shows a state where the current position of the vehicle 5 is within the threshold distance Lth from the slope start point Ps on the down slope, and FIG. 9 (B) shows the vehicle on the slope start point Ps on the down slope. 5 shows the state after passing.

In the example of FIG. 9 (A), the control unit 1 determines that the slope starting point Ps approaches within a threshold distance Lth for downhill next passing central illumination angle based on the gradient - [theta] _B of the downhill θ Determine _L. Specifically, the control device 1 subtracts the central irradiation angle θ _L from the standard angle by the angle θ _B. In this case, since the center line LM passing through the center of the rider detection range RL is parallel to the road surface of the slope, the leading vehicle or the like on the downhill can be included in the rider detection range RL. Therefore, based on the output of the rider 3, the control device 1 can suitably detect a preceding vehicle or the like present on the downhill to be traveled.

In the example of FIG. 9 (B), the control device 1 has passed the slope start point Ps based on, for example, the position information of the slope start point Ps and the current position information of the vehicle 5 estimated from the output of the sensor group Recognize that. In this case, the controller 1 returns the central irradiation angle θ _L to the standard angle. Thereby, the control device 1 can make the center line LM passing through the center of the irradiation range of the rider 3 parallel to the road surface of the slope and include the preceding vehicle or the like on the slope in the rider detection range RL.

  FIG. 10 is a flowchart showing a processing procedure regarding control of the rider detection range RL of the control device 1 in the second embodiment. The control device 1 repeatedly executes the process of the flowchart of FIG.

First, the control device 1 determines whether the vehicle 5 has approached a slope (step S201). Specifically, the control device 1 refers to the map DB 20 and determines whether or not there is a slope start point Ps within a threshold distance Lth from the current position estimated based on the output of the sensor group or the like. Then, when it is determined that the controller 1 does not approach the slope (step S201; No), that is, when the slope start point Ps does not exist within the threshold distance Lth from the current position, the central irradiation angle θ _{L is set} to the standard angle. (Step S202).

On the other hand, when it is determined that the controller approaches the slope (step S201; Yes), the control device 1 acquires information on the slope θ _B of the approaching slope from the map DB 20, and based on the slope θ _B , the central irradiation angle θ _L is set (step S203). In this case, for example, the control device 1 adds the angle θ _B (negative value in the case of downhill) to the central irradiation angle θ _L which is a standard angle. Thereby, the preceding vehicle etc. which exist in the slope to which the vehicle 5 approaches can be suitably included in the rider detection range RL. In this case, as in the first embodiment, the control device 1 may correct the central irradiation angle θ _L based on the attitude of the vehicle 5 at the current position (ie, the road gradient at the current position).

Next, the control device 1 determines whether the vehicle 5 has passed the slope start point Ps (step S204). Then, the control device 1, when the vehicle 5 is not passed through the hill start point Ps (step S204; No), subsequently executes a step S203, sets the value based on the central irradiation angle theta _L gradient theta _B.

On the other hand, the control device 1, when the vehicle 5 is judged to have passed the slope start point Ps; return (step S204 Yes), the central irradiation angle theta _L standard angle (step S205). As a result, even if the vehicle 5 enters a slope and the inclination of the vehicle 5 itself changes, the control device 1 can preferably include a leading vehicle or the like on the slope in the rider detection range RL. In this case, the direction of the rider detection range RL based on central irradiation angle theta _L set at step S202 and step S205, and functions as a first direction, the rider detection range based on the center irradiation angle theta _L set in step S203 The direction of RL functions as a second direction.

  As described above, the control device 1 according to the second embodiment controls the lidar 3 capable of detecting an object present around the vehicle 5, and in a direction in which the vehicle 5 may travel. The slope information (first information) of the existing slope is acquired from the map DB 20. Then, the control device 1 controls the rider 3 to change the direction of the rider detection range RL of the rider 3 with respect to the vehicle 5 based on the acquired gradient information. Thereby, the control device 1 can accurately detect the object based on the output of the rider 3 even when approaching a slope.

Third Embodiment
In the third embodiment, generally, the control device 1 is currently referred to as a slope based on the difference in height between the current position and the detection target point Pt (also referred to as "point-to-point slope θ _SJ "). The central irradiation angle θ _L is set based on the gradient at the position (also referred to as “the vehicle position gradient θ _J ”). Hereinafter, the same components of the measurement system as those of the first and second embodiments are given the same reference numerals as appropriate, and the description thereof will be omitted.

FIG. 11 is a sectional view of a road schematically showing a method of determining the central irradiation angle θ _L in the third embodiment. In addition, in FIG. 11, "h" shows the attachment height of the rider 3 from a road surface, "Ht" shows the target height which detects an object in detection object point Pt, and "(theta) _S " is detection The gradient at the target point Pt is shown. In the example of FIG. 11, a slope with a slope θ _B exists in front of the vehicle 5, and a preceding vehicle exists in the vicinity of the detection target point Pt on the road ahead of the slope.

In the third embodiment, the control device 1 obtains the two-point gradient θ _SJ and the vehicle position gradient θ _J, and calculates the central irradiation angle θ _{L based} on the following equation (1).

ここで、本実施例では、制御装置１は、式（１）に用いる２地点間勾配θ_ＳＪを、高度差Ｈ及び検知対象距離Ｄｔに加えて、取付高さｈ及び目標高さＨｔをさらに勘案し、以下の式（２）に基づき幾何学的に算出する。

Here, in the present embodiment, the control device 1 adds the two-point gradient θ _SJ used in the equation (1) to the height difference H and the detection target distance Dt, and further adds the mounting height h and the target height Ht. In consideration of this, geometrical calculation is performed based on the following equation (2).

このように、制御装置１は、取付高さｈ及び目標高さＨｔを用いることで、より正確に中心照射角θ_Ｌを決定することができる。なお、式（２）の計算において、制御装置１は、高度差Ｈを、第１実施例と同様、現在位置の高度情報と検知対象地点Ｐｔでの高度情報とを地図ＤＢ２０から抽出することで算出する。また、取付高さｈ及び目標高さＨｔの情報は、例えば、予め記憶部１２に記憶されている。

Thus, the control device 1 can more accurately determine the central irradiation angle θ _L by using the mounting height h and the target height Ht. In the calculation of the equation (2), the control device 1 extracts the height difference H from the map DB 20 by extracting the height information of the current position and the height information at the detection target point Pt, as in the first embodiment. calculate. Further, the information of the mounting height h and the target height Ht is stored in the storage unit 12 in advance, for example.

Further, the control device 1 acquires the vehicle position gradient θ _{J based} on, for example, the information of the road gradient at the current position included in the map DB 20 or the output of the attitude sensor 4. In the example of FIG. 11, the vehicle 5 is on a flat road, so the vehicle position gradient θ _J is 0 degrees. Therefore, in this case, the control device 1 sets the central irradiation angle θ _L to the point-to-point gradient θ _SJ based on the equation (1).

In the example of FIG. 11, when the central irradiation angle θ _L is set to the two-point gradient θ _SJ , the center line LM of the irradiation range of the lidar 3 passes the target height Ht on the detection target point Pt. Thus, the control device 1 can preferably include the preceding vehicle present in the vicinity of the detection target point Pt in the rider detection range RL.

FIG. 12 shows a cross-sectional view of a road when the vehicle 5 enters a slope from the state of FIG. In this case, by the vehicle 5 enters the slope of the gradient theta _B, the vehicle position gradient theta _J is equal to the slope theta _B. In this case, the control device 1 detects the vehicle position gradient θ _J equal to the gradient θ _B based on the output of the map DB 20 or the attitude sensor 4. Further, as in the case of FIG. 11, the control device 1 uses the equation (2) to determine the gradient θ _SJ between two points from the height difference H, the detection target distance Dt, the mounting height h, and the target height Ht. calculate. Then, the control device 1 sets the central irradiation angle θ _L to a value obtained by subtracting the vehicle position gradient θ _J (that is, the gradient θ _B ) from the two-point gradient θ _SJ based on the equation (1).

In FIG. 12, since the vehicle 5 is inclined, the actual mounting height of the rider 3 (ie, the height difference of the rider 3 with respect to the ground) is the mounting height on the flat road stored in the storage unit 12. There may be a slight deviation with respect to the height. In consideration of the above, in this case, the control device 1 geometrically calculates the mounting height h in consideration of the inclination of the vehicle 5 from the mounting height on the flat road by using the slope θ _B of the slope. May be Even when the detection target point Pt exists on the slope, the control device 1 similarly sets the target height Ht in consideration of the road gradient of the detection target point Pt on the flat road stored in the storage unit 12 It may be geometrically calculated by using the gradient θ _B from the height.

FIG. 13 shows a cross-sectional view of a road when the vehicle 5 is traveling downhill. In this case, by the vehicle 5 enters the downhill slope - [theta] _B, the vehicle position gradient theta _J is equal to the gradient - [theta] _B. In this case, the control device 1 detects the vehicle position gradient θ _J equal to the gradient −θ _B based on the output of the map DB 20 or the attitude sensor 4. Further, as in the case of FIG. 11 and FIG. 12, the control device 1 uses the equation (2) to determine the gradient θ _SJ between two points, the height difference H (here, a negative value), the detection target distance Dt, and the attachment Calculated from the height h and the target height Ht. Then, the control device 1, based on the equation (1), a central illumination angle theta _L, from point-to-point slope theta _SJ value obtained by subtracting the vehicle position gradient theta _J (i.e. gradient - [theta] _B) (i.e. theta _L = Set to θ _SJ + θ _B ).

  Also in the examples of FIGS. 12 and 13, the center line LM of the irradiation range of the lidar 3 passes the target height Ht on the detection target point Pt, as in the example of FIG. Therefore, even if the vehicle 5 is traveling uphill or downhill, the control device 1 can preferably include the preceding vehicle present near the detection target point Pt in the rider detection range RL.

  FIG. 14 is a flowchart showing a processing procedure regarding control of the rider detection range RL of the control device 1 in the third embodiment. The control device 1 repeatedly executes the process of the flowchart of FIG.

First, the control device 1 acquires the vehicle position gradient θ _J (step S301). In this case, the controller 1 may acquire the vehicle position gradient theta _J by referring to the gradient information of the road corresponding to the current position from the map DB 20, the front and rear of the vehicle 4 detected by the output of the orientation sensor 4 the direction of the inclination may be acquired as the vehicle position gradient theta _J.

Next, based on the height difference H between the current position and the detection target point Pt, the detection target distance Dt, the mounting height h, and the target height Ht, the controller 1 determines the gradient θ _SJ between two points from equation (2). It calculates (step S302).

Then, the control device 1 sets the central irradiation angle θ _L according to equation (1) based on the host vehicle position gradient θ _J calculated in step S301 and the point-to-point gradient θ _SJ calculated in step S302 (step S303). By doing this, the control device 1 does not detect whether or not there is a slope in the traveling direction, and regardless of whether it is before, during or after passing the slope. The point-to-point gradient θ _SJ can be appropriately set such that an object in the vicinity of the detection target point Pt is included in the rider detection range RL. If the standard angle of the central irradiation angle θ _L is not 0 °, the control device 1 adds a value obtained by adding “θ _SJ −θ _J ” on the right side of the equation (1) to the standard angle. it may define as the irradiation angle θ _L.

As described above, the control device 1 according to the third embodiment is to control the rider 3 capable of detecting an object present around the vehicle 5, and the current position of the vehicle 5 and the detection target point Pt The information (first information) of the gradient θ _SJ between two points based on the difference in altitude and the information (second information) of the vehicle position gradient θ _J related to the attitude of the vehicle 5 are acquired. Then, the control device 1 controls the rider 3 to change the direction of the rider detection range RL of the rider 3 with respect to the vehicle 5 based on the acquired information of the point-to-point gradient θ _SJ and the vehicle position gradient θ _J . Thereby, the control device 1 can accurately detect an object present in the vicinity of the detection target point Pt based on the output of the rider 3 even when traveling around a slope.

Fourth Embodiment
In the fourth embodiment, in general, as an exceptional process of the first embodiment, the control device 1 has a road section forming a mountain or a valley between the current position and the detection target point Pt. Then, the central irradiation angle θ _L is set with reference to the bottom of a mountain top or valley. Hereinafter, components of the measurement system similar to those of the first embodiment are given the same reference numerals as appropriate, and the description thereof will be omitted.

  First, the necessity of exception handling based on the fourth embodiment will be described with reference to FIG.

FIG. 15A is a schematic diagram in the case where the central irradiation angle θ _L is determined based on the first embodiment on a road where a mountain of peak position “Pp” exists between the current position and the detection target point Pt. is there. In this example, since the height difference H between the current position and the detection target point Pt is 0 and the road gradient at the current position is also 0 °, the control device 1 sets the central irradiation angle θ _L to a standard angle It is set to (0 ° here).

  In this case, the laser light emitted from the rider 3 is blocked by the uphill part of the mountain in front of the vehicle 5, and the preceding vehicle 31 present in the vicinity of the summit position Pp is not included in the rider detection range RL. Therefore, in this case, the control device 1 can not detect the preceding vehicle 31 based on the output of the rider 3.

FIG. 15B is a schematic diagram in the case where the central irradiation angle θ _L is determined based on the first embodiment on the road where the valley of the valley bottom position “Pd” exists between the current position and the detection target point Pt. is there. In this example, the control device 1 can capture an object on the detection target point Pt based on the height difference H between the current position and the detection target point Pt and the road gradient at the current position (here, the horizontal direction The rider detection range RL is set to.

  In this case, the laser light emitted from the lidar 3 is directed onto the detection target point Pt having an altitude higher than the valley bottom position Pd, and therefore, the leading vehicle 32 present near the valley bottom position Pd is not irradiated. Therefore, in this case, since the preceding vehicle 32 is not included in the rider detection range RL, the control device 1 can not detect the preceding vehicle 32 based on the output of the rider 3.

Thus, when there is a road section forming a mountain or valley between the current position and the detection target point Pt, the peak top position Pp or the valley bottom position is determined in the method of determining the central irradiation angle θ _L based on the first embodiment. An object near Pd can not be included in the lidar detection range RL. In consideration of the above, in the fourth embodiment, when a peak position Pp or a valley position Pd satisfying a predetermined condition is present between the current position and the detection target point Pt, the control device 1 performs exceptional processing as a exception processing. The central irradiation angle θ _L is determined based on the peak position Pp or the valley bottom position Pd.

Next, the switching timing to the above-described exception processing will be specifically described. Schematically, the control device 1, the central irradiation as setting the center irradiation angle theta _L as a reference as setting the center irradiation angle theta _L the detection target point Pt on the basis of the summit position Pp or valley position Pd An angular difference (also referred to as “irradiation angle difference θxy”) of the angle θ _L is calculated, and the above-described exception processing is performed when the irradiation angle difference θxy is equal to or more than a predetermined angle.

  FIG. 16A is a cross-sectional view of a road in which the irradiation angle difference θxy used for the determination to switch to the exceptional processing is specified under the same situation as FIG. 15A.

  In this case, the control device 1 first refers to the map DB 20 and determines the presence or absence of the peak position Pp on the path within the detection target distance Dt from the current position. For example, assuming that there are separate link data on the uphill and downhill of a mountain, the control device 1 determines that the link end point is higher than the link start point by a predetermined length, and the link start point When a link higher by a predetermined length than the end point of the link is adjacent, it is determined that the connection portion (i.e., node) of these links is the peak position Pp.

After the detection of the peak position Pp, the control device 1 sets the central irradiation angle θ _L (see dashed line Lx) based on the detection target point Pt and the central irradiation angle θ _L (see dashed line Ly) based on the peak position Pp. Calculate each. Here, the light path when the laser light is irradiated from the vehicle 5 at the central irradiation angle θ _{L based on} the detection target point Pt is indicated by a broken line Lx, and the vehicle 5 is illustrated at the central irradiation angle θ _{L based on} the peak position Pp. The light path when the laser beam is irradiated from the point of time is indicated by a broken line Ly. The broken line Lx functions as a first line, and the broken line Ly functions as a second line. In the example of FIG. 16 (A), the control device 1 adds the mounting height h of the rider 3 to the height of the road surface at the current position and the road height at the detection target point Pt or peak position Pp. The difference between the target height Ht and the height added is calculated as the height difference H in the first embodiment. Then, the control device 1 calculates the central irradiation angle θ _L based on the detection target point Pt and the center based on the peak position Pp based on the calculated angle difference according to the height difference H and the gradient of the current position. The irradiation angle θ _L is calculated.

The control device 1 includes a central irradiation angle theta _L relative to the detection target point Pt, it calculates the irradiation angle difference θxy the center irradiation angle theta _L relative to the summit position Pp, the irradiation angle difference θxy predetermined angle (also referred to as "threshold angle θth".) If the above, it determines the center irradiation angle theta _L based on the summit position Pp. The above-mentioned threshold angle θth is set to, for example, a half of the vertical viewing angle of the lidar 3 (that is, the angle range in which scanning is performed in the vertical direction). Thereby, the control device 1 prevents the object present on the road up to the peak position Pp from being not included in the rider detection range RL.

The control device 1 includes, in the calculation of the center irradiation angle theta _L for determining the irradiation angle difference Shitaxy, the mounting height h and / or the target height Ht may not be taken into account. For example, the control device 1 does not have to add the target height Ht to the height difference to be calculated in the calculation of the central irradiation angle θ _L (refer to the broken line Ly) based on the peak position Pp. Similarly, the control device 1 does not have to add the target height Ht to the height difference to be calculated also in the calculation of the central irradiation angle θ _L (refer to the broken line Lx) based on the detection target point Pt.

FIG. 16B is a road sectional view clearly showing the irradiation range of the rider 3 when the irradiation angle difference θxy is larger than the threshold angle θth under the condition of FIG. 16A. In the example of FIG. 16B, the control device 1 sets 1/2 of the vertical viewing angle “θv” of the lidar 3 as the threshold angle θth, and the irradiation angle difference θxy is larger than 1/2 of the vertical viewing angle θv. Therefore, the central irradiation angle θ _L is determined based on the peak position Pp. In this case, the center line LM indicating the irradiation direction at the central irradiation angle θ _L coincides with the broken line Ly in FIG. And, in this case, the preceding vehicle 31 existing in the vicinity of the summit position Pp is included in the rider detection range RL, and the control device 1 can suitably detect the preceding vehicle 31 based on the output of the rider 3 .

  FIG. 17A is a cross-sectional view of a road in which the irradiation angle difference θxy used for the determination to switch to the exceptional processing is specified under the same situation as FIG. 15B.

  In this case, the control device 1 first refers to the map DB 20 and determines the presence or absence of the valley bottom position Pd on the route within the detection target distance Dt from the current position. For example, assuming that separate link data exist in the downhill and uphill of the valley, the control device 1 determines that the link end point is lower than the link start point by a predetermined length, and the link start point Is adjacent to a link lower than the end point of the link by a predetermined length, it is determined that the connection portion (i.e., node) of these links is the valley bottom position Pd.

After detection of the valley bottom position Pd, the control device 1 calculates the central irradiation angle θ _L (see dashed line Lx) based on the detection target point Pt and the central irradiation angle θ _L (see dashed line Ly) based on the valley bottom position Pd. The irradiation angle difference θxy is obtained by calculating Here, the light path when the laser light is irradiated from the vehicle 5 at the central irradiation angle θ _L with reference to the detection target point Pt is shown by a broken line Lx, and the vehicle 5 by the central irradiation angle θ _L with the valley bottom position Pd as the reference. The light path when the laser beam is irradiated from the point of time is indicated by a broken line Ly. The broken line Lx functions as a first line, and the broken line Ly functions as a second line. In the example of FIG. 17 (A), the control device 1 takes into consideration the mounting height h of the lidar 3, the target height Ht at the detection target point Pt and the valley bottom position Pd, as in the example of FIG. calculating the altitude difference H, based on the calculated altitude difference H and the slope or the like of the current position, is calculated each central irradiation angle theta _L.

Then, when the irradiation angle difference θxy between the central irradiation angle θ _L based on the detection target point Pt and the central irradiation angle θ _L based on the valley bottom position Pd is the threshold angle θth or more, the control device 1 detects the detection target It is determined that there is a possibility that the road surface before the point Pt is not included in the rider detection range RL, and the central irradiation angle θ _L is determined based on the valley bottom position Pd.

FIG. 17 (B) is a road sectional view clearly showing the irradiation range of the rider 3 when the irradiation angle difference θxy is larger than the threshold angle θth under the condition of FIG. 17 (A). In the example of FIG. 17B, the control device 1 sets half of the vertical viewing angle “θv” of the lidar 3 as the threshold angle θth, and the irradiation angle difference θxy is larger than half of the vertical viewing angle θv. Therefore, the central irradiation angle θ _L is determined based on the valley bottom position Pd. In this case, the center line LM indicating the irradiation direction at the central irradiation angle θ _L coincides with the broken line Ly in FIG. 17 (A). And, in this case, the preceding vehicle 32 present in the vicinity of the valley bottom position Pd is included in the rider detection range RL, and the control device 1 can detect the preceding vehicle 32 based on the output of the rider 3.

  FIG. 18 is a flowchart showing a processing procedure regarding control of the rider detection range RL of the control device 1 in the fourth embodiment. The control device 1 repeatedly executes the process of the flowchart of FIG.

  First, the control device 1 determines whether or not there is a road section forming a mountain or valley before the detection target point Pt (step S401). For example, the control device 1 determines the presence or absence of the peak position Pp or the valley bottom position Pd by referring to the map DB 20 for altitude information of link data corresponding to a road along the route.

Then, when the control device 1 determines that a road section forming a mountain or a valley is present in front of the detection target point Pt (step S401; Yes), the central irradiation angle θ _L and the summit are based on the detection target point Pt. position Pp or calculates the irradiation angle difference θxy the center irradiation angle theta _L relative to the root position Pd (step S402). Then, the control device 1, when the irradiation angle difference θxy is threshold angle θth or more (step S403; Yes), adjusts the center irradiation angle theta _L based on the summit position Pp or valley position Pd (step S404). In this case, the control device 1 sets the central irradiation angle θ _L based on the difference in height between the current position and the peak position Pp or the valley bottom position Pd, the gradient at the current position, or the like.

On the other hand, when the irradiation angle difference θxy is less than the threshold angle θth (step S403: No), or when the road section forming the peak position Pp and the valley bottom position Pd does not exist in front of the detection target point Pt. (Step S401; No), center irradiation angle theta _L is adjusted on the basis of detection object point Pt (Step S405). In this case, as in the first embodiment, the control device 1 sets the central irradiation angle θ _L based on the height difference H between the current position and the detection target point Pt, the gradient at the current position, and the like.

  As described above, the control device 1 according to the fourth embodiment controls the rider 3 capable of detecting an object present in the rider detection range RL, and is based on the current position of the vehicle 5 and the current position. Information (first information) of a peak position Pp or a valley bottom position Pd existing between the detection target point Pt which is separated from the detection target distance Dt in the horizontal direction is acquired. Then, the control device 1 controls the rider 3 so as to change the direction of the rider detection range RL of the rider 3 with respect to the vehicle 5 based on the acquired information of the peak position Pp or the valley bottom position Pd. Thereby, even when traveling around a slope, the control device 1 can accurately detect an object present in the vicinity of the detection target point Pt based on the output of the rider 3.

Fifth Embodiment
In the fifth embodiment, the control device 1 sets the central irradiation angle θ _L based on the distance from the current position to the slope start point Ps (also referred to as “slope reaching distance Ds”). 4 Different from the embodiment. Hereinafter, components of the measurement system similar to those of the other embodiments will be denoted by the same reference numerals as appropriate, and the description thereof will be omitted.

  FIGS. 19A to 19C are cross-sectional views of the road showing the relative positional relationship between the current position “P” and the slope. In FIGS. 19A to 19C, a broken line circle "CL" is a line connecting positions separated from the current position P by the detection target distance Dt, and coordinate values (0, 0), (Dt, 0) , (Ds, 0) indicate two-dimensional coordinates when the current position P is the origin, the horizontal direction is the X axis, and the vertical direction is the Y axis.

In the present embodiment, the control device 1 regards the intersection position between the broken line circle CL whose radius is the detection target distance Dt and the route of the vehicle 5 as the detection target point Pt, and the central irradiation angle θ based on the detection target point Pt. Determine _L. Therefore, in the present embodiment, the detection target point Pt is a point separated from the current position by the detection target distance Dt at a linear distance.

In the example of FIG. 19A, since the current position P is separated from the slope start point Ps by the detection target distance Dt or more, the detection target point Pt which is an intersection position between the dashed circle CL and the route of the vehicle 5 is flat. It becomes a point on the road. Therefore, in this case, the control device 1 determines the central irradiation angle θ _{L based} on the coordinate value (Dt, 0) of the detection target point Pt. In this case, the center line LM of the lidar detection range RL is a line connecting the coordinate value (0, 0) of the current position P and the coordinate value (Dt, 0), and the central irradiation angle θ _L is 0 °.

In the example of FIG. 19 (B), since the current position P approaches from the slope start point Ps to within the detection target distance Dt, the detection target point Pt which is an intersection position of the broken line circle CL and the route of the vehicle 5 is present on a slope of the gradient theta _B. Therefore, in this case, the control device 1 calculates the above-described intersection position, and determines the central irradiation angle θ _L so that the line connecting the intersection position and the current position P coincides with the center line LM of the rider detection range RL. Do. In this case, as described later, the control device 1, a coordinate value of the detection target point Pt as the intersection of the above is calculated based on the slope gradient theta _B and slope reach Ds.

Further, in the example of FIG. 19C, the current position P exists immediately before the slope start point Ps. In this case, the center line LM of the irradiation range of the lidar 3 is substantially parallel to the slope, and the central irradiation angle θ _{L at} this time substantially matches the slope θ _B.

Next, a method of calculating the coordinate value “(x _t , y _t )” of the detection target point Pt in the case of FIG. 19 (B) will be described.

  First, since the detection target point Pt exists on a dashed circle CL centered on the origin, the following equation (3) is established.

また、検知対象地点Ｐｔは、（Ｄｓ、０）を開始地点とした勾配θ_Ｂの坂上に存在するため、以下の式（４）が成立する。

Further, since the detection target point Pt is present on the slope of the gradient θ _B with (Ds, 0) as the start point, the following equation (4) is established.

よって、式（４）のｙ_ｔを式（３）に代入し、ｘ_ｔの２次方程式の解を求めると、以下の式（５）が得られる。

Therefore, if y _t of equation (4) is substituted into equation (3) and the solution of the quadratic equation of x _t is obtained, the following equation (5) is obtained.

そして、式（５）を式（４）に代入することで、ｙ_ｔが算出される。

Then, y _t is calculated by substituting the equation (5) into the equation (4).

Here, as shown in FIG. 19 (B), the central illumination angle θ _L and x _t , y _t satisfy the following equation (6).

よって、制御装置１は、進行方向上に存在する坂道の坂開始地点Ｐｓに検知対象距離Ｄｔ以内に近づいた場合に、検知対象距離Ｄｔ、坂到達距離Ｄｓ、坂勾配θ_Ｂに基づき、検知対象地点Ｐｔの座標値（ｘ_ｔ、ｙ_ｔ）を式（４）、（５）から算出する。これにより、制御装置１は、式（６）に基づき中心照射角θ_Ｌを好適に定めることができる。この場合、制御装置１は、坂開始地点Ｐｓを、第２実施例と同様、センサ群の出力から推定した現在位置及び地図ＤＢ２０の道路データに基づき検出する。

Therefore, the control apparatus 1, when approaching within the detection target distance Dt in slope start point Ps of slope present on the traveling direction, the detection target distance Dt, slope reach Ds, based on the slope gradient theta _B, the detection target Coordinate values (x _t , y _t ) of the point Pt are calculated from the equations (4) and (5). Thereby, the control device 1 can appropriately determine the central irradiation angle θ _L based on the equation (6). In this case, the controller 1 detects the slope start point Ps based on the current position estimated from the output of the sensor group and the road data of the map DB 20 as in the second embodiment.

Note that the control device 1 may reduce the processing load due to the calculation by approximately obtaining x _t and y _t in order to avoid the expression (5) for finding x _t becoming complicated. For example, the control device 1 focuses on the fact hill slope theta _B is up to 37 degrees in Japan, regarded as the detection object distance Dt of x _t. In this case, the following equation (7) is obtained based on the equation (4).

よって、式（７）に基づき式（６）から中心照射角θ_Ｌを求めると、以下の式（８）が得られる。

Therefore, when the central irradiation angle θ _L is determined from the equation (6) based on the equation (7), the following equation (8) is obtained.

The control device 1 can suitably reduce the processing load for determining the central irradiation angle θ _L by determining the central irradiation angle θ _L based on the equation (8).

Here, the validity of using the approximate expression “x _t = Dt” will be described. When using the equation (8), the gradient theta _B 30 °, when the detection target distance Dt and 100 m, "tan 30 ° = .57735" So, the central illumination angle theta _L, when the "Ds = 100 m" 23.2 ° at 0 ° (no error), 8.213 ° at “Ds = 75 m”, 16.102 ° (error 1.102 °) at “Ds = 50 m”, 23. When at “Ds = 25 m” It becomes 30 ° (no error) when 413 ° and "Ds = 0 m". The combination of the gradient θ _B and the slope reaching distance Ds at which the error is maximum when the detection target distance Dt is 100 m is 37 ° and 50 m. In this case, the central irradiation angle θ _L is 20.64 ° ( The error is 2.14 °). On the other hand, in general, the vertical viewing angle (θv in FIG. 17B) of lidar 3 is set to a value (eg, 15 °) sufficiently larger than this error, so an approximate expression of “x _t = Dt” Even in the case where is used, an object on the detection target point Pt can be suitably included in the lidar detection range RL.

  FIG. 20 is a flowchart showing a processing procedure regarding control of the rider detection range RL of the control device 1 in the fifth embodiment. The control device 1 repeatedly executes the process of the flowchart of FIG.

First, the control device 1 determines whether a slope reaching distance Ds, which is a distance to the slope start point Ps, has become equal to or less than a detection target distance Dt (step S501). And control device 1 performs processing of Step S502-Step S505, when slope attainment distance Ds is below detection object distance Dt (Step S501; Yes). On the other hand, when the slope reaching distance Ds is longer than the detection target distance Dt (step S501; No), the control device 1 determines that it is not necessary to determine the central irradiation angle θ _L in consideration of the slope. _L is set to the standard angle (step S506).

Next, in step S502, the control device 1 acquires the slope reaching distance Ds and the slope gradient θ _B of the adjacent slope (step S502). Then, based on the detection target distance Dt, the slope reaching distance Ds, and the slope θ _B , the control device 1 sets coordinate values (x _t , y _t ) on the slope to be the detection target distance Dt at a linear distance from the current position. It calculates (step S503). In this case, the control device 1 may calculate the coordinate values (xt, yt) based on the above equations (4) and (5), and the equation (7) using the approximate equation of “x _t = Dt”. Y _t may be calculated based on Then, the control device 1 sets the central irradiation angle θ _L based on the equation (6) (step S504). As a result, the control device 1 can preferably determine the lidar detection range RL with reference to a point on the slope where the detection target distance Dt is a linear distance from the current position.

Then, the control device 1 determines whether or not the slope start point Ps has been reached (step S505). Then, when it is determined that the slope start point Ps has been reached (step S505; Yes), the control device 1 sets the central irradiation angle θ _L as a standard angle (step S506). On the other hand, the control device 1, when it has not reached the slope start point Ps (step S505; No), subsequently perform the steps S502 to S504, sets the central illumination angle theta _L depending on the slope reach Ds.

As described above, the control device 1 according to the fifth embodiment controls the rider 3 capable of detecting an object present in the periphery of the vehicle 5, and in a direction in which the vehicle 5 may travel. The gradient information on the slope θ _B of the existing slope is acquired from the map DB 20. Then, when the slope arrival distance Ds from the current position to the slope start point Ps becomes equal to or less than the detection target distance Dt, the control device 1 based on the gradient information on the slope θ _B and the distance information on the slope arrival distance Ds. The lidar 3 is controlled to change the direction of the rider detection range RL of the rider 3 with respect to the vehicle 5. Thereby, even when approaching the slope, the control device 1 can accurately detect the object on the slope based on the output of the rider 3.

<Modification>
Next, modifications suitable for the first to fifth embodiments will be described. The following modifications may be arbitrarily combined and applied to the above-described embodiment.

[Modification 1]
In the first to fifth embodiments, the signal processing unit 19 of the rider 3 may execute part or all of the processing performed by the control unit 16 of the control device 1. For example, the signal processing unit 19 may execute the processing of the flowcharts of FIGS. 7, 10, 14, 18, and 20 instead of the control device 1. In this case, the signal processing unit 19 acquires altitude information, gradient information and the like regarding the road on the road from map data stored in the storage unit of the rider 3 (not shown) or other devices, and executes the processing of each flowchart. Then, the central irradiation angle θ _L is determined, and the internal parameters of the light transmitting / receiving unit 18 are changed so that the determined central irradiation angle θ _L is realized. In this case, the signal processing unit 19 functions as a control device and a computer in the present invention.

[Modification 2]
In the first to fifth embodiments, a plurality of riders 3 may be provided for the vehicle 5.

FIG. 21 shows a configuration example of a measurement system according to the present modification. In the example of FIG. 21, the rider 3 that sets the front of the vehicle 5 as the rider detection range RL and the rider 3 a that sets the rear of the vehicle 5 as the rider detection range RL are provided at the same height as the headlights. . In this example, the control device 1 controls the lidar detection range RL of the lidar 3 based on any of the above-described first to fifth embodiments. Further, the control device 1 identifies the detection target point "Pta" located behind the current position by the detection target distance "Dta" to be detected by the lidar 3a, and determines the current position and the detection target point Pta. The central irradiation angle θ _L of the lidar 3a is determined by the same algorithm as in the first to fifth embodiments based on the difference in altitude and the road gradient at the current position. By doing this, the control device 1 can also control the rider detection range RL of the rider 3Aa suitably.

[Modification 3]
In the first to fifth embodiments, the control device 1 may receive information necessary for processing from a server device storing information equivalent to the map DB 20 instead of including the map DB 20.

[Modification 4]
In the first to fifth embodiments, instead of adjusting the lidar detection range RL of the lidar 3, the control device 1 adjusts the detection range of the external sensor that emits electromagnetic waves or ultrasonic waves other than the lidar 3 It is also good. Even in this case, the control device 1 can accurately control the detection range of the external sensor of the target near the slope to improve the object detection accuracy.

[Modification 5]
In the first embodiment, the control device 1 takes the height difference H into consideration in consideration of the mounting height h of the lidar 3 and the target height Ht at the detection target point Pt, as in the third and fourth embodiments. It may be calculated. In this case, the control device 1 adds the target height Ht to the height difference based on the current position extracted from the map DB 20 and each height information of the detection target point Pt, and reduces the mounting height h. May be calculated as the height difference H in the first embodiment.

On the other hand, in the third and fourth embodiments, the controller 1 determines the central irradiation angle θ _L without considering the mounting height h and the target height Ht as in the first embodiment. Good.

Reference Signs List 1 control device 3 rider 5 vehicle 11 input unit 12 storage unit 13 interface 14 notification unit 15 communication unit 16 control unit 18 optical transmission / reception unit 19 signal processing unit 20 map DB

Claims (7)

A control device for controlling a detection device capable of detecting an object around a moving object, comprising:
An acquisition unit configured to acquire gradient information on a slope of a slope existing in a direction in which the mobile body may travel;
When the distance from the current position of the moving object to the start point of the slope is within a predetermined distance, the detection is based on the gradient information and the distance information on the distance from the current position to the start point A control unit that controls the detection device to change the direction of the detection range of the device relative to the movable body;
Control device comprising:   The control device according to claim 1, wherein the predetermined distance is a distance at which the detection device can detect the object in the direction.   The control unit is configured to, when the distance to the start point is within the predetermined distance, include the position on the slope separated by the predetermined distance from the current position in the detection range. The control device according to claim 1 or 2, which performs control of changing. A detection apparatus comprising: an irradiation unit that irradiates an electromagnetic wave or an ultrasonic wave to the periphery of a moving body; and a reception unit that receives the electromagnetic wave or the ultrasonic wave reflected by an object,
An acquisition unit configured to acquire gradient information on a slope of a slope existing in a direction in which the mobile body may travel;
When the distance from the current position of the moving object to the start point of the slope is within a predetermined distance, the irradiation is performed based on the gradient information and the distance information on the distance from the current position to the start point A control unit configured to control to change the direction of the irradiation range to which the unit irradiates electromagnetic waves or ultrasonic waves with respect to the movable body;
A detection device comprising: A control method executed by a control device that controls a detection device capable of detecting an object around a moving object,
An acquisition step of acquiring gradient information on a slope of a slope existing in a direction in which the mobile body may travel;
When the distance from the current position of the moving object to the start point of the slope is within a predetermined distance, the detection is based on the gradient information and the distance information on the distance from the current position to the start point Controlling the sensing device to change the direction of the sensing range of the device relative to the mobile;
Controlling method. A program executed by a computer that controls a detection device capable of detecting an object around a moving object,
An acquisition unit configured to acquire gradient information on a slope of a slope existing in a direction in which the mobile body may travel;
When the distance from the current position of the moving object to the start point of the slope is within a predetermined distance, the detection is based on the gradient information and the distance information on the distance from the current position to the start point A program that causes the computer to function as a control unit that controls the detection device to change the direction of the detection range of the device with respect to the movable body.   A storage medium storing the program according to claim 6.

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