JP2023032737A - Object detection device and object detection program - Google Patents

Abstract

To provide an object detection device capable of detecting corners of an object, and an object detection program.SOLUTION: An object detection device 40 calculates a value related to the amount of movement of the vehicle based on the speed of the vehicle and time. The object detection device 40 also calculates the value for the position change of a reflection point before and after the vehicle moves based on the position coordinates of the reflection point of the object reflected by the search wave transmitted from the side ranging sensor 26. The object detection device 40 determines the reflection point is the corner of the object when the value related to the positional change of the reflection point is smaller than the value related to the amount of movement of the vehicle.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an object detection device and an object detection program.

Conventionally, as described in Patent Literature 1, the presence or absence of objects around the vehicle is recognized based on the surrounding conditions of the vehicle obtained by a detection sensor, and an area in which the presence or absence of objects cannot be recognized is detected. A vehicle control device that recognizes as an unspecified area is known. This vehicle control device treats an unspecified area as having an object.

JP 2021-008224 A

According to the study of the inventors, the vehicle control device described in Patent Document 1 only recognizes the presence or absence of an object by treating it as if an object exists in an unspecified area, and the vehicle and the wall are not detected. It is not possible to detect the corners of objects such as

An object of the present disclosure is to provide an object detection device and an object detection program capable of detecting the corners of an object.

The invention according to claim 1 is a vehicle equipped with a ranging sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80). An object detection device used for a vehicle, in which a movement calculation unit (S104) that calculates a value (ΔLc) related to the amount of movement of a vehicle, and a position coordinate of a reflection point of an object reflected by an investigation wave transmitted from a range sensor. a change calculation unit (S106) for calculating a change amount (ΔLr), which is a value related to the positional change of the reflection point in the moving direction of the vehicle when the vehicle moves, and and a determination unit (S112, S114) for determining that the reflection point is a corner of an object when the reflection point is small.

Further, according to the seventh aspect of the present invention, a distance measuring sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80) is provided. a frequency calculation unit (S206) for calculating the relative angle (θcr) of the reflection point of the object with respect to the vehicle with the highest frequency from the time the object is detected until the present time. , a first evaluation angle (θe1) at which the absolute value of the difference from the relative angle with the highest frequency from object detection to the present time is a predetermined angle Δθ, and a second evaluation angle (θe2 ) and an evaluation calculation unit (S208) that calculates the relative angle of the first evaluation angle or more, determines that the reflection point is the corner of the object when the frequency of the relative angle of the first evaluation angle or more is the first threshold value or more, and determines that the reflection point is the corner of the object. A determination unit (S212, S214) that determines that a reflection point is a corner of an object when the frequency of two evaluation angles or less is equal to or greater than a second threshold.

Further, according to the eighth aspect of the present invention, the distance measuring sensor (26) detects an object by transmitting an exploration wave to the side of the vehicle (10) and receiving the exploration wave reflected by the object (80). An object detection device used in a vehicle equipped with a movement calculation unit (S104) that calculates a value (ΔLc) related to the amount of movement of the vehicle; a change calculation unit (S106) for calculating a change amount (ΔLr), which is a value related to a change in the position of the reflection point in the moving direction of the vehicle when the vehicle moves; This object detection program functions as a determination unit (S112, S114) that determines that the reflection point is a corner of an object when it is small.

Further, according to the ninth aspect of the present invention, the distance measuring sensor (26) detects an object by transmitting an exploration wave to the side of the vehicle (10) and receiving the exploration wave reflected by the object (80). An object detection device used in a vehicle equipped with a frequency calculation unit (S206) that calculates the relative angle (θcr) of the reflection point of the object with respect to the vehicle with the highest frequency from the time the object was detected until the present time, the object A first evaluation angle (θe1) and a second evaluation angle (θe2) that is smaller than the first evaluation angle are calculated so that the absolute value of the difference from the most frequent relative angle from the detection of the and an evaluation calculation unit (S208) that determines that the reflection point is the corner of the object when the frequency of the relative angle being equal to or greater than the first evaluation angle is equal to or greater than the first threshold value, and determines that the relative angle is the second evaluation angle. This object detection program functions as a determination unit (S212, S214) that determines that a reflection point is a corner of an object when the frequency of the angle is equal to or greater than a second threshold.

This makes it possible to detect the corners of the object.

It should be noted that the reference numerals in parentheses attached to each component etc. indicate an example of the correspondence relationship between the component etc. and specific components etc. described in the embodiments described later.

1 is a configuration diagram of a vehicle system in which the object detection device of the first embodiment is used; FIG. The figure which shows the vehicle in which an object detection apparatus is used. 4 is a flowchart showing processing of the object detection device; FIG. 5 is a diagram showing the relationship between the amount of movement of the vehicle and the amount of change when the vehicle moves forward; FIG. 5 is a diagram showing the relationship between the amount of movement of the vehicle and the amount of change when the vehicle moves backward; FIG. 5 is a diagram showing the relationship between the amount of movement of the vehicle and the amount of change when the vehicle moves forward; FIG. 5 is a diagram showing the relationship between the amount of movement of the vehicle and the amount of change when the vehicle moves backward; FIG. 5 is a diagram showing the relationship between the amount of movement of the vehicle and the amount of change when the vehicle moves forward; FIG. 4 is a diagram showing the relationship between an object angle and a change rate threshold; 4 is a time chart showing processing of the object detection device; 9 is a flowchart showing processing of the object detection device of the second embodiment; FIG. 4 is a diagram showing an example of a histogram created by processing of the object detection device; FIG. 4 is a diagram showing changes in the detection angle when the vehicle moves forward; FIG. 4 is a diagram showing changes in the detection angle when the vehicle moves backward; FIG. 4 is a diagram showing changes in the detection angle when the vehicle moves forward; FIG. 4 is a diagram showing changes in the detection angle when the vehicle moves backward; 9 is a flowchart showing processing of an object detection device according to another embodiment; 9 is a flowchart showing processing of an object detection device according to another embodiment;

Hereinafter, embodiments will be described with reference to the drawings. In addition, in each of the following embodiments, the same or equivalent portions are denoted by the same reference numerals, and description thereof will be omitted.

(First embodiment)
The object detection device 40 of this embodiment is used in the system 15 of the vehicle 10 . First, the system 15 will be explained.

The system 15 includes a gyro sensor 22, a vehicle speed sensor 24, a side ranging sensor 26, an object detection device 40 and an operation control device 50, as shown in FIGS.

The gyro sensor 22 outputs a signal corresponding to the attitude of the vehicle 10 to the object detection device 40 which will be described later. The vehicle speed sensor 24 outputs a signal corresponding to the vehicle speed Vc to the object detection device 40, which will be described later. Here, the vehicle speed Vc is the magnitude of the speed of the vehicle 10 .

The side ranging sensors 26 are attached to the left front, right front, left rear, and right rear of the vehicle 10 . The side ranging sensor 26 also transmits search waves such as millimeter waves, sonar waves, and infrared rays toward the sides of the vehicle 10 . At this time, if an object 80 exists on the side of the vehicle 10 , the side ranging sensor 26 receives the search wave reflected by this object 80 . Furthermore, the side ranging sensor 26 detects the relative position of the reflection point of the object 80 on the side of the vehicle 10 based on the information obtained from the received search wave. The side ranging sensor 26 also outputs a signal corresponding to the detected relative position to the object detection device 40, which will be described later. When the side ranging sensor 26 cannot receive the survey wave reflected by the object 80, it outputs a signal indicating that the object 80 has not been detected to the object detection device 40, which will be described later.

The object detection device 40 is a microcomputer including a CPU, RAM, ROM, flash memory, and the like. RAM, ROM, and flash memory are all non-transitional physical storage media. The CPU executes programs stored in ROM or flash memory, using RAM as a work area. Further, the object detection device 40 detects an object 80 on the side of the vehicle 10 based on signals from the gyro sensor 22, the vehicle speed sensor 24, and the side ranging sensor 26 by executing a program by the CPU of the object detection device 40. to detect the corners of The detection of this corner will be described later.

The operation control device 50 is a microcomputer including a CPU, RAM, ROM, flash memory, and the like. RAM, ROM, and flash memory are all non-transitional physical storage media. The CPU executes programs stored in ROM or flash memory, using RAM as a work area. The operation control device 50 also calculates the travel route of the vehicle 10 based on the position information of the corners detected by the object detection device 40 by executing the program by the CPU of the operation control device 50 .

The system 15 of the vehicle 10 including the object detection device 40 is configured as described above. This object detection device 40 detects the angle of an object 80 on the side of the vehicle 10 . Next, detection by the object detection device 40 will be described with reference to the flow chart of FIG. 3 and FIGS. 4 to 9. FIG. This detection program is executed, for example, when the vehicle 10 automatically starts. Also, hereinafter, the period of a series of operations from the start of the process of step S100 of the object detection device 40 to the return to the process of step S100 is defined as a control period τ of the object detection device 40 . A coordinate system fixed to the space outside the vehicle 10 is defined as an absolute coordinate system Σ. Furthermore, the X-axis, Y-axis, and Z-axis in the absolute coordinate system Σ are orthogonal to each other. Also, this absolute coordinate system Σ is represented by a right-handed system. Further, a coordinate system having a predetermined position within the vehicle 10 as an origin is defined as a vehicle coordinate system Σc. For example, the predetermined position within vehicle 10 is the center of gravity of vehicle 10 . The forward direction of the vehicle 10 is defined as the positive direction of the Xc axis in the vehicle coordinate system Σc. Further, the left side of the vehicle 10 is defined as the positive direction of the Yc axis in the vehicle coordinate system Σc. Also, the upper side of the vehicle 10 is defined as the positive direction of the Zc axis in the vehicle coordinate system Σc. Therefore, the vehicle coordinate system Σc is represented here by a right-handed system. Furthermore, here, in order to make the state easier to understand, the positive direction of the Xc axis in the vehicle coordinate system Σc coincides with the positive direction of the X axis in the absolute coordinate system Σ. Also, the positive direction of the Yc-axis in the vehicle coordinate system Σc coincides with the positive direction of the Y-axis in the absolute coordinate system Σ. Furthermore, the positive direction of the Zc-axis in the vehicle coordinate system Σc coincides with the positive direction of the Z-axis in the absolute coordinate system Σ.

In step S100, the object detection device 40 acquires various information. Specifically, the object detection device 40 acquires the orientation of the vehicle 10 from the gyro sensor 22 . Furthermore, the object detection device 40 acquires the vehicle speed Vc from the vehicle speed sensor 24 . In addition, the object detection device 40 acquires from the lateral ranging sensor 26 whether or not the object 80 is detected. Furthermore, the object detection device 40 acquires the relative position of the reflection point of the object 80 on the side of the vehicle 10 , that is, the position of the reflection point of the object 80 in the vehicle coordinate system Σc from the side ranging sensor 26 . When the side ranging sensor 26 does not detect the object 80 on the side of the vehicle 10, the object detection device 40 acquires from the side ranging sensor 26 a signal indicating that the object 80 has not been detected. do.

Subsequently, in step S102, the object detection device 40 determines whether or not the object 80 is detected based on the signal from the side ranging sensor 26 acquired in step S100. When the object 80 has been detected, the processing of the object detection device 40 proceeds to step S104. Further, when the object 80 is not detected, the processing of the object detection device 40 returns to step S100.

Subsequently, in step S104, the object detection device 40 multiplies the vehicle speed Vc acquired in step S100 by the control cycle τ, as shown in the following relational expression (1). Thereby, the object detection device 40 calculates the vehicle movement amount ΔLc.

Subsequently, in step S106, the object detection device 40 uses the attitude of the vehicle 10 acquired in step S100 and the vehicle movement amount ΔLc calculated in step S104 to determine the position of the vehicle 10 in the absolute coordinate system Σ. Calculate Further, the object detection device 40 adds the position coordinates of the reflection point of the object 80 in the vehicle coordinate system Σc acquired in step S100 to the calculated position coordinates of the vehicle 10 in the absolute coordinate system Σ. Thereby, the object detection device 40 calculates the position coordinates of the reflection point of the object 80 in the absolute coordinate system Σ. Further, the object detection device 40 substitutes the calculated coordinates of the reflection point of the object 80 in the current control cycle and the coordinates of the reflection point of the object 80 in the previous control cycle into the following relational expression (2). Thereby, the object detection device 40 calculates the change amount ΔLr of the reflection point of the object 80 in the absolute coordinate system Σ. In relational expression (2) below, ΔLr(n) is the amount of change ΔLr in the current control cycle. xr(n) is the X coordinate of the reflection point of the object 80 in the current control cycle. xr(n-1) is the X coordinate of the reflection point of the object 80 in the previous control cycle. n is a natural number of 2 or more.

Subsequently, in step S108, the object detection device 40 divides the change amount ΔLr calculated in step S106 by the vehicle movement amount ΔLc calculated in step S104, as shown in the following relational expression (3). Thereby, the object detection device 40 calculates the rate of change Rr.

Here, it is assumed that the object 80 faces the positive direction of the X-axis and the Xc-axis. Furthermore, when the vehicle 10 moves either forward or backward, the search wave from the side ranging sensor 26 is reflected by a portion other than the corner of the object 80, for example, the side surface of the object 80 before and after the vehicle 10 moves. and At this time, as shown in FIGS. 4 and 5 , since the side ranging sensor 26 moves with the vehicle 10 , the reflection point of the object 80 by the search wave from the side ranging sensor 26 also moves with the vehicle 10 . . A line connecting reflection points before and after movement of the vehicle 10 is a straight line parallel to the X axis and the Xc axis. Therefore, at this time, the rate of change Rr becomes 1 because the amount of change ΔLr is equal to the amount of movement ΔLc of the vehicle. In the drawing, the reflection point before the vehicle 10 moves is indicated by Pr_b. Pr_a indicates a reflection point after the vehicle 10 has moved.

It is also assumed that the object 80 faces the positive directions of the X-axis and the Xc-axis. Furthermore, when the vehicle 10 moves forward or backward, the search wave from the side ranging sensor 26 is reflected by the side surface of the object 80 before the vehicle 10 moves, and the side ranging sensor 26 Assume that the probe wave is reflected at the corner of the object 80 before the vehicle 10 moves. At this time, as shown in FIGS. 6 and 7, since the side ranging sensor 26 moves together with the vehicle 10, the reflection point of the object 80 by the search wave from the side ranging sensor 26 also moves together with the vehicle 10. . Also, the line connecting the reflection points before and after the movement of the vehicle 10 changes from a straight line parallel to the X-axis and the Xc-axis to a straight line intersecting the X-axis and the Xc-axis. Therefore, at this time, since the change in the position of the X coordinate of the reflection point is small, the amount of change ΔLr is smaller than the amount of movement ΔLc of the vehicle. Therefore, the rate of change Rr becomes smaller than 1 at this time. Therefore, when the change rate Rr is equal to or less than the change rate threshold value Rr_th, the corner of the object 80 can be detected by determining that the reflection point of the object 80 at this time is the corner of the object 80 .

Further, here, it is assumed that the forwardly extending axis of the object 80 intersects the X-axis and the Xc-axis direction. It is also assumed that the vehicle 10 moves forward or backward, and the search wave from the side ranging sensor 26 is reflected by the side surface of the object 80 before and after the vehicle 10 moves. At this time, as shown in FIG. 8, the change amount ΔLr decreases as the object angle θo, which is the angle between the forwardly extending axis of the object 80 and the Xc axis in the vehicle coordinate system Σc, increases. Therefore, it is necessary to change the change rate threshold value Rr_th depending on the orientation of the object 80 .

Therefore, in step S110 following step S108, the object detection device 40 calculates the object angle θo based on the position coordinates of the reflection point of the object 80 in the vehicle coordinate system Σc acquired in step S100.

Specifically, the object detection device 40 calculates an approximate line of the reflection point group of the object 80 using the X-coordinate and Y-coordinate of the reflection point of the object 80 in the vehicle coordinate system Σc and the method of least squares. Further, the object detection device 40 calculates the object angle θo by calculating the angle between the calculated approximation line and the Xc axis. Note that the object detection device 40 is not limited to calculating the object angle θo using the method of least squares. For example, the object detection device 40 calculates a straight line between two points from the Xc and Yc coordinates of the reflection point of the object 80 in the current control period and the previous control period, and calculates the angle between the calculated straight line and the Xc axis. By doing so, the object angle θo may be calculated.

Further, the object detection device 40 calculates the change rate threshold value Rr_th using the calculated object angle θo and the table. As described above, the amount of change ΔLr decreases as the object angle θo increases. Therefore, in this table, as shown in FIG. 9, the change rate threshold value Rr_th decreases as the object angle θo increases.

Subsequently, in step S112, the object detection device 40 determines whether or not the change rate Rr calculated in step S108 is equal to or less than the change rate threshold value Rr_th calculated in step S110. Thereby, the object detection device 40 detects the corner of the object 80 by determining whether or not the reflection point of the object 80 is the corner of the object 80 . Then, when the change rate Rr is equal to or less than the change rate threshold value Rr_th, the processing of the object detection device 40 proceeds to step S114. Further, when the change rate Rr is greater than the change rate threshold value Rr_th, the processing of the object detection device 40 proceeds to step S116.

In step S<b>114 following step S<b>112 , since change rate Rr is equal to or less than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is the corner of object 80 . The object detection device 40 also outputs the position of the corner of the object 80 in the absolute coordinate system Σ to the operation control device 50 . Further, the operation control device 50 calculates the shortest route that can avoid the collision between the vehicle 10 and the object 80 by calculating the route based on the corner position information. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route. Thereafter, the processing of object detection device 40 returns to step S100.

In step S<b>116 following step S<b>112 , since change rate Rr is greater than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is not the corner of object 80 . At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates, for example, a route along which the vehicle 10 moves forward and backward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route. Thereafter, the processing of object detection device 40 returns to step S100.

As described above, the object detection device 40 detects the angle of the object 80 on the side of the vehicle 10 . Next, the processing of the object detection device 40 in one example will be described with reference to the time chart of FIG. Note that in this example, the object 80 is, for example, another vehicle different from the vehicle 10 . Also, this other vehicle is stopped. Furthermore, in the initial state, the forward direction of the vehicle 10 and the forward direction of the other vehicle coincide with the positive direction of the X axis in the absolute coordinate system Σ. Further, since the vehicle 10 is automatically started, the program of the object detection device 40 is activated.

At the initial time t0, the vehicle 10 moves forward at a predetermined vehicle speed Vc. At this time, another vehicle is detected on the side of the vehicle 10, so the object detection device 40 calculates the vehicle movement amount ΔLc in step S104. Further, in step S106, the object detection device 40 calculates the amount of change ΔLr of the reflection point on the side surface of the other vehicle. Furthermore, in step S108, the object detection device 40 calculates the rate of change Rr using the calculated vehicle movement amount ΔLc and change amount ΔLr. At this time, since the side ranging sensor 26 moves with the vehicle 10 , the reflection point of the object 80 by the search wave from the side ranging sensor 26 also moves with the vehicle 10 . A line connecting reflection points before and after movement of the vehicle 10 is a straight line parallel to the X axis and the Xc axis. Therefore, at this time, the rate of change Rr becomes 1 because the amount of change ΔLr is equal to the amount of movement ΔLc of the vehicle. Furthermore, since the front of the vehicle 10 and the front of the other vehicle coincide with the positive direction of the X-axis in the absolute coordinate system Σ, the object angle θo is 0 degrees. Therefore, in step S110, object detection device 40 uses a table to calculate change rate threshold value Rr_th when object angle θo is 0 degrees. However, since change rate Rr is greater than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is not the corner of object 80 in step S116. At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates the route along which the vehicle 10 moves forward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route.

During the period from initial time t0 to time t1, vehicle 10 moves forward at the same vehicle speed Vc as initial time t0. Since the vehicle speed Vc is the same as the initial time t0, the vehicle movement amount ΔLc is the same as the initial time t0. Further, since the side ranging sensor 26 moves together with the vehicle 10 , the reflecting point of the object 80 by the search wave from the side ranging sensor 26 also moves together with the vehicle 10 . Furthermore, the line connecting the reflection points before and after the movement of the vehicle 10 becomes a straight line parallel to the X-axis and the Xc-axis. Therefore, at this time, the rate of change Rr becomes 1 because the amount of change ΔLr is equal to the amount of movement ΔLc of the vehicle. Further, since the forward direction of the vehicle 10 and the forward direction of the other vehicle coincide with the positive direction of the X-axis in the absolute coordinate system Σ, the object angle θo is 0 degrees. Therefore, in step S110, object detection device 40 uses a table to calculate change rate threshold value Rr_th when object angle θo is 0 degrees. However, since change rate Rr is greater than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is not the corner of object 80 in step S116. At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates the route along which the vehicle 10 moves forward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route.

At time t1, the vehicle 10 moves forward at the same vehicle speed Vc as at initial time t0. Since the vehicle speed Vc is the same as the initial time t0, the vehicle movement amount ΔLc is the same as the initial time t0. Further, when the side ranging sensor 26 moves forward together with the vehicle 10, the reflection point approaches the corner of the object 80. Therefore, the line connecting the reflection points before and after the movement of the vehicle 10 is the X axis and the Xc axis. It changes from parallel straight lines to straight lines intersecting the X-axis and the Xc-axis. This reduces the change in the position of the X coordinate of the reflection point. Therefore, the rate of change Rr becomes smaller because the amount of change ΔLr becomes smaller. However, since change rate Rr is greater than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is not the corner of object 80 in step S116. At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates the route along which the vehicle 10 moves forward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route.

During the period from time t1 to time t2, the vehicle 10 moves forward at the same vehicle speed Vc as the initial time t0. Since the vehicle speed Vc is the same as the initial time t0, the vehicle movement amount ΔLc is the same as the initial time t0. Further, when the side ranging sensor 26 moves forward together with the vehicle 10, the reflection point approaches the corner of the object 80. Therefore, the line connecting the reflection points before and after the movement of the vehicle 10 is the X axis and the Xc axis. It changes from parallel straight lines to straight lines intersecting the X-axis and the Xc-axis. This reduces the change in the position of the X coordinate of the reflection point. Therefore, the rate of change Rr becomes smaller because the amount of change ΔLr becomes smaller. However, since change rate Rr is greater than change rate threshold value Rr_th, object detection device 40 determines that the reflection point is not the corner of object 80 in step S116. At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates the route along which the vehicle 10 moves forward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route.

At time t2, the vehicle 10 moves forward at the same vehicle speed Vc as at initial time t0. Since the vehicle speed Vc is the same as the initial time t0, the vehicle movement amount ΔLc is the same as the initial time t0. Further, when the side ranging sensor 26 moves forward together with the vehicle 10, the reflection point approaches the corner of the object 80. Therefore, the line connecting the reflection points before and after the movement of the vehicle 10 is the X axis and the Xc axis. It changes from parallel straight lines to straight lines intersecting the X-axis and the Xc-axis. This reduces the change in the position of the X coordinate of the reflection point. Therefore, the rate of change Rr becomes smaller because the amount of change ΔLr becomes smaller. At this time, the rate of change Rr is less than or equal to the rate of change threshold value Rr_th, so the object detection device 40 determines that the reflection point is the corner of the object 80 in step S114. The object detection device 40 also outputs the position of the corner of the object 80 in the absolute coordinate system Σ to the operation control device 50 . Further, the operation control device 50 calculates the shortest route that can avoid the collision between the vehicle 10 and the object 80 by calculating the route based on the corner position information. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route. After that, as the vehicle 10 moves, the object 80 is no longer detected. At this time, the object detection device 40 repeats the process of step S100.

As described above, the object detection device 40 detects the angle of the object 80 on the side of the vehicle 10 . Next, the ability of the object detection device 40 to detect the angle of the object 80 on the side of the vehicle 10 will be described.

In step S104, the object detection device 40 calculates the vehicle movement amount ΔLc based on the vehicle speed Vc and the control period τ. Further, in step S106, the object detection device 40 calculates the amount of change ΔLr based on the position coordinates of the reflection point of the object 80 at which the search wave transmitted from the side ranging sensor 26 is reflected. Further, in steps S112 and S114, object detection device 40 determines that the reflection point is the corner of object 80 when change amount ΔLr is smaller than vehicle movement amount ΔLc. Thereby, the angle of the object 80 on the side of the vehicle 10 can be detected. Note that the object detection device 40 corresponds to a movement calculation section, a change calculation section, a position change calculation section, and a determination section. Vehicle speed Vc corresponds to the speed of vehicle 10 . The control cycle τ corresponds to time. The vehicle movement amount ΔLc corresponds to a value related to the movement amount of the vehicle 10 . The amount of change ΔLr corresponds to a value related to the change in position of the reflection point in the moving direction of the vehicle 10 when the vehicle 10 moves.

Moreover, in 1st Embodiment, the effect described below is also show|played.

[1-1] In step S108, the object detection device 40 calculates the rate of change Rr, which is the value obtained by dividing the amount of change ΔLr by the amount of vehicle movement ΔLc. Further, the object detection device 40 determines that the reflection point is the corner of the object 80 when the change rate Rr is equal to or less than the change rate threshold value Rr_th. This makes it easier to detect the angle of the object 80 on the side of the vehicle 10 . It should be noted that the object detection device 40 corresponds to the change rate calculation unit. The rate of change Rr corresponds to a value obtained by dividing a value relating to the position change of the reflection point of the object 80 before and after the vehicle 10 moves by a value relating to the amount of movement of the vehicle 10 .

[1-2] In step S110, the object detection device 40 decreases the change rate threshold value Rr_th as the object angle θo increases. As a result, the change rate threshold value Rr_th becomes smaller even if the change rate Rr becomes smaller because the change amount ΔLr becomes smaller as the object angle θo becomes larger. Therefore, erroneous detection of the corners of the object 80 can be suppressed. Note that the object detection device 40 corresponds to a threshold changing unit.

(Second embodiment)
In the second embodiment, the processing of the object detection device 40 is different. Other than this, it is the same as the first embodiment. The processing of this object detection device 40 will be described with reference to the flow chart of FIG. 11 and FIGS. 12-16. This detection program is executed, for example, when the vehicle 10 automatically starts. Also, hereinafter, the period of a series of operations from the start of the process of step S200 of the object detection device 40 to the return to the process of step S200 is defined as the control cycle τ of the object detection device 40 . Further, the angle formed by the Xc axis in the vehicle coordinate system Σc and the straight line connecting the reflection points of the lateral range sensor 26 and the object 80 is defined as the detection angle θcr.

In step S200, the object detection device 40 acquires various information. Specifically, the object detection device 40 acquires the orientation of the vehicle 10 from the gyro sensor 22 . Furthermore, the object detection device 40 acquires the vehicle speed Vc from the vehicle speed sensor 24 . In addition, the object detection device 40 acquires from the lateral ranging sensor 26 whether or not the object 80 is detected. Furthermore, the object detection device 40 acquires the relative position of the reflection point of the object 80 on the side of the vehicle 10, that is, the position of the reflection point of the object 80 in the vehicle coordinate system Σc from the side ranging sensor 26. Acquire the detection angle θcr. Further, when the object 80 is not detected on the side of the vehicle 10 by the side ranging sensor 26, the object detection device 40 acquires from the side ranging sensor 26 a signal indicating that the object 80 has not been detected. do.

Subsequently, in step S<b>202 , the object detection device 40 determines whether or not the object 80 is detected based on the signal from the side ranging sensor 26 . Then, when the object 80 has been detected, the processing of the object detection device 40 proceeds to step S204. Also, when the object 80 is not detected, the processing of the object detection device 40 proceeds to step S218.

In step S204 following step S202, the object detection device 40 creates or updates a histogram of the detection angles θcr acquired from the detection of the object 80 to the present time, as shown in FIG.

Subsequently, in step S206, the object detection device 40 calculates the most frequently detected angle θcr from the histogram created in step S204.

Here, it is assumed that the object 80 faces the positive direction of the X-axis and the Xc-axis. Furthermore, when the vehicle 10 moves either forward or backward, the search wave from the side ranging sensor 26 is reflected by a portion other than the corner of the object 80, for example, the side surface of the object 80 before and after the vehicle 10 moves. and At this time, as shown in FIGS. 13 and 14, since the side ranging sensor 26 moves with the vehicle 10, the reflection point of the object 80 by the search wave from the side ranging sensor 26 also moves with the vehicle 10. . A line connecting reflection points before and after movement of the vehicle 10 is a straight line parallel to the X axis and the Xc axis. Therefore, at this time, there is no change in the detected angle θcr before and after the vehicle 10 moves. Therefore, the most frequently detected angle θcr is, for example, 90 to 95 degrees.

It is also assumed that the object 80 faces the positive directions of the X-axis and the Xc-axis. Furthermore, when the vehicle 10 moves forward or backward, the search wave from the side ranging sensor 26 is reflected by the side surface of the object 80 before the vehicle 10 moves, and the side ranging sensor 26 Assume that the probe wave is reflected at the corner of the object 80 before the vehicle 10 moves. At this time, as shown in FIGS. 15 and 16 , since the side ranging sensor 26 moves with the vehicle 10 , the reflection point of the object 80 by the search wave from the side ranging sensor 26 also moves with the vehicle 10 . . Also, the line connecting the reflection points before and after the movement of the vehicle 10 changes from a straight line parallel to the X-axis and the Xc-axis to a straight line intersecting the X-axis and the Xc-axis. Therefore, at this time, the change in the detection angle θcr is greater than when the reflection point of the object 80 is not at a corner. Therefore, when the frequency of an angle shifted by a predetermined angle Δθ from the most frequently detected angle θcr is equal to or greater than a threshold value, the corner of the object 80 can be detected by determining that the reflection point is the corner of the object 80 . can.

Therefore, in step S208 following step S206, the object detection device 40 calculates an angle obtained by adding a predetermined angle Δθ to the detected angle θcr with the highest frequency calculated in step S206, as shown in FIG. Thereby, the object detection device 40 calculates the first evaluation angle θe1. Further, the object detection device 40 calculates an angle by subtracting a predetermined angle Δθ from the detected angle θcr with the highest frequency calculated in step S206. Thereby, the object detection device 40 calculates the second evaluation angle θe2. The predetermined angle .DELTA..theta. is an angle set by experiments, simulations, or the like, and is, for example, 30 degrees.

Subsequently, in step S210, the object detection device 40 calculates the frequency when the detection angle θcr is greater than or equal to the first evaluation angle θe1. Further, the object detection device 40 calculates the frequency when the detection angle θcr is equal to or less than the second evaluation angle θe2.

Subsequently, in step S212, the object detection device 40 determines whether or not the frequency at which the detection angle θcr is equal to or greater than the first evaluation angle θe1 is equal to or greater than the first threshold. Further, the object detection device 40 determines whether or not the frequency when the detection angle θcr is equal to or less than the second evaluation angle θe2 is equal to or more than the second threshold. Thereby, the object detection device 40 detects the corner of the object 80 by determining whether or not the reflection point of the object 80 is the corner of the object 80 . Note that the first threshold and the second threshold are set through experiments, simulations, or the like.

Then, when the frequency at which the detection angle θcr is equal to or greater than the first evaluation angle θe1 is equal to or greater than the first threshold, the processing of the object detection device 40 proceeds to step S214. Further, when the frequency when the detection angle θcr is equal to or less than the second evaluation angle θe2 is equal to or more than the second threshold, the processing of the object detection device 40 proceeds to step S214. Furthermore, when the frequency when the detection angle θcr is equal to or greater than the first evaluation angle θe1 is less than the first threshold and the frequency when the detection angle θcr is equal to or less than the second evaluation angle θe2 is less than the second threshold, the object The processing of the detection device 40 proceeds to step S216.

In step S214 subsequent to step S212, the frequency when the detected angle θcr is greater than or equal to the first evaluation angle θe1 is greater than or equal to the first threshold value, so the change in the detected angle θcr is large. Alternatively, since the frequency when the detected angle θcr is equal to or smaller than the second evaluation angle θe2 is equal to or larger than the second threshold value, the change in the detected angle θcr is large. Therefore, the object detection device 40 determines that the reflection point is the corner of the object 80 . Further, the object detection device 40 multiplies the vehicle speed Vc acquired in step S100 by the control cycle τ. Thereby, the object detection device 40 calculates the vehicle movement amount ΔLc. Furthermore, the object detection device 40 uses the calculated vehicle movement amount ΔLc, the posture of the vehicle 10 acquired in step S100, and the position of the reflection point of the object 80 in the vehicle coordinate system Σc to determine A position of the vehicle 10 is calculated. Further, the object detection device 40 adds the position coordinates of the reflection point of the object 80 in the vehicle coordinate system Σc acquired in step S100 to the calculated position coordinates of the vehicle 10 in the absolute coordinate system Σ. Thereby, the object detection device 40 calculates the position coordinates of the corners of the object 80 corresponding to the reflection points of the object 80 in the absolute coordinate system Σ. The object detection device 40 also outputs the calculated position of the corner of the object 80 in the absolute coordinate system Σ to the operation control device 50 . Further, the operation control device 50 calculates the shortest route that can avoid the collision between the vehicle 10 and the object 80 by calculating the route based on the corner position information. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route. Thereafter, the processing of object detection device 40 returns to step S200.

In step S216 following step S212, the frequency when the detection angle θcr is equal to or greater than the first evaluation angle θe1 is less than a first threshold, and the frequency when the detection angle θcr is equal to or less than the second evaluation angle θe2 is a second threshold. Since it is less than that, the change in the detection angle θcr is small. Therefore, the object detection device 40 determines that the reflection point is not the corner of the object 80 . At this time, since the position of the corner of the object 80 is unknown, the operation control device 50 calculates, for example, a route along which the vehicle 10 moves forward and backward. Further, the operation control device 50 automatically moves the vehicle 10 along the calculated route. Thereafter, the processing of object detection device 40 returns to step S200.

Since the object 80 is not detected in step S218 following step S202, the object detection device 40 resets the histogram created or updated in step S204. Thereby, the object detection device 40 can detect the angle of the object 80 when the object 80 is detected next time. Thereafter, the processing of object detection device 40 returns to step S200.

As described above, the object detection device 40 detects the angle of the object 80 on the side of the vehicle 10 . Next, it will be described that the object detection device 40 can detect the angle of the object 80 on the side of the vehicle 10 also in the second embodiment.

In step S206, the object detection device 40 calculates the detection angle θcr with the highest frequency of the detection angle θcr from the detection of the object 80 to the present time. Further, the object detection device 40 calculates a first evaluation angle θe1 and a second evaluation angle θe2 at which the absolute value of the difference from the detected angle θcr with the highest frequency from the detection of the object 80 to the present time is a predetermined angle Δθ. do. Further, in steps S212 and S214, the object detection device 40 detects that the reflection point is the corner of the object 80 when the frequency of the detection angle θcr being equal to or greater than the first evaluation angle θe1 is equal to or greater than the first threshold. I judge. Further, in steps S212 and S214, the object detection device 40 detects that the reflection point is the corner of the object 80 when the frequency of the detection angle θcr being equal to or less than the second evaluation angle θe2 is equal to or greater than the second threshold. to determine. Thereby, the angle of the object 80 on the side of the vehicle 10 can be detected. Note that the object detection device 40 corresponds to the frequency calculation section, the evaluation calculation section, and the determination section. The detection angle θcr corresponds to the relative angle of the reflection point of object 80 with respect to vehicle 10 .

(Other embodiments)
The present disclosure is not limited to the above embodiments, and the above embodiments can be modified as appropriate. Further, in each of the above-described embodiments, it goes without saying that the elements constituting the embodiment are not necessarily essential, unless it is explicitly stated that they are essential, or they are clearly considered essential in principle. stomach.

The calculators, determiners, modifiers, etc. and techniques described in this disclosure are provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. may be implemented by a dedicated computer designed for Alternatively, the calculators, determiners, modifiers, etc. and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the calculators, determiners, modifiers, etc., and techniques thereof described in this disclosure may comprise a processor and memory programmed to perform one or more functions and one or more hardware logic circuits. may be implemented by one or more special purpose computers configured in combination with a dedicated processor. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

In the above embodiment, the object 80 is another vehicle different from the vehicle 10 . On the other hand, the object 80 is not limited to another vehicle, and may be, for example, a wall.

In the above embodiment, the positive direction of each axis in the vehicle coordinate system Σc coincides with the positive direction of each axis in the absolute coordinate system Σ. On the other hand, the positive direction of each axis in the vehicle coordinate system Σc is not limited to coincide with the positive direction of each axis in the absolute coordinate system Σ. When the positive direction of each axis in the vehicle coordinate system Σc intersects the positive direction of each axis in the absolute coordinate system Σ, for example, the object detection device 40 converts the coordinates so that the positive direction of each axis in the vehicle coordinate system Σc and the positive direction of each axis in the absolute coordinate system Σ. After that, the object detection device 40 detects the corners of the object 80 by performing the series of processes described above, as in the above embodiment.

In the first embodiment, the object detection device 40 calculates the vehicle movement amount ΔLc by multiplying the vehicle speed Vc and the control cycle τ in step S102. On the other hand, the object detection device 40 is not limited to calculating the vehicle movement amount ΔLc by multiplying the vehicle speed Vc and the control cycle τ in step S102. For example, in step S102, the object detection device 40 adds a value obtained by multiplying the vehicle speed Vc by the control period τ by multiplying the acceleration of the vehicle 10 by the square of the control period τ and 1/2. , the vehicle movement amount ΔLc may be calculated.

In the first embodiment, in step S108, the object detection device 40 divides the change amount ΔLr by the vehicle movement amount ΔLc to calculate the change rate Rr. On the other hand, in step S108, the object detection device 40 is not limited to calculating the rate of change Rr by dividing the amount of change ΔLr by the amount of movement ΔLc of the vehicle.

For example, the object detection device 40 may calculate the rate of change Rr by dividing the vehicle movement amount ΔLc by the change amount ΔLr in step S108. In this case, the rate of change Rr when the reflection point is the corner of the object 80 is greater than when the reflection point is the side surface of the object 80 . Also, as the object angle θo increases, the change amount ΔLr decreases, so the change rate Rr increases. Therefore, in step S110 following step S108, object detection device 40 increases change rate threshold value Rr_th as object angle θo increases. As a result, the change rate threshold value Rr_th increases even if the change rate Rr increases due to the decrease in the change amount ΔLr due to the increase in the object angle θo. Therefore, erroneous detection of the corners of the object 80 can be suppressed. Further, as shown in the flowchart of FIG. 17, in step S112 following step S110, the object detection device 40 determines whether or not the rate of change Rr is equal to or greater than the rate of change threshold Rr_th. Thereby, the object detection device 40 detects the corner of the object 80 by determining whether or not the reflection point of the object 80 is the corner of the object 80 . Even in this way, the same effect as in the first embodiment can be obtained.

Further, as shown in the flowchart of FIG. 18, the object detection device 40 calculates the absolute value |ΔLc−ΔLr| good. In this case, similarly to the above, the absolute value |ΔLc−ΔLr| when the reflection point is the corner of the object 80 is larger than when the reflection point is the side surface of the object 80 . Also, as the object angle θo increases, the amount of change ΔLr decreases, so the absolute value |ΔLc−ΔLr| increases. Therefore, in step S110 following step S108, the object detection device 40 increases the difference threshold ΔL_th as the object angle θo increases. As a result, even if the change amount ΔLr decreases as the object angle θo increases and the absolute value |ΔLc−ΔLr| increases, the change rate threshold Rr_th increases. Therefore, erroneous detection of the corners of the object 80 can be suppressed. Further, in step S112 following step S110, the object detection device 40 determines whether or not the absolute value |ΔLc−ΔLr| is equal to or greater than the difference threshold ΔL_th. Thereby, the object detection device 40 detects the corner of the object 80 by determining whether or not the reflection point of the object 80 is the corner of the object 80 . Even in this way, the same effect as in the first embodiment can be obtained. Note that the object detection device 40 corresponds to the difference calculation unit.

In the above embodiment, the object detection device 40 calculates the position of the vehicle 10 in the absolute coordinate system Σ by using the attitude of the vehicle 10 and the vehicle movement amount ΔLc. On the other hand, the object detection device 40 uses the attitude of the vehicle 10, the position of the reflection point of the object 80 in the vehicle coordinate system Σc, and the vehicle movement amount ΔLc to determine the position of the vehicle 10 in the absolute coordinate system Σ. It is not limited to calculating. The object detection device 40 may acquire the position of the vehicle 10 in the absolute coordinate system Σ from a GNSS receiver (not shown) or the like.

REFERENCE SIGNS LIST 10 vehicle 15 system 22 gyro sensor 24 vehicle speed sensor 26 side ranging sensor 40 object detection device 50 operation control device 80 object

Claims (9)

An object detection device for use in a vehicle, comprising a ranging sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80). There is
a movement calculation unit (S104) that calculates a value (ΔLc) related to the amount of movement of the vehicle;
An amount of change, which is a value related to a change in the position of the reflection point in the moving direction of the vehicle when the vehicle moves, based on the position coordinates of the reflection point of the object reflected by the search wave transmitted from the ranging sensor. a change calculation unit (S106) that calculates (ΔLr);
a determination unit (S112, S114) that determines that the reflection point is the corner of the object when the amount of change is smaller than the value related to the amount of movement of the vehicle;
An object detection device comprising: Further comprising a rate of change calculation unit (S108) that calculates a rate of change (Rr) that is a value obtained by dividing the amount of change by a value related to the amount of movement of the vehicle,
The object detection device according to claim 1, wherein the determination unit determines that the reflection point is the corner of the object when the rate of change is equal to or less than a threshold value (Rr_th). 2. A threshold changing unit (S110) for decreasing the threshold as an object angle (θo) formed by an axis extending forward of the vehicle and an axis extending forward of the object increases. The object detection device according to . Further comprising a rate of change calculation unit (S108) that calculates a rate of change (Rr) that is a value obtained by dividing the value related to the amount of movement of the vehicle by the amount of change,
The object detection device according to claim 1, wherein the determination unit determines that the reflection point is the corner of the object when the rate of change is equal to or greater than a threshold value (Rr_th). Further comprising a difference calculation unit (S108) for calculating an absolute value (|ΔLc−ΔLr|) of the difference between the value related to the amount of movement of the vehicle and the amount of change,
2. The object detection device according to claim 1, wherein the determination unit determines that the reflection point is the corner of the object when the absolute value is equal to or greater than a threshold value ([Delta]L_th). 4. A threshold changing unit (S110) for increasing the threshold as an object angle (θo) formed by an axis extending forward of the vehicle and an axis extending forward of the object increases. 6. The object detection device according to 5. An object detection device for use in a vehicle, comprising a ranging sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80). There is
a frequency calculation unit (S206) that calculates the relative angle (θcr) of the reflection point of the object with respect to the vehicle with the highest frequency from the detection of the object to the present time;
A first evaluation angle (θe1) at which the absolute value of the difference from the relative angle with the highest frequency from the detection of the object to the present time is a predetermined angle Δθ, and a second evaluation angle (θe1) smaller than the first evaluation angle ( an evaluation calculation unit (S208) that calculates θe2);
determining that the reflection point is a corner of the object when the frequency of the relative angle being equal to or greater than the first evaluation angle is equal to or greater than a first threshold, and the relative angle being equal to or less than the second evaluation angle; a determination unit (S212, S214) that determines that the reflection point is the corner of the object when the frequency of the time is equal to or greater than a second threshold;
An object detection device comprising: An object detection device for use in a vehicle, comprising a ranging sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80). ,
a movement calculation unit (S104) that calculates a value (ΔLc) related to the amount of movement of the vehicle;
An amount of change, which is a value related to a change in the position of the reflection point in the moving direction of the vehicle when the vehicle moves, based on the position coordinates of the reflection point of the object reflected by the search wave transmitted from the ranging sensor. A change calculation unit (S106) that calculates (ΔLr), and
An object detection program that functions as a determination unit (S112, S114) that determines that the reflection point is the corner of the object when the amount of change is smaller than the value related to the amount of movement of the vehicle. An object detection device for use in a vehicle, comprising a ranging sensor (26) for detecting an object by transmitting an investigation wave to the side of the vehicle (10) and receiving the investigation wave reflected by the object (80). ,
a frequency calculation unit (S206) for calculating the relative angle (θcr) of the reflection point of the object with respect to the vehicle with the highest frequency from the detection of the object to the present time;
A first evaluation angle (θe1) at which the absolute value of the difference from the relative angle with the highest frequency from the detection of the object to the present time is a predetermined angle Δθ, and a second evaluation angle (θe1) smaller than the first evaluation angle ( an evaluation calculation unit (S208) that calculates θe2), and
determining that the reflection point is a corner of the object when the frequency of the relative angle being equal to or greater than the first evaluation angle is equal to or greater than a first threshold, and the relative angle being equal to or less than the second evaluation angle; An object detection program that functions as a determination unit (S212, S214) that determines that the reflection point is the corner of the object when the frequency of the time is equal to or greater than a second threshold.

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