JP4743797B2 - Vehicle periphery monitoring device, vehicle, vehicle periphery monitoring program - Google Patents

Description

  The present invention relates to an apparatus for monitoring the periphery of a vehicle.

Techniques have been proposed for improving the detection accuracy of an object by combining radar detection means such as a millimeter wave radar and image detection means such as a stereo camera. For example, a combination (a radar base pair) of a detection target by a radar detection means and a detection target by an image detection means closest to the radar detection means, a detection target by the image detection means, and a radar detection means closest to the detection target A technique has been proposed in which information such as the distances of fusion targets constituting a matching pair (fusion pair) is set by collating with a combination (image base pair) with a detected target by the method (see Patent Document 1). .
Japanese Patent Laying-Open No. 2005-084035

  However, in order to obtain information such as the distance of the object from the vehicle, it is required that the object (target) is detected by both the radar detection means and the image detection means. For this reason, when the object is detected or detected through the imaging device, but the presence of the object is not clearly recognized through the radar due to low reflectivity of the electromagnetic wave of the object, Measurement accuracy such as distance cannot be improved.

  Therefore, the present invention is an apparatus capable of measuring the distance from the vehicle to the object with high accuracy even when the object is detected through the imaging device, but the presence of the object is not clearly recognized through the radar. Etc. is a problem to be solved.

According to a first aspect of the present invention, there is provided a vehicle periphery monitoring device that reflects an electromagnetic wave by transmitting an electromagnetic wave to a target region that constitutes an imaging region of the imaging device and receiving the reflected wave. A device that monitors the periphery of the vehicle using a radar device that obtains reflection intensity data representing the relationship between the intensity and the distance from the vehicle to an object existing in the target region, through the imaging device An object detection element for detecting an object based on the obtained image; a distance measurement element for measuring a distance from the vehicle to the object detected by the object detection element based on the image; A distance correction element that corrects a measurement distance measured by the distance measurement element based on the reflection intensity data acquired by the radar device, and the object detection element is used as one target. When a plurality of the objects are detected in a region and the measurement distance of each of the plurality of objects differs by a distance measurement element exceeding a threshold value, the distance correction element includes the plurality of objects. The measurement distance of the first object which is the one object closest to the measurement distance with respect to the first distance where the reflection intensity shows the highest peak in the first distance range which is the definition area of the reflection intensity data. To the first distance, and among the plurality of objects, the measurement distances of the (i + 1) -th i + 1th object (i = 1, 2,...) Are measured in order from the closest measurement distance to the first distance. The correction distance is corrected to the (i + 1) th distance indicating the peak with the highest reflection intensity in the (i + 1) th distance range that does not include all of the first to ith distances, with the measurement distance of the (i + 1) th object as a reference. And wherein the Rukoto.

  According to the vehicle periphery monitoring device of the first aspect of the present invention, when a plurality of objects are detected in one target area constituting the imaging area of the imaging device and different measurement distances are measured for each object, the first The measurement distance of the object is corrected to the first distance based on the reflection intensity data. “Measurement distance” means a distance from a vehicle to an object measured based on an image obtained through an imaging device. The “reflection intensity data” represents the relationship between the intensity of the reflected wave from the electromagnetic wave object transmitted by the radar device and the distance from the vehicle to the object. The “first distance” means a distance that exhibits the highest peak of the reflection intensity in the first distance range that is the definition area of the reflection intensity data. The “first object” means one object whose measured distance is closest to the first distance. The distance closest to the measurement distance of the first object and having the highest reflection intensity peak in the first distance range that is the definition area of the reflection intensity data is trusted as the distance from the vehicle to the first object. High degree. Therefore, the measurement accuracy of the distance from the vehicle to the first object can be improved by correcting the measurement distance of the first object to the first distance as described above.

  In this case, the measurement distance of the (i + 1) th object (i = 1, 2,...) Among the plurality of objects is corrected to the (i + 1) th distance based on the reflection intensity data. The “i + 1th distance” means a distance having a peak with the highest reflection intensity in the i + 1th distance range that does not include all of the first distance to the ith distance, based on the measurement distance of the i + 1th object. For example, the measurement distance of the second object is corrected to the second distance that shows the peak with the highest reflection intensity in the second distance range that does not include the first distance. Further, when three or more objects are detected in one target region and the measurement distances of the objects are different from each other by exceeding the threshold value, the measurement distances of the objects after the third object are similarly corrected. The distance at which the reflection intensity has the highest peak in the vicinity of the measurement distance of the i + 1th object is highly reliable as the distance from the vehicle to the i + 1th object. Therefore, the measurement accuracy of the distance from the vehicle to the i + 1th object can be improved by correcting the measurement distance of the i + 1th object as described above. That is, even if the presence of the i + 1th object is not clearly recognized through the radar device because the peak of the reflection intensity at the i + 1th distance is lower or duller than the peak of the reflection intensity at the first distance, the i + 1th object from the vehicle. Can be measured with high accuracy.

  According to a second aspect of the present invention, there is provided a vehicle according to a second aspect of the present invention, in which an electromagnetic wave is transmitted to a target area constituting the imaging area of the imaging apparatus and the reflected wave is received, and the reflected intensity of the electromagnetic wave A radar apparatus that acquires reflection intensity data representing a relationship with a distance to an object existing in the vehicle, and a vehicle periphery monitoring apparatus according to the first aspect of the present invention.

  According to the vehicle of the second aspect of the invention, a plurality of objects are detected through the imaging device, and even if the existence of the i + 1th object among the plurality of objects is not clearly recognized through the radar, the i + 1th object from the vehicle. The measurement accuracy of the distance to the object can be improved. Therefore, by using the measurement result, the evaluation of the possibility of contact between the vehicle and the object, the operation of the steering device, the brake device, the sound output device, etc. according to the evaluation result can be made to contact the vehicle and the object. It can be appropriately controlled from the viewpoint of avoidance.

  A vehicle according to a third aspect of the invention is the vehicle according to the second aspect of the invention, comprising a single imaging device as the imaging device.

  According to the vehicle of the third invention, the object is detected through the imaging device as described above while saving the manufacturing cost of the vehicle as compared with the case where a plurality of imaging devices are mounted on the vehicle. Even when the presence of the object is not clearly recognized through the radar, the measurement accuracy of the distance from the vehicle to the object can be improved.

  According to a fourth aspect of the invention, there is provided a vehicle periphery monitoring program that transmits an electromagnetic wave to an imaging device and a target region that constitutes an imaging region of the imaging device and receives a reflected wave thereof. A radar device that obtains reflection intensity data representing a relationship with a distance to an object existing in the target region and a computer mounted on the vehicle function as the vehicle periphery monitoring device of the first invention. To do.

  According to the vehicle periphery monitoring program of the fourth aspect of the invention, the computer mounted on the vehicle together with the imaging device and the radar device detects an object through the imaging device, but the presence of the object is not clearly recognized through the radar. Even in this case, it can function as a vehicle peripheral device that measures the distance from the vehicle to the object with high accuracy.

  DESCRIPTION OF EMBODIMENTS Embodiments of a vehicle periphery monitoring device and the like of the present invention will be described with reference to the drawings.

  A vehicle (four-wheeled vehicle) 1 shown in FIG. 1 is equipped with a vehicle periphery monitoring device 10, a single infrared camera (imaging device) 11, and a radar device 12. As shown in FIG. 2, the vehicle 1 includes various types of sensors such as a yaw rate sensor 13, a speed sensor 14, and a brake sensor 15 that output signals corresponding to the yaw rate, speed, and brake state of the vehicle 1. A sensor is installed. Further, as shown in FIG. 2, the vehicle 1 is equipped with an audio output device 16 and an image output device 17. As the image output device 17, in addition to the HUΔ (head-up display) that displays an image on the front window of the vehicle 1, a display device that indicates a traveling state of the vehicle 1 or a navigation device may be employed. .

  The infrared camera 11 is attached to the front side of the vehicle 1 in order to image the front of the vehicle 1. The imaging area of the infrared camera 11 is defined by lines L1 and L2 shown in FIG. 3 in the horizontal direction.

  The radar device 12 is attached to the front side of the vehicle 1 so as to be positioned above the infrared camera 11. When viewed from above, the radar device 12 transmits a millimeter wave (electromagnetic wave) beam BM spreading in a narrower width than the imaging region of the infrared camera 11 to the front of the vehicle 1 as shown in FIG. The radar device 12 is a scanning radar device, and a beam BM having a constant intensity is transmitted while shifting its transmission angle by a certain angle so that the front area of the vehicle 1 is scanned in the left-right direction of the vehicle 1. The scanning range of the beam BM in the left-right direction is set so as to include the entire imaging region of the infrared camera 11 in the horizontal direction. Each of the irradiation areas of the beam BM whose azimuth is shifted by a certain angle corresponds to a target area constituting the imaging area of the infrared camera 11. The vertical width of the beam BM is set so as to include the vertical field of view of the infrared camera 11. The radar apparatus 12 receives this millimeter wave reflected wave, that is, the millimeter wave reflected by the object existing in front of the vehicle 1 by a receiving antenna (not shown) arranged in the vertical direction. Further, the reflection intensity data representing the relationship between the intensity of the reflected wave and the distance of the object existing in front of the vehicle 1 is obtained for each target area, and the reflection intensity data for each target area is obtained from the vehicle periphery monitoring device 10. Output to.

  The vehicle periphery monitoring device 10 is a device that monitors the periphery of the vehicle 1 using an infrared camera 11 and a radar device 12. The vehicle periphery monitoring device 10 is configured by a computer (configured by an electronic circuit such as a CPU, ROM, RAM, and an I / O circuit and an A / Δ conversion circuit). Analog signals output from the infrared camera 11, the yaw rate sensor 13, the vehicle speed sensor 14, the brake sensor 15, and the like are digitized and input to the vehicle periphery monitoring device 10 through the A / Δ conversion circuit, and the radar device The reflection intensity data acquired by 12 is also input. Based on the input data, according to the “vehicle periphery monitoring program” stored in the memory, processing for recognizing the presence of an object such as a person or another vehicle, and the possibility of contact with the object recognized as the vehicle 1 is high or low. And a process for outputting sound to the audio output device 16 and outputting an image to the image output device 17 in accordance with the determination result. The program may be distributed or broadcast from the server to the in-vehicle computer via a network or a satellite at an arbitrary timing, and stored in a storage device such as a RAM. The vehicle periphery monitoring device 10 may be configured by a position ECU, but may be configured by a plurality of ECUs that constitute a distributed control system.

  As shown in FIG. 2, the vehicle periphery monitoring device 10 includes an object detection element 101, a distance measurement element 102, and a distance correction element 103. The object detection element 101 detects an object based on an image obtained through the infrared camera 11. The distance measuring element 102 measures the distance from the vehicle 1 to the object detected by the object detecting element 101 based on the image. The distance correction element 103 corrects the measurement distance measured by the distance measurement element 102 based on the reflection intensity data acquired by the radar apparatus 12 according to a method described later.

  Functions of the vehicle 1 and the vehicle periphery monitoring device 10 having the above-described configuration will be described.

  First, the object detection element 101 detects an object based on an image obtained through the infrared camera 11. Specifically, a grayscale image is acquired by A / Δ conversion of an infrared image that is an output signal of the infrared camera 11 (FIG. 4 / S002). Further, a binarized image is acquired by binarizing the grayscale image (FIG. 4 / S004). The binarization process is a process of classifying each pixel constituting the grayscale image into “1” (white) and “0” (black) according to whether or not the luminance is equal to or higher than a threshold value. The gray scale image and the binarized image are stored in separate image memories. Further, a group of pixels grouped into “1” s constituting a high-luminance region of the binarized image has a width of one pixel in the vertical direction (y direction) of the image, and the horizontal direction (x direction). The lines are classified into extending lines, and each line is converted into run-length data composed of the coordinates (length and the number of pixels) of the position (two-dimensional position in the image) (FIG. 4 / S006). Of the lines represented by the run-length data, labels (identifiers) are attached to each line group that overlaps in the vertical direction of the image (FIG. 4 / S008), and the line group is detected as an object. (FIG. 4 / S010). Thereby, as shown in FIG. 5, two objects A and B are detected in the binarized image. The target object includes living structures such as humans (pedestrians) and artificial structures such as other vehicles. Note that a plurality of local parts of the same object may be recognized as the target object.

  Next, the distance measuring element 102 measures the distance from the vehicle 1 to the object detected by the object detecting element 101 based on the image. Specifically, the position of the center of gravity of the object in the binarized image is calculated, and the circumscribed rectangle of the object is set (FIG. 4 / S012). The center of gravity position of the object is obtained by adding the result of multiplying the length of each line to the coordinates of the center position of each line of the run-length data corresponding to this object, and adding the result to the object in the image. It is obtained by dividing by the area of the object. Instead of the center of gravity of the object, the position of the center of gravity (center) of the circumscribed rectangle of the object may be calculated. Further, as a method for measuring the distance to the object, the height from the road surface of the camera (imaging device) is determined using the lower end of the object as the intersection between the object and the road surface in the binarized image or the grayscale image. Various methods different from the above may be employed, such as a road surface intersection method for calculating the distance to the object based on the elevation angle when the intersection is viewed from.

  Further, a tracking process of the object, that is, a process of determining whether or not the detected object is the same every calculation processing cycle of the object detection element 101 is executed (FIG. 4 / S014). For example, it can be executed based on the shape and size of the binarized image of the object detected at each of the times k-1 and k, the correlation of the luminance distribution in the grayscale image, and the like. If it is determined that these objects are the same, the label of the object at time k is changed to the same label as the label of the object at time k-1. Further, based on the position of the center of gravity of the object in the binarized image and the arrangement of the circumscribed rectangle, an area representing the object in the grayscale image is set as the object area.

  Further, the rate of change Rate of the size of the object region representing the object labeled with the same label at different time points is evaluated (FIG. 4 / S016). Specifically, the object region at time k is reduced or enlarged by each of a plurality of similarity ratios (for example, 0.5, 0.75, 1.0, 1.25, and 1.5) by affine transformation. Further, the degree of correlation between the object area at time k-1 and the object area at time k reduced or enlarged is evaluated. Then, the similarity ratio of the target area at time k at which the correlation degree with the target area at time k−1 has the highest degree of correlation is determined as the rate of change Rate. Based on the outputs of the yaw rate sensor 13 and the speed sensor 14, the speed and yaw rate of the vehicle 1 are measured, and the measurement value of the yaw rate is integrated to calculate the turning angle (azimuth angle) of the vehicle 1 (FIG. 4 / S018).

  Further, based on the current speed v (k) and the imaging time interval Δt of the infrared camera 11 in addition to the current rate of change Rate (k), the distance Z (k) from the vehicle 1 to the object according to the equation (1). Is measured (FIG. 4 / S020). Thereby, for example, a measurement result is obtained that the measurement distances of the objects A and B shown in FIG. 5 are 65 [m] and 90 [m], respectively.

(Equation 1)
Z (k) = Rate (k) v (k) Δt / (1-Rate (k)) (1)

  Further, the distance correction element 103 corrects the measurement distance by the distance measurement element 102 based on the reflection intensity data acquired by the radar device 12. Specifically, first, the reflection intensity data is acquired by the radar device 12 (FIG. 4 / S022). Thus, for example, the relationship between the reflection intensity as shown in FIG. 6A and the distance from the vehicle 1 to the object is represented for the target region corresponding to the image region surrounded by the one-dot chain line in FIG. Reflection intensity data is acquired.

  Further, multiple corrections are made such that a plurality of objects are detected in one target region by the object detection element 101, and the measurement distances measured by the distance measurement element 102 differ for each of the plurality of objects exceeding a threshold value. It is determined whether or not the requirement is satisfied (FIG. 4 / S024). When it is determined that the correction requirement is satisfied a plurality of times (FIG. 4 / S024... YES), the measurement distance of the object is corrected as follows based on the reflection intensity data. That is, the measurement distance of the first object among the plurality of objects is corrected to the first distance (FIG. 4 / S026). The first distance is a distance that shows the peak with the highest reflection intensity in the first distance range, which is the definition area of the reflection intensity data. The first object is one object whose measurement distance is closest to the first distance. For example, the measurement distances of the objects A and B shown in FIG. 5 are 65 [m] and 90 [m], respectively, and distance data as shown in FIG. 6A is acquired. Consider the case. In this case, as shown in FIG. 6A, since the first distance showing the highest peak in the first distance range is 60 [m], the object A having the closest measurement distance is the first object. Recognized as Then, 65 [m], which is the measurement distance of the first object, is corrected to 60 [m], which is the first distance.

  Further, the measurement distance of the (i + 1) th object (i = 1, 2,...) Is corrected to the (i + 1) th distance (FIG. 4 / S028). The (i + 1) th distance is a distance that shows the peak with the highest reflection intensity in the (i + 1) th distance range that does not include all of the first distance to the ith distance, with the measurement distance of the (i + 1) th object as a reference. In the above case, the object B different from the object A (first object) A shown in FIG. 5 is recognized as the second object. And since the 2nd distance which shows the highest peak in the 2nd distance range on the basis of 90 [m] which is the measurement distance of the object B as shown in Drawing 6 (b) is 80 [m], 90 [m] that is the measurement distance of the second object is corrected to 80 [m] that is the second distance. In addition, when a plurality of objects other than the first object are detected in one object area, the i + 1th object after the second object is measured in order of the measurement distance being closer to the first distance among the plurality of objects. You may recognize sequentially.

  On the other hand, when it is determined that the correction requirement is not satisfied a plurality of times (FIG. 4 / S024... NO), the measurement distance of one or each object is corrected to the first distance based on the reflection intensity data (FIG. 4). / S030). For example, when only one object is detected in one object region, the measurement distance of the one object is corrected to the first distance. In addition, when a plurality of objects are detected in one target area, but the difference in measurement distance between the plurality of objects is within a threshold (for example, 2 [m]), the plurality of objects are the same. In view of the inference that the object is a different part, the measurement distances of the plurality of objects are both corrected to the first distance.

  Thereafter, based on the corrected distance of each object by the vehicle periphery monitoring device 10, the position of each object in the real space coordinate system (see FIG. 1) is calculated as the real space position P (k) = (X (k), Y (k), Z (k)) is calculated (FIG. 4 / S032). In the real space coordinate system, an origin O, an X axis, a Y axis, and a Z axis are defined as shown in FIG. Specifically, the corrected distance Z (k) from the vehicle 1 to each object, the focal length f of the infrared camera 11, and the image coordinates x (k) and y of the region corresponding to the object in the captured image. Based on (k), the X coordinate X (k) and Y coordinate Y (k) in the real space coordinate system are calculated according to the equation (2). The center, right direction, and downward direction of the captured image are defined as the origin o, + x direction, and + y direction in the image coordinate system. Further, based on the turning angle measured based on the output of the yaw rate sensor 15, the actual space position (X (k), Y (k), Z (k)) of each object is corrected.

(Equation 2)
X (k) = x (k) · Z (k) / f,
Y (k) = y (k) .Z (k) / f (2)

  Based on the real space position P (k) of each object measured at different times, for example, according to a collision possibility determination method described in Japanese Patent Laid-Open No. 2001-6096, contact between the vehicle 1 and each object. It is determined whether the possibility is high or low (FIG. 4 / S034). When it is determined that the possibility of contact between the vehicle 1 and the object is high (FIG. 4 / S034... YES), a warning process is executed (FIG. 4 / S036). Specifically, each of a sound and an image (such as a frame for highlighting the target object) according to the determination result is output through each of the sound output device 16 and the image output device 17. Note that only one of the sound and the image may be output. Further, based on the output of the brake sensor 15, it is confirmed that the brake of the vehicle 1 is not operated by the driver, or the vehicle 1 is reduced based on the output of the speed sensor 14 or the acceleration sensor (not shown). The alerting process may be executed on the condition that it is confirmed that the speed is equal to or less than the threshold value. On the other hand, when it is determined that the possibility of contact between the vehicle 1 and the object is low (FIG. 4 / S038... NO), the alerting process is not executed.

  In addition, when part or all of the steering device, the brake device, and the accelerator device of the vehicle 1 are operated by the actuator and the driving behavior of the vehicle 1 is operated, the vehicle behavior is controlled instead of or in parallel with the alerting process. May be. Specifically, the steering device, the brake device, and the accelerator device of the vehicle 1 are avoided so as to avoid contact with an object that has been determined to have a high possibility of contact with the vehicle 1 or so as to facilitate avoidance. Some or all of the operations may be controlled by a vehicle control unit (not shown). For example, the accelerator device is controlled to make acceleration difficult so that the driver's required pedaling force on the accelerator pedal is greater than in a normal case where it is not necessary to avoid contact with the object. Further, the required rotational force of the steering handle toward the steering direction of the steering device required to avoid contact between the vehicle 1 and the object is lower than the required rotational force of the steering handle toward the opposite side, The steering handle can be easily operated in the steering direction. Furthermore, the increasing speed of the braking force of the vehicle 1 according to the depression amount of the brake pedal of the brake device is made higher than in the normal case. By doing in this way, the driving | operation of the vehicle 1 for avoiding a contact with a target object becomes easy.

  According to the vehicle periphery monitoring device 10 that exhibits the above function, a plurality of objects are detected in one target region that constitutes the imaging region of the infrared camera (imaging device) 11, and different measurement distances exist for each target object. When measured (see FIG. 5), the measurement distance of the first object (object A) is corrected to the first distance based on the reflection intensity data (see FIGS. 4 / S024, S026, and FIG. 6A). ). The distance closest to the measurement distance of the first object and having the highest reflection intensity peak in the first distance range that is the definition area of the reflection intensity data is trusted as the distance from the vehicle to the first object. High degree. Therefore, the measurement accuracy of the distance from the vehicle 1 to the first object can be improved by correcting the measurement distance of the first object to the first distance as described above.

  In this case, the measurement distance of the second object (object B) among the plurality of objects is corrected to the second distance based on the reflection intensity data (see FIG. 4 / S028 and FIG. 6B). ). The distance at which the reflection intensity has the highest peak in the vicinity of the measurement distance of the second object is highly reliable as the distance from the vehicle 1 to the second object. Therefore, the measurement accuracy of the distance from the vehicle 1 to the second object can be improved by correcting the measurement distance of the second object as described above.

  While the first object is another vehicle or the like, while the second object is a living creature such as a human, both the first object and the second object are detected through the infrared camera (imaging device) 11. The second object is hardly detected through the radar device 12. That is, even when the presence of the second object is not clearly recognized through the radar apparatus 12 because the peak of the reflection intensity at the second distance is lower or duller than the peak of the reflection intensity at the first distance, The distance to the object can be measured with high accuracy. The same applies to a case where an object after the third object different from the first object and the second object is detected in one object region based on the image obtained through the infrared camera 11.

  In the above-described embodiment, the distance from the vehicle 1 to the object is measured using one infrared camera (monocular camera). However, as another embodiment, the distance is symmetrically arranged with respect to the front center portion of the vehicle. The distance may be calculated using the parallax of the pair of infrared cameras. Further, instead of the infrared camera 11, a camera whose sensitivity is adjusted to another wavelength region such as visible light may be employed as the imaging device. Further, a radar apparatus using an elastic vibration wave such as an ultrasonic wave may be used in addition to a radar apparatus using an electromagnetic wave such as a millimeter wave as the radar apparatus 12.

Configuration diagram of the vehicle of the present invention Configuration explanatory diagram of the vehicle periphery monitoring device of the present invention Illustration of irradiation range (target range) of radar device The flowchart which shows the function of the vehicle periphery monitoring apparatus of this invention Explanatory drawing of the image obtained through the imaging device Explanation of reflection intensity data

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Vehicle periphery monitoring device, 11 ... Infrared camera (imaging device), 12 ... Radar device, 101 ... Object detection element, 102 ... Distance measurement element, 103 ... Distance correction element

Claims (4)

By transmitting an electromagnetic wave to an imaging device mounted on a vehicle and a target region constituting an imaging region of the imaging device and receiving the reflected wave, the reflected intensity of the electromagnetic wave and the target region from the vehicle A device that monitors the periphery of the vehicle using a radar device that acquires reflection intensity data representing a relationship with a distance to an existing object,
An object detection element for detecting an object based on an image obtained through the imaging device;
A distance measuring element for measuring a distance from the vehicle to the object detected by the object detecting element based on the image;
A distance correction element that corrects a measurement distance by the distance measurement element based on the reflection intensity data acquired by the radar device;
When the object detection element detects a plurality of the objects in one target area, and the distance measurement element differs in each of the measurement distances of the plurality of objects exceeding a threshold, the distance correction Among the plurality of objects, the object whose measurement distance is closest to the first distance in which the reflection intensity shows the highest peak in the first distance range that is the definition area of the reflection intensity data. The measurement distance of the first object is corrected to the first distance, and, among the plurality of objects, the (i + 1) -th i + 1th object (i = 1) in order of the measurement distance being closer to the first distance. , 2,..., And the reflection intensity in the i + 1 distance range that does not include all of the first distance to the i-th distance, with the measurement distance of the i + 1-th object as a reference. A vehicle periphery monitoring device and correcting the first i + 1 distance indicating a high peak. A vehicle,
By transmitting an electromagnetic wave to an imaging device and a target region constituting the imaging region of the imaging device and receiving the reflected wave, the reflected intensity of the electromagnetic wave and the object existing in the target region from the vehicle A radar apparatus that obtains reflection intensity data representing a relationship with a distance; and an apparatus that monitors the periphery of the vehicle using the imaging apparatus and the radar apparatus,
The vehicle periphery monitoring device detects an object based on an image obtained through the imaging device; and
A distance measuring element for measuring a distance from the vehicle to the object detected by the object detecting element based on the image;
A distance correction element that corrects a measurement distance by the distance measurement element based on the reflection intensity data acquired by the radar device;
When the object detection element detects a plurality of the objects in one target area, and the distance measurement element differs in each of the measurement distances of the plurality of objects exceeding a threshold, the distance correction Among the plurality of objects, the object whose measurement distance is closest to the first distance in which the reflection intensity shows the highest peak in the first distance range that is the definition area of the reflection intensity data. The measurement distance of the first object is corrected to the first distance, and, among the plurality of objects, the (i + 1) -th i + 1th object (i = 1) in order of the measurement distance being closer to the first distance. , 2,..., And the reflection intensity in the i + 1 distance range that does not include all of the first distance to the i-th distance, with the measurement distance of the i + 1-th object as a reference. Vehicle and correcting the first i + 1 distance indicating a high peak. The vehicle according to claim 2, wherein
A vehicle comprising a single imaging device as the imaging device. By transmitting an electromagnetic wave to an imaging device and a target region constituting the imaging region of the imaging device and receiving the reflected wave, the reflection intensity of the electromagnetic wave and the distance from the vehicle to the target existing in the target region A program that causes a computer mounted on the vehicle together with a radar device that obtains reflection intensity data representing the relationship between the imaging device and the radar device to function as a device that monitors the periphery of the vehicle using the imaging device and the radar device. ,
An object detection element for detecting an object based on an image obtained by the computer through the imaging device;
A distance measuring element for measuring a distance from the vehicle to the object detected by the object detecting element based on the image;
A distance correction element that corrects a measurement distance by the distance measurement element based on the reflection intensity data acquired by the radar device;
When the object detection element detects a plurality of the objects in one target area, and the distance measurement element differs in each of the measurement distances of the plurality of objects exceeding a threshold, the distance correction Among the plurality of objects, the object whose measurement distance is closest to the first distance in which the reflection intensity shows the highest peak in the first distance range that is the definition area of the reflection intensity data. The measurement distance of the first object is corrected to the first distance, and, among the plurality of objects, the (i + 1) -th i + 1th object (i = 1) in order of the measurement distance being closer to the first distance. , 2,..., And the reflection intensity in the i + 1 distance range that does not include all of the first distance to the i-th distance, with the measurement distance of the i + 1-th object as a reference. A vehicle periphery monitoring program for causing to function as the vehicle periphery monitoring device for correcting the first i + 1 distance indicating a high peak.

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