JP5109264B2 - Object detection device - Google Patents

Description

  The present invention relates to an object detection apparatus that detects an object by fusing detection results obtained by a plurality of object detection units that detect an object in an overlapping region using different methods.

  In recent years, driving support devices such as collision mitigation devices, inter-vehicle distance control devices, and tracking travel devices have been developed. In these driving support devices, it is important to detect a vehicle traveling in front of the host vehicle and monitor its behavior over time. Conventionally, an object detection device detects an object using a high-resolution long-distance DBF millimeter-wave radar (hereinafter simply referred to as “far-distance millimeter-wave radar”). In recent years, in order to improve detection accuracy, a short-range monopulse millimeter-wave radar (hereinafter simply referred to as “short-range millimeter-wave radar”) with a lower resolution and a shorter update cycle is used in combination with a long-range millimeter-wave radar. , It is determined whether or not each object detected in a region where the long-range millimeter wave radar and the short-range millimeter wave radar overlap is the same object, and the object determined as the same object is an object to be detected such as a preceding vehicle There is also an object detection device that is set as (fusion target) (see, for example, Patent Document 1).

  Here, an output target box is used to output the detection result to the control system. In the conventional long-distance millimeter-wave radar alone method, when storing the long-distance millimeter-wave target of each update cycle in the output target box, the same target is stored in the same target box number, so that the target is first The same target box number is used from when it is detected until it disappears, so that the same object can be tracked and its behavior can be monitored. That is, it is handled as the same target until a new flag is set. Similarly, in the combined method of the long-range millimeter wave radar and the short-range millimeter wave radar, the same target is stored in the same target number of the fusion target box, so that the target is first detected and disappears. Until then, the target number of the fusion target box will be the same.

JP-A-2005-121696

  However, the long-range millimeter-wave radar and the short-range millimeter-wave radar differ in detection distance, resolution, field of view, update cycle, etc., and detect objects by different methods. Cannot be detected. Even if both radars can detect the same target with the same update cycle, if the target information such as distance and relative speed does not satisfy the fusion conditions, the long-range millimeter-wave single target and the short-range millimeter respectively. It becomes a wave alone target.

  When fusion processing is performed over time in each update cycle in a region where the long-range millimeter-wave radar and short-range millimeter-wave radar overlap, it is determined as a separate target due to such fluctuations in the detection results between both radars. The long-distance millimeter wave target and the short-distance millimeter wave target were fused to become a fusion target, or the fusion target that was the same target was split and each long-distance millimeter wave target and It may be a short-range millimeter-wave target alone. Under such circumstances, if the fusion result is simply stored in the fusion target box due to the presence or absence of a new flag, it will be treated as the appearance of a new target, etc., and the history of the same target will be interrupted. As a result, the detection performance of the conventional high-resolution long-distance millimeter-wave radar alone may not be maintained.

  The present invention has been made in view of the above, and even if there is a change over time in the determination result as the same object based on the detection results of the plurality of object detection means that detect the object by different methods, An object of the present invention is to provide an object detection apparatus capable of effectively taking over a detection result and continuing an appropriate object detection.

  In order to solve the above-described problems and achieve the object, an object detection apparatus according to the present invention is an object detection apparatus including a plurality of object detection means for detecting an object in different ways in overlapping regions, Determining means for determining whether or not the objects detected by the object detecting means are the same object, and an object that is detected by the plurality of object detecting means and not determined to be the same object by the determining means When it is determined that the same object is detected by the means, the detection result of the specific one of the plurality of object detection means is continuously stored in the object determined to be the same object. Storage control means to be held by the unit.

  The object detection device according to the present invention is an object detection device including a plurality of object detection means for detecting an object in an overlapping region by different methods, and the objects detected by the plurality of object detection means are the same object. A determination means for determining whether or not the objects detected by the plurality of object detection means and determined to be the same object by the determination means are not the same object by the determination means A storage control unit for continuously storing the detection result of the object determined as the same object in the storage unit in the object detected by the specific one of the plurality of object detection units. It is characterized by that.

  In the object detection apparatus according to the present invention as set forth in the invention described above, the one specific object detection means is an object detection means having a relatively high accuracy detection capability among the plurality of object detection means. It is characterized by.

  In the object detection apparatus according to the present invention as set forth in the invention described above, the storage control means sets the detection flag to the same flag, thereby continuously holding the detection result in the storage unit.

  The object detection device according to the present invention detects a detection result of one specific object detection unit when an object that is detected by a plurality of object detection units and is not determined to be the same object is determined to be the same object. Is continuously stored in the storage unit for the object determined to be the same object, so that the determination result as the same object based on the detection results of the plurality of object detection means for detecting the object by different methods, for example, Even if there is a temporal change such as the appearance of a fusion target, it is not handled as a new target, and it is possible to continue the proper object detection by effectively taking over the past detection results.

  In addition, the object detection device according to the present invention is detected by one specific object detection unit when it is determined that the same object detected by a plurality of object detection units is not the same object. Since the detection result of the object determined to be the same object is continuously stored in the storage unit, the determination as the same object based on the detection results of the plurality of object detection means for detecting the object by different methods Even if there is a change over time such as the splitting of the fusion target in the result, it is not treated as a new target, and it is possible to continue the proper object detection by effectively taking over the past detection result. .

  Further, in the object detection apparatus according to the present invention, since one specific object detection unit is an object detection unit having a relatively high detection capability, an object that inherits past detection results can be detected more accurately. Therefore, the detection result of the object detection means having high detection ability can be used with priority, and the detection result of the object detection means with relatively low detection accuracy can be used together. There is an effect that can be.

  In addition, since the object detection device according to the present invention uses the same detection flag as the detection flag so that the detection result is continuously stored in the storage unit, the past detection result can be easily taken over. There is an effect.

  Hereinafter, an embodiment of an object detection device according to the present invention will be described with reference to the drawings. The present embodiment shows an application example of the object detection device according to the present invention to a collision mitigation device mounted on a vehicle. The collision mitigation apparatus according to the present embodiment detects a forward vehicle as a detection target and performs various controls to prevent / reduce a collision with the forward vehicle. In particular, the collision mitigation apparatus according to the present embodiment includes two types of millimeter wave radars for detecting the forward vehicle, and detects the forward vehicle by collating detected objects by the respective millimeter wave radars.

  With reference to FIGS. 1-11, the collision mitigation apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a collision mitigation apparatus 1 according to the present embodiment. The collision mitigation device 1 detects a preceding vehicle, and performs brake control, suspension control, seat belt control, and alarm control according to the possibility of collision when a preceding vehicle is detected. The collision mitigation apparatus 1 sets a millimeter wave target based on detection information from two types of millimeter wave radars to detect a vehicle ahead, and sets a fusion millimeter wave target by collating the millimeter wave targets. To do.

  Such a collision mitigation apparatus 1 includes a long-distance millimeter-wave radar 2 corresponding to one specific object detection means, a short-distance millimeter-wave radar 3 corresponding to another object detection means, a brake ECU (Electronic Control Unit) 4, A suspension control actuator 5, a seat belt actuator 6, a buzzer 7, a collision mitigation ECU 10, and the like are provided, and these transmit and receive various signals by CAN (Controller Area Network) (standard interface standard for in-vehicle LAN) communication.

  First, each target will be described. The long-range millimeter wave target (FFar) is an object detected based on information from the long-range millimeter-wave radar 2. The short-range millimeter wave target (FNear) is an object detected based on information by the short-range millimeter-wave radar 3. The fusion millimeter wave target (FMwr) is an object that can be determined that the long-range millimeter-wave target and the short-range millimeter-wave target are the same object. It is an object that integrates millimeter wave targets and short-range millimeter wave targets.

  In the present embodiment, a long-distance millimeter-wave single target and a short-distance millimeter-wave single target are used in addition to the normal fusion millimeter-wave target as described above in accordance with the fusion determination processing result described later. . A long-distance millimeter-wave target is an object of a long-distance millimeter-wave target that could not be fused with a short-distance millimeter-wave target. The short-range millimeter-wave target is an object of a short-range millimeter-wave target that could not be fused with the long-range millimeter-wave target. These fusion millimeter-wave targets, long-distance millimeter-wave single targets, and short-range millimeter-wave single targets are registered by being stored in a fusion millimeter-wave target box described later.

  The long-distance millimeter-wave radar 2 is a radar for detecting an object using millimeter waves, and a high-resolution long-distance / narrow-field DBF millimeter-wave radar is used. The long-distance millimeter-wave radar 2 is attached to the front center of the host vehicle. The long-distance millimeter-wave radar 2 transmits the millimeter wave forward from the own vehicle while scanning the millimeter wave in a horizontal plane, and receives the reflected millimeter wave. The long-distance millimeter-wave radar 2 transmits the millimeter-wave transmission / reception data to the collision reduction ECU 10 as a radar signal. This transmission / reception data includes information on the transmitted millimeter wave, information on whether or not a reflected wave with respect to the transmitted millimeter wave has been received, and information on reception of the reflected wave if received.

  The short-distance millimeter-wave radar 3 is a radar for detecting an object using millimeter waves, and is a short-distance / wide-field monopulse system millimeter-wave with a lower resolution and a shorter update cycle than a long-distance millimeter-wave radar. Radar is used. The short-range millimeter wave radar 2 is attached to the front center of the host vehicle. The short-range millimeter wave radar 2 transmits the millimeter wave forward from the own vehicle while scanning the millimeter wave in a horizontal plane, and receives the reflected millimeter wave. The short-range millimeter-wave radar 2 transmits the millimeter-wave transmission / reception data to the collision reduction ECU 10 as a radar signal. This transmission / reception data includes information on the transmitted millimeter wave, information on whether or not a reflected wave with respect to the transmitted millimeter wave has been received, and information on reception of the reflected wave if received.

  The brake ECU 4 is an ECU that adjusts the hydraulic pressure of each wheel cylinder of the four wheels and controls the braking force of the four wheels. The brake ECU 4 sets a hydraulic control signal based on the target braking force of each wheel, and transmits each hydraulic signal to a brake control actuator that changes the hydraulic pressure of each wheel cylinder. In particular, when the brake ECU 4 receives a target brake force for each wheel from the collision mitigation ECU 10, the brake ECU 4 sets a hydraulic control signal based on the target brake force indicated by the target brake force signal. Incidentally, when receiving the hydraulic control signal, the brake control actuator changes the hydraulic pressure of the wheel cylinder based on the target hydraulic pressure indicated by the hydraulic control signal.

  The suspension control actuator 5 is an actuator that changes the hydraulic pressure of each hydraulic active suspension of the four wheels. When the suspension control actuator 5 receives the target damping force signal for each wheel from the collision mitigation ECU 10, the suspension control actuator 5 sets a target hydraulic pressure based on the target damping force indicated by each target damping force signal, and the hydraulic active suspension based on the target hydraulic pressure. Change the oil pressure. Although only one suspension control actuator 5 is shown in FIG. 1, it is provided for each of the four wheel suspensions.

  The seat belt actuator 6 is an actuator that pulls in each seat belt and changes the restraining force by the seat belt. When the seat belt actuator 6 receives the target pull-in amount signal for each seat belt from the collision reduction ECU 10, the seat belt actuator 6 pulls in the seat belt according to the target pull-in amount indicated by each target pull-in amount signal. In FIG. 1, only one seat belt actuator 6 is shown, but each is provided on the seat belt. Further, when the buzzer 7 receives an alarm signal from the collision mitigation ECU 10, it outputs a buzzer sound.

  The collision mitigation ECU 10 is an electronic control unit including a CPU, a ROM, a RAM, and the like, and performs overall control of the collision mitigation apparatus 1 when the CPU executes a control program stored in the ROM. The collision mitigation ECU 10 includes a long-distance millimeter wave target setting unit 11, a short-distance millimeter wave target setting unit 12, a fusion logic unit 13, a memory 14, a collision prediction unit 15, a vehicle control unit 16, and the like. The collision mitigation ECU 10 takes in radar signals from the long-distance millimeter-wave radar 2 and the short-distance millimeter-wave radar 3 at regular intervals based on the master clock of the CPU, and the long-distance millimeter-wave object based on the radar information at regular intervals. The long-distance millimeter-wave target setting process by the target setting unit 11 and the short-distance millimeter-wave target setting process by the short-distance millimeter-wave target setting unit 12 based on the radar information are performed. The fusion logic unit 13 performs fusion processing based on the short-range millimeter wave target. Thus, the front vehicle is detected, and the brake ECU 4, the suspension control actuator 5, the seat belt actuator 6, and the buzzer 7 are controlled in accordance with the possibility of a collision with the detected front vehicle.

  The long-distance millimeter wave target setting unit 11 will be described. The collision mitigation ECU 10 calculates a distance to an object ahead based on the time from emission to reception of millimeter waves by the long-distance millimeter-wave radar 2. In the object detection by the long-distance millimeter-wave radar 2, since the object is detected when the reflected millimeter wave can be received with a reception intensity equal to or higher than a predetermined threshold, the long-distance millimeter-wave radar target setting unit 11 One radar target is set every time the reflected millimeter wave is received with a reception intensity equal to or higher than a threshold value. Here, according to the object detection by the long-distance millimeter-wave radar 2, a high-resolution and narrow field of view makes it possible to obtain a detection result with higher accuracy than the detection result by the short-distance millimeter-wave radar 3.

  The short distance millimeter wave target setting unit 12 will be described. The collision mitigation ECU 10 calculates the distance to the object ahead based on the time from the emission to reception of the millimeter wave by the short-range millimeter wave radar 3. In the object detection by the short-range millimeter wave radar 3, since the object is detected when the reflected millimeter wave can be received with a reception intensity equal to or greater than a predetermined threshold, the short-range millimeter-wave radar target setting unit 12 One radar target is set every time the reflected millimeter wave is received with a reception intensity equal to or higher than a threshold value. Here, according to the object detection by the short-range millimeter wave radar 3, since the field of view is wide, a detection result can be obtained over a range that is difficult to detect by the long-range millimeter wave radar 2.

  The memory 14 as a storage unit includes a long-range millimeter wave target box 17, a short-range millimeter wave target box 18, and a fusion millimeter-wave target box 19. The long-distance millimeter-wave target box 17 is for storing a long-distance millimeter-wave target set by the long-distance millimeter-wave target setting unit 11 with a target number assigned for each update cycle. As shown in 2 etc., it has the link column 17a for storing the target number of the fusion millimeter wave target box mentioned later. The short-distance millimeter wave target box 18 is for storing a short-distance millimeter-wave target set by the short-distance millimeter-wave target setting unit 12 for each update cycle with a target number. As shown in 2 etc., it has the link column 18a for storing the target number of the fusion millimeter wave target box mentioned later. The fusion millimeter wave target box 19 stores the fusion millimeter wave target, the long-distance millimeter wave single target, and the short-distance millimeter wave single target with target numbers according to the fusion processing result obtained for each update cycle. Is to do.

  Here, in the present embodiment, the number of targets to be processed for each update cycle is limited to a maximum of 8 for each of the long distance and short distance, and the long distance millimeter wave target box 17 and the short distance millimeter wave. The target box 18 has a target number up to 8, and the fusion millimeter wave target box 19 has a target number 16.

  Next, the fusion logic unit 13 will be described. The fusion logic unit 13 includes a target search processing logic unit 13a as a determination unit, a fusion target generation processing logic unit 13b, and a storage control processing logic unit 13c as a storage control unit. The target search process, the fusion target generation process, and the storage control process are repeated.

This will be described with reference to FIG. FIG. 2 is a schematic diagram illustrating an example of a fusion process including a target number storage process. First, as shown in FIG. 2, when the long-distance millimeter-wave target setting unit 11 detects the long-distance millimeter-wave target FFar ₁ (the subscript number indicates the target number), The search processing logic unit 13a sets the search range SA _F1 around the distance, the lateral position, and the relative speed set in the long-distance millimeter-wave target FFar ₁ . Such a search range SA _F1 is set in advance in consideration of the average size of the vehicle and the like. The target search processing logic unit 13a, among the near millimeter wave target that is set is detected in the detection area SA _N short range millimeter wave radar 3, the search range SA _F1 as the overlap region It is determined whether or not there is anything included. As shown in FIG. 2, when there is a short-range millimeter wave target FNear ₂ included in the search range SA _F1 , the target search logic unit 13a performs the long-range millimeter-wave target FFar ₁ and the short-range millimeter wave. It is determined that there is similarity with the target FNear _2, and it is determined that the object is the same.

When the long-distance millimeter wave target FFar ₁ and the short-distance millimeter-wave target FNear ₂ are determined to be the same object, the fusion target generation logic unit 13b determines that the long-distance millimeter-wave target FFar ₁ is the same object. The information of the FFar _{1 and} the information of the short-range millimeter wave target FNear ₂ are integrated to generate the fusion millimeter wave target FMwr ₁ . Other long-distance millimeter-wave targets and short-distance millimeter-wave targets are similarly processed. For example, in the example shown in FIG. 2, the long-range millimeter wave target FFar ₃ and the short-range millimeter-wave target FNear ₃ are determined to be the same object, and the fusion millimeter-wave target FMwr ₂ is generated. The long-distance millimeter-wave target FFar ₂ and the short-distance millimeter-wave target FNear ₁ are targets of processing, but none of them satisfy the fusion condition. Are treated as

  Here, the basics of the storage process of the fusion processing result in the memory 14 by the storage control processing logic unit 13c will be described. Also in the case of the present embodiment, the same target is stored in the same target number of the fusion millimeter wave target box 19 so that the same target box number is detected from when the target is first detected until it disappears. As a precondition.

  First, as the processing a, the fusion condition that the searched short-range millimeter wave target exists in the overlapping region is satisfied based on the distance, the lateral position, and the relative speed of the long-range millimeter-wave target to be processed. If it is determined, a fusion millimeter wave target is generated and stored left-justified in the blank of the fusion millimeter wave target box 19 (a detection flag is set). Such processing is performed for all the long-distance millimeter-wave targets stored in the long-distance millimeter-wave target box 17 in the order of the target numbers. At this time, the target numbers of the fusion millimeter wave targets stored in the fusion millimeter wave target box 19 are registered in the link fields 17a and 18a of the long distance millimeter wave storage box 17 and the short distance millimeter wave storage box 18. .

In the example shown in FIG. 2, first, as described above, the long-distance millimeter wave targets FFar ₁ and FFar ₃ satisfy the fusion condition, and a fusion millimeter wave target is generated. Are left-justified and stored as fusion millimeter wave targets FMwr ₁ and FMwr ₂ having target numbers 1 and 2, respectively, as indicated by arrows in process a. Further, target number 1 fusion millimeter wave target FMwr _1, in the link column 17a of the long distance millimeter wave target box 17, long distance millimeter wave target number 1 which is a fusion Fusion millimeter wave target FMwr ₁ FNear 2 is a distance millimeter wave target FNear ₂ registered in the position corresponding to the target FFar ₁ and fused to the fusion millimeter wave target FMwr ₁ in the link field 18 a of the short distance millimeter wave target box 18. Register at the position corresponding to. Similarly, target number 2 fusion millimeter wave target FMwr _2, in the link section 17a of the long distance millimeter wave target box 17, long distance millimeter of the target number 3 which is fusion Fusion millimeter wave target FMwr ₂ The distance millimeter wave target FNear registered in the position corresponding to the wave target FFar ₃ and in the link field 18a of the short distance millimeter wave target box 18 is fused to the fusion millimeter wave target FMwr ₂ by the near target number 3. Register at the position corresponding to ₃ .

  Next, as processing b, if there is a long-distance millimeter-wave target among the targets that do not satisfy the fusion condition, the fusion millimeter-wave target in the millimeter-wave fusion storage box 19 is used as the long-distance millimeter-wave target. Register left-justified in the following blank. Also in this case, the target number of the fusion millimeter wave target box 19 stored as the long distance millimeter wave single target is registered in the link field 17a of the long distance millimeter wave target box 17.

In the example shown in FIG. 2, the long-distance millimeter-wave target FFar ₂ corresponds to the long-distance millimeter-wave target at the position of target number 3 in the fusion millimeter-wave target box 19 as indicated by the arrow in the process b. And the target number 3 is stored in the column corresponding to the target number 2 in the link column 17a of the long-distance millimeter wave target box 17.

  Further, as the processing c, if there is a short-range millimeter wave target among the targets that do not satisfy the fusion condition, the fusion millimeter-wave target and the far-field in the millimeter-wave fusion storage box 19 are used as the short-range millimeter-wave single target. Register left-justified in the blank following the distance millimeter-wave single target. Also in this case, the target number of the fusion millimeter wave target box 19 stored as a short distance millimeter wave single target is registered in the link field 18a of the short distance millimeter wave target box 18.

In the example shown in FIG. 2, the short-range millimeter-wave target FNear ₁ is applicable, and the short-range millimeter-wave target is located at the position of target number 4 in the fusion millimeter-wave target box 19 as indicated by the arrow in process c. And the target number 4 is stored in the column corresponding to the target number 1 in the link column 18a of the short-range millimeter wave target box 18.

  Further, in the fusion millimeter wave target box 19, the long-range millimeter wave target box 17, and the short-range millimeter wave target box 18, a non-detection number is registered in a blank portion not registered at this time. In the example shown in FIG. 2, “x” is used, but “−1”, “255”, and the like, numbers such as “17” or more cannot be used as target numbers of target boxes. I just need it.

  In this way, by performing basic storage processing for each of the target boxes 17 to 19, in the fusion millimeter wave target box 19, the fusion millimeter wave target, the long-range millimeter wave target, and the short distance from the left side. The fusion processing results are stored in descending order of the reliability of the detection results, such as millimeter wave targets.

  Next, the temporal processing of the storage processing of the fusion processing result in the memory 14 by the storage control processing logic unit 13c will be described. First, in the update cycle processing up to the previous time, the target that did not satisfy the fusion condition and was registered in the fusion millimeter wave target box 19 as the long distance millimeter wave single target and the short distance millimeter wave single target is An example of the fusion process when the fusion cycle is satisfied and the fusion millimeter wave target is obtained in the update cycle process will be described.

  First, as a general rule, the fusion millimeter wave target of this time is the target number of the fusion millimeter wave target box 19 previously occupied by the long distance millimeter wave single target, which is the detection result of the long distance millimeter wave radar 2. It is held in the fusion millimeter wave target box 19 so as to be taken over (in order to set the detection flag of the current fusion millimeter wave target, the same flag as the detection flag of the previous long-distance millimeter wave single target is used). That is, the short-range millimeter-wave target as a detection result of the short-range millimeter-wave radar 3 is also registered in the fusion millimeter-wave target box 19, but the target number of the current fusion millimeter-wave target is not inherited. . In addition, for the corresponding short-range millimeter wave target link field 18a of the short-range millimeter-wave target box 18, the target number of the millimeter-wave target box 19 that stores the current fusion millimeter-wave target is stored. sign up.

FIG. 3 is a schematic diagram illustrating an example of a basic memory storage process in the fusion process. First, in the previous cycle, as shown by a broken line in FIG. 3, the long-range millimeter wave target FFar ₁ and the short-range millimeter wave target FNear ₁ do not satisfy the fusion condition, and are indicated by arrows as processes b and c, respectively. As shown in the figure, when a long-distance millimeter-wave single target and a short-distance millimeter-wave single target are stored in left and right positions in the target numbers 1 and 2 of the fusion millimeter wave target box 19, As shown in the figure, an example in which a fusion millimeter wave target is generated while satisfying the fusion condition is shown.

  At this time, the fusion millimeter wave target generated this time takes over the target number 2 of the fusion millimeter wave target box 19 in which the short-range millimeter wave single target is stored, or the millimeter wave fusion box 19 Although it is possible to newly store the target number 3, in this embodiment, as indicated by an arrow as the processing d, the long-range millimeter-wave single target that is the detection result of the long-range millimeter-wave radar 2 is The fusion millimeter wave target box 19 holds the target number 1 of the fusion millimeter wave target box 19 that has been occupied so far, so that the current fusion millimeter wave target takes over. In addition, as this fusion millimeter wave target takes over the target number 1 of the fusion millimeter wave target box 19 in which the long distance millimeter wave single target is stored, the short distance millimeter wave target box 18 The target number 1 is registered in the corresponding link field 18a.

  When the fusion millimeter wave target generated this time takes over the target number 2 of the fusion millimeter wave target box 19 in which the short-range millimeter wave single target has been stored, It is more unstable than the long-distance millimeter-wave radar 2, the history between update cycles tends to be interrupted, and when it is newly stored in the target number 3 of the millimeter-wave fusion box 19, as a new object While the history is completely interrupted, the fusion millimeter wave target generated this time takes over the target number 1 of the fusion millimeter wave target box 19 in which the long-range millimeter wave single target is stored. In such a case, the history is hardly interrupted by the stability of the detection capability, and the history between update cycles can be stably continued.

  Further, in the fusion millimeter wave target box 19, the long-range millimeter wave target box 17, and the short-range millimeter wave target box 18, a non-detection number is registered in a blank portion not registered at this time.

  On the other hand, as an exception, a fusion millimeter wave object that has already been registered as a short distance millimeter wave target is fused with a long distance millimeter wave target that has newly appeared in this update cycle. When the target is generated, the target number of the fusion millimeter wave target box 19 previously occupied by the short-range millimeter-wave single target, which is the detection result of the short-range millimeter-wave radar 3, is used as the current fusion millimeter. The fusion millimeter wave target box 19 holds the wave target so that the wave target is taken over (in setting the detection flag of the current fusion millimeter wave target, the same flag as the detection flag of the previous short-range millimeter wave single target To do). In addition, for the long distance millimeter wave target link field 17a corresponding to the long distance millimeter wave target box 17, the target number of the millimeter wave target box 19 storing the current fusion millimeter wave target is displayed. Register as a new flag.

FIG. 4 is a schematic diagram illustrating an example of exceptional memory storage processing in the fusion processing. First, in the previous cycle, as shown by a broken line, only the short-range millimeter wave target FNear ₁ exists alone and does not satisfy the fusion condition, and as shown by an arrow as the process c, as shown by a broken line in FIG. In the case of being stored as a single target in the target number 1 of the fusion millimeter wave target box 19 left-justified, a long-distance millimeter wave target FFar ₁ is newly detected as shown by the solid line during this cycle. In this example, the fusion millimeter wave target is generated by satisfying the fusion condition.

  At this time, it is possible to newly store in the target number 2 of the millimeter wave fusion box 19, but in the present embodiment, as indicated by an arrow as the process e, the detection result of the short-range millimeter wave radar 3 is used. A fusion millimeter wave target box 19 holds the target number 1 of the fusion millimeter wave target box 19 that a short-range millimeter wave single target previously occupied so that the current fusion millimeter wave target takes over. It is. In addition, as this fusion millimeter wave target takes over the target number 1 of the fusion millimeter wave target box 19 in which the short-range millimeter wave single target is stored, the long-range millimeter wave target box 17 The target number 1 is registered as a new flag in the corresponding link field 17a.

  When the fusion millimeter wave target generated this time takes over the target number 1 of the fusion millimeter wave target box 19 in which the short-range millimeter wave target is stored, the history between update cycles is interrupted. Even if it is apt, it is possible to continue the history between update cycles rather than treating it as a new object by completely storing it in the target number 2 of the millimeter wave fusion box 19 so that the history is completely interrupted. It will be.

  Further, in the fusion millimeter wave target box 19, the long-range millimeter wave target box 17, and the short-range millimeter wave target box 18, a non-detection number is registered in a blank portion not registered at this time.

  Next, among the temporal processing of the storage process of the fusion process result to the memory 14 by the storage control processing logic unit 13c, the process of the update cycle up to the previous time satisfies the fusion condition and serves as a fusion millimeter wave as a fusion millimeter wave target. Example of split processing when the target registered in the target box 19 does not satisfy the fusion condition and becomes a long-distance millimeter-wave single target and a short-distance millimeter-wave single target in this update cycle process. Will be described.

  First, as a general rule, this long-distance millimeter-wave target is a fusion millimeter-wave so that the target number (detection flag) of the millimeter-wave target box 19 previously occupied by the fusion millimeter-wave target is taken over. It is held in the target box 19 (in order to set the detection flag of the current long-distance millimeter-wave single target, the same flag as the detection flag of the previous fusion millimeter-wave target is set). At the same time, the current short-range millimeter-wave target is newly registered in the blank space of the fusion millimeter-wave target box 18 and is treated as a new flag. In addition, the target of the millimeter wave target box 19 storing the current short-range millimeter-wave single target is displayed for the corresponding short-range millimeter-wave target link field 18a of the short-range millimeter-wave target box 18. Register the number. In the fusion millimeter wave target box 19, the long distance millimeter wave target box 17, and the short distance millimeter wave target box 18, a non-detection number is registered in a blank portion not registered at this time.

FIG. 5 is a schematic diagram showing an example of a basic memory storing process in the splitting process. First, in FIG. 5, in the previous cycle, as shown by the broken line, the long-range millimeter wave target FFar ₁ and the short-range millimeter wave target FNear ₁ satisfy the fusion condition, and the fusion millimeter-wave target FMwr ₁ is generated. As indicated by the arrow as process a, when the fusion millimeter wave target is stored left-justified in the target number 1 of the fusion millimeter wave target box 19, at this cycle, as shown by the solid line, The example shows that the distance millimeter wave target FFar ₁ and the short distance millimeter wave target FNear ₁ are split into a state that does not satisfy the fusion condition.

  At this time, in the present embodiment, as indicated by an arrow as the processing f, the target number 1 of the fusion millimeter wave target box 19 previously occupied by the fusion millimeter wave target 19 is set to the present long distance millimeter wave alone. The target is taken over, and the current short-range millimeter-wave single target is newly registered in the target number 2 of the millimeter-wave target box 19 as indicated by the arrow as processing g and stored so as to be handled as a new flag. is there. In addition, as the current short-range millimeter wave target is newly registered in the target number 2 of the fusion millimeter-wave target box 19, the corresponding link field 18 a of the short-range millimeter-wave target box 18 is displayed. Registers target number 2.

  In this process, it is possible to store the target number 1 of the fusion millimeter wave target box 19 previously occupied by the fusion millimeter wave target so that the current short-range millimeter wave single target takes over. If the current millimeter wave target is taken over from the fusion millimeter wave target, the short distance millimeter wave radar 3 is more unstable than the long distance millimeter wave radar 2, and the history between update cycles is It tends to be interrupted. In this regard, as in this embodiment, when the long-range millimeter-wave single target takes over the target number 1 of the fusion millimeter-wave target box 19 in which the fusion millimeter-wave target is stored. Since the history is hardly interrupted by the stability of the detection capability, the history between update cycles can be stably continued.

  If the short-range millimeter-wave single target disappears during the current update cycle, new registration in the fusion millimeter-wave target box 19 may be omitted. Also, as an exception, if the long-range millimeter-wave single target disappears and only the short-range millimeter-wave single target disappears during this update cycle, the fusion millimeter-wave target previously occupied The target number 1 of the millimeter wave target box 19 may be stored so that the current short-range millimeter wave single target takes over.

  When the target number 1 of the fusion millimeter wave target box 19 in which the fusion millimeter wave target was stored is taken over by the current short-range millimeter wave target, the history between update cycles tends to be interrupted. Even if it exists, the history between the update cycles is continued rather than the new history stored in the target number 2 of the fusion millimeter wave target box 19 so that the history is completely interrupted because it is treated as a new target. Will get.

  By combining the above-mentioned fusion processing and splitting processing, it is possible to cope with fluctuations in long-range millimeter wave targets and short-range millimeter-wave targets that should be fused between fusion millimeter-wave targets between update cycles. . FIG. 6 is a schematic diagram illustrating an example of a combination process of a fusion process and a split process.

FIG. 6 shows that during the previous cycle, as shown by the broken line, the long-distance millimeter wave target FFar ₁ and the short-distance millimeter wave target FNear ₁ satisfy the fusion condition, and the fusion millimeter-wave target FMwr ₁ is generated and processed. As indicated by an arrow as a, as a fusion millimeter wave target, the short-range millimeter wave target FNear _{2 that} is stored left-justified in the target number 1 of the fusion millimeter wave target box 19 and does not satisfy the fusion condition is As indicated by an arrow as processing c, an example is shown in which the object number 2 of the fusion millimeter wave target box 19 is stored as a short-range millimeter wave single target in a left-justified manner.

At the time of this cycle, as indicated by the solid line, the long-distance millimeter wave target FFar ₁ in the previous fusion target satisfies the fusion condition with the previous single-distance millimeter wave target FNear ₂ and the fusion millimeter wave target FMwr. ₁ is generated and stored as a fusion millimeter wave target in the target number 1 of the fusion millimeter wave target box 19 in a left-justified manner as indicated by an arrow as process a. In addition, the long-range millimeter wave target FFar ₂ that newly appeared during this cycle satisfies the fusion condition with the short-range millimeter wave target FNear ₁ in the previous fusion target, and the fusion millimeter wave target FMwr ₂ is generated and processed. As indicated by an arrow as a, a fusion millimeter wave target is stored as a new flag left-justified in the target number 2 of the fusion millimeter wave target box 19.

FIG. 7 is a schematic diagram showing another example of the combination process of the fusion process and the split process. FIG. 7 shows that during the previous cycle, as shown by the broken line, the long-distance millimeter wave target FFar ₁ and the short-distance millimeter wave target FNear ₁ satisfy the fusion condition, and the fusion millimeter-wave target FMwr ₁ is generated and processed. As indicated by an arrow a, an example is shown in which the fusion millimeter wave target is stored left-justified in the target number 1 of the fusion millimeter wave target box 19.

At the time of this cycle, as shown by the solid line, the long-distance millimeter-wave target FFar ₁ is split into long-distance millimeter-wave targets that do not satisfy the fusion condition, and the fusion millimeter-wave object is shown as an arrow as processing f. The target number 1 of the fusion millimeter wave target box 19 previously occupied by the target is stored so that the current long-range millimeter wave single target takes over. On the other hand, the new long-distance millimeter wave target FFar ₂ and the short-distance millimeter-wave target FNear ₁ satisfy the fusion condition to generate the fusion millimeter-wave target FMwr _2. The wave target box 19 is left-justified in the blank, and is registered here as a new flag in the target number 2 column. Correspondingly, the target number 2 is registered as a new flag in the link field 17a corresponding to the long-distance millimeter-wave target FFar ₂ of the long-distance millimeter-wave target box 17.

  Next, the collision prediction unit 15 will be described. When a fusion millimeter wave target (including a long-range millimeter wave single target and a short-range millimeter wave single target) is set by the fusion logic unit 13 (that is, when a vehicle ahead is present), the collision prediction unit 15 In consideration of the vehicle speed, the stage of the possibility of collision based on the distance to the preceding vehicle set in the fusion millimeter wave target (including the long-range millimeter wave single target and the short-range millimeter wave single target) (For example, three stages of high possibility, low possibility, and none) are set.

  Further, when the possibility of a collision is set by the collision prediction unit 15, the vehicle control unit 16 sets the brake ECU 4, the suspension control actuator 5, the seat belt actuator 6, and the buzzer 7 according to the possibility of the collision. To control.

  Next, the operation in the collision reducing device 1 will be described. In particular, the flow of target search processing, fusion target generation processing, and storage control processing in the fusion logic unit 13 of the collision mitigation ECU 10 will be described with reference to the flowcharts shown in FIGS. 8 and 9 are schematic flowcharts showing the flow of the fusion processing according to the present embodiment divided into the first half and the second half, FIG. 10 is a subroutine showing an example of the fusion processing, and FIG. It is a subroutine which shows a processing example.

  The long-distance millimeter-wave radar 2 and the short-distance millimeter-wave radar 3 transmit the millimeter wave while scanning forward, receive the reflected wave, and transmit the transmission / reception data to the collision reduction ECU 10 as a radar signal.

  The collision mitigation ECU 10 receives the radar signals from the long-distance millimeter-wave radar 2 and the short-distance millimeter-wave radar 3. Then, the long-distance millimeter-wave target setting unit 11 sets the long-distance millimeter-wave target in the long-distance millimeter-wave target box 17 based on the radar information based on the radar signal at regular time intervals. Further, the short distance millimeter wave target setting unit 12 sets the short distance millimeter wave target in the short distance millimeter wave target box 18 based on the radar information based on the radar signal at regular time intervals.

  Then, the fusion logic unit 13 performs the following target search process, fusion millimeter wave target generation process, and storage control process at regular time intervals. First, the update cycle is monitored (step S101), and if it is the time of the update cycle (step S101: Yes), the long distance stored in the long distance millimeter wave target box 17 and the short distance millimeter wave target box 18 A millimeter wave target and a short-range millimeter wave target are acquired (step S102). Here, the target number n of the long-distance millimeter-wave target box 17 is set to 1 in order to cause the long-distance millimeter-wave target to be processed to be sequentially performed from the target number 1 (step S103). Then, a search range for determining the fusion condition is set based on the long-distance millimeter-wave target with the target number 1, and whether or not there is a short-distance millimeter-wave target that satisfies the fusion condition in the search range. Is determined (step S104).

  If a short-distance millimeter wave target that satisfies the fusion condition exists (step S104: Yes), it is determined whether or not this time is a new registration time (step S105). When it is a new registration time (step S105: Yes), the fusion millimeter wave target generated by satisfying the fusion condition is registered in the fusion millimeter wave target box 19 with left alignment (step S106). Further, in the long distance millimeter wave target box 17 and the short distance millimeter wave target box 18, the corresponding long distance millimeter wave target and short distance millimeter wave target link fields 17a and 18a have fusion millimeter wave target targets. Numbers are registered and linked (step S107).

  If it is not at the time of new registration (step S105: No), it is determined whether or not it was a millimeter wave single target at the previous update cycle (step S108). If the target is not a millimeter wave target in the previous update cycle (step S108: No), the fusion millimeter wave target generated by satisfying the fusion condition is converted into the corresponding fusion of the fusion millimeter wave target box 19. The target number of the millimeter wave target is registered at the position to be taken over (step S109). Further, in the long distance millimeter wave target box 17 and the short distance millimeter wave target box 18, the corresponding long distance millimeter wave target and short distance millimeter wave target link fields 17a and 18a have fusion millimeter wave target targets. Numbers are registered and linked (step S107).

  On the other hand, when it is a millimeter wave single target at the time of the previous update cycle (step S108: Yes), a fusion process described later is performed (step S200).

  Then, it is determined whether or not there is a long-distance millimeter-wave target to be processed next for fusion determination (step S110). Even when there is no short-distance millimeter wave target satisfying the fusion condition (step S104: No), the process jumps to step S110. If it remains (step S110: Yes), by incrementing the target number n by +1 (step S111), the next long-distance millimeter-wave target is set as a fusion determination processing target, and the processing from step S104 onward is performed. Repeat in the same way.

  On the other hand, if there is no long-distance millimeter-wave target to be processed next for fusion determination (step S110: No), the above-described fusion determination processing result indicates that the millimeter wave that did not satisfy the fusion condition and could not be fused. It is determined whether or not a single target exists (step S121). If it exists (step S121: Yes), it is determined whether or not this time is a new registration time (step S122). If it is not a new registration time (step S122: No), the fusion millimeter is displayed during the previous update cycle. It is determined whether or not it is a wave target (step S123). If it was at the time of new registration (step S122: Yes), or if it was not a fusion millimeter wave target at the time of the previous update cycle (step S123: No), a long-range millimeter wave object as that millimeter wave single target It is determined whether or not there is a mark (step S124).

  If there is a long-distance millimeter wave target (step S124: Yes), the long-distance millimeter-wave target is registered as a long-distance millimeter-wave target in the blank of the fusion millimeter-wave target box 19 with left alignment. (Step S125). In this case, after the fusion millimeter wave target is processed, if there is a fusion millimeter wave target, it is stored in a left-justified manner following the fusion millimeter wave target. At the same time, the target number of this long-distance millimeter-wave target object registered in the fusion millimeter-wave target box 19 is registered in the link field 17a of the corresponding long-distance millimeter-wave target box 17 of the long-distance millimeter-wave target box 17. To link them (step S126). The processes in steps S125 and S126 are repeated until there is no unprocessed long-distance millimeter wave target (step S127).

  When the processing of the long-distance millimeter-wave target is completed (step S124: No or step S127: No), the short-distance millimeter-wave target is set as a processing target, and the fusion millimeter-wave is used as the short-distance millimeter-wave target. Left-justified registration is made in the blank of the target box 19 (step S128). In this case, after the fusion millimeter-wave target and the long-distance millimeter-wave target are processed, if there is a fusion millimeter-wave target and a long-distance millimeter-wave target, the fusion millimeter-wave target and the long-distance millimeter-wave target alone It will be stored left justified after the target. At the same time, the target number of this short-range millimeter wave single target registered in the fusion millimeter-wave target box 19 is registered in the link field 18a of the corresponding short-range millimeter-wave target box 18 of the short-range millimeter-wave target box 18. To link them (step S129). The processes in steps S128 and S129 are repeated until there is no unprocessed long-distance millimeter wave target (step S130).

  On the other hand, if it is a fusion millimeter wave target at the previous update cycle (step S123: Yes), a splitting / disappearing process described later is performed (step S300).

  When the millimeter wave single target does not exist (step S121: No), or when the processing of the millimeter wave single target is completed (step S130: No), the long distance millimeter wave target box 17, the short distance A non-detection number is registered in the blank of the millimeter wave target box 18 (step S131).

  Next, the fusion process will be described with reference to FIG. If it is determined in step S108 that the target is a millimeter wave single target at the time of the previous update cycle, it is first determined whether or not it is only a short-range millimeter wave single target (step S201). When not only a short-distance millimeter wave target but also a long-distance millimeter-wave target (step S201: No), a target in which the long-distance millimeter-wave target of the fusion millimeter-wave target box 19 is registered. The current fusion millimeter wave target is stored at the position where the mark number is taken over (step S202). The long-distance millimeter-wave target box 17 and the short-distance millimeter-wave target box 18 correspond to the long-distance millimeter-wave target and the short-distance millimeter-wave target link fields 17a and 18a. The target number is registered and linked (step S203).

  On the other hand, when only the short-range millimeter wave target is present (step S201: Yes), this time is set at the position where the target number where the short-range millimeter-wave target of the fusion millimeter-wave target box 19 is registered is taken over. The fusion millimeter wave target is stored (step S204). The long-distance millimeter-wave target box 17 and the short-distance millimeter-wave target box 18 correspond to the long-distance millimeter-wave target and the short-distance millimeter-wave target link fields 17a and 18a. The target number is registered and linked (step S203). At this time, the target number of the current fusion millimeter wave target registered in the link field 17a of the long distance millimeter wave target corresponding to the long distance millimeter wave target box 17 is handled as a new flag.

  Further, the splitting / disappearing process will be described with reference to FIG. If it is determined in step S123 that the target is a fusion millimeter wave target in the previous update cycle, it is first determined whether or not there is a long-distance millimeter wave target (step S301). If there is a long-distance millimeter wave target (step S301: Yes), it is determined whether there is a related short-distance millimeter wave target (step S302). If there is a short-distance millimeter wave target (step S302: Yes), the long-distance millimeter-wave single target is registered at the position where the target number of the fusion millimeter-wave target stored in the fusion millimeter-wave storage 19 is taken over. At the same time, the short-range millimeter-wave single target is registered at the left-justified position in the blank (step S303). The registered short-range millimeter wave single target is treated as a new flag. The long-distance millimeter-wave target box 17 and the short-distance millimeter-wave target box 18 corresponding to the long-distance millimeter-wave target box 18 and the short-distance millimeter-wave target link fields 17a and 18a are displayed in the long-distance millimeter-wave target box. The target numbers of the target and the short-range millimeter-wave single target are registered and linked (step S304).

  If there is no short distance millimeter wave target (step S302: No), the related short distance millimeter wave target has disappeared, and the fusion millimeter wave target stored in the fusion millimeter wave storage 19 is not stored. A long-distance millimeter-wave single target is registered at a position where the target number is taken over (step S305). Then, the target number of the current long-distance millimeter-wave target is registered and linked in the corresponding long-distance millimeter-wave target link field 17a of the long-distance millimeter-wave target box 17 (step S306).

  On the other hand, if there is no long-distance millimeter-wave target (step S301: No), only the short-distance millimeter-wave target is obtained, and the target number of the fusion millimeter-wave target stored in the fusion millimeter-wave storage 19 is taken over. A short-range millimeter wave single target is registered at the position (step S307). Then, the target number of the current short-distance millimeter-wave target is registered and linked in the corresponding short-distance millimeter-wave target link field 18a of the short-distance millimeter-wave target box 18 (step S308).

  When the current fusion millimeter wave target is registered by such fusion processing, the collision prediction unit 15 sets the stage of possibility of collision based on the information set in the fusion millimeter wave target. The vehicle control unit 16 controls the brake ECU 4, the suspension control actuator 5, the seat belt actuator 6, and the buzzer 7 according to the stage of the possibility of collision.

  At this time, in the fusion millimeter wave target box 19, even if there is a fluctuation that may or may not be fused, the fusion millimeter wave target, the long-range millimeter wave single target, Since the distance millimeter wave single target is registered, it is possible to continue as the same target number until a certain target is first detected and disappears. Therefore, in using the result stored in the fusion millimeter wave storage box 19, for example, the more times the object with the same flag is detected, the more likely that the same object is detected over time. Since the speed determination and the like can be appropriately performed at a high level, it is possible to determine whether or not the object is to be subjected to collision avoidance control based on the number of detections of the object with the same flag.

  With this control, when the possibility of a collision with the preceding vehicle is low, the driver recognizes the approach of the preceding vehicle by the seat belt retracting by the seat belt actuator 6 and the buzzer 7 outputting a buzzer sound. Further, when the possibility of a collision with the vehicle ahead increases, deceleration by the automatic braking force by the brake ECU 4 and adjustment of the suspension hardness by the suspension control actuator 5 are performed, and the seat belt actuator 6 further pulls in the seat belt to strengthen the occupant. It restrains and makes the driver recognize further approach of the vehicle ahead by the output of the buzzer sound by the buzzer 7.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the present embodiment, an example of application to a collision mitigation device mounted on a vehicle has been described. However, other driving support devices such as an inter-vehicle distance control device and a following traveling device, and other devices such as a surrounding monitoring device may be used. Can also be applied, and can be used as a single object detection device. Moreover, as a detection target, it is also possible to detect other objects such as a pedestrian and a bicycle in addition to the preceding vehicle. Further, as a mounting target, it may be mounted on a robot or the like in addition to the vehicle.

  In this embodiment, an example in which the long-range millimeter-wave radar 2 and the short-range millimeter-wave radar 3 are provided has been described. However, the number of object detection units is not limited to two, and the radar is not limited to the same type. . For example, an imaging means such as a CCD stereo camera excellent in obtaining size information may be used in combination with a millimeter wave radar as a different kind of object detection means for detecting an object by a different method. In this case, the one with higher detection accuracy is selected according to the conditions such as weather (good weather or bad weather) or time zone (daytime or nighttime). The switching control may be selectively performed so as to be used as one object detection means.

It is a lineblock diagram of the collision mitigation device concerning this embodiment. It is a schematic diagram which shows the example of a fusion process including a target number storage process. It is a schematic diagram which shows the example of a principle memory storage process in a fusion process. It is a schematic diagram which shows the example of an exceptional memory storage process in a fusion process. It is a schematic diagram which shows the example of a principle memory storage process in a division | segmentation process. It is a mimetic diagram showing an example of combination processing of fusion processing and division processing. It is a mimetic diagram showing other examples of combination processing of fusion processing and division processing. It is a schematic flowchart which shows the first half of the flow of the fusion process which concerns on this Embodiment. It is a schematic flowchart which shows the second half of the flow of the fusion process which concerns on this Embodiment. It is a subroutine which shows the example of a fusion process. It is a subroutine which shows the example of a division / annihilation process.

Explanation of symbols

2 long-range millimeter-wave radar 3 short-range millimeter-wave radar 13a target search processing logic unit 13c storage control processing logic unit 14 memory 19 fusion millimeter-wave target box

Claims (3)

An object detection device comprising a plurality of object detection means for detecting an object for each update cycle in a different manner in an overlapping region,
Determining means for determining whether or not the objects detected by the plurality of object detecting means are the same object;
Determining that the plurality of objects which are not determined to the same object by a previous are in the process of updating cycle detected by the plurality of object detection means said judging means, the same object by said determining means in the process of this update cycle In the case where the target object number is detected, the target number of the object detected by the specific one of the plurality of object detection means in the process of the previous update cycle is taken over and stored as the target number of the same object. Storage control means to be held in the unit,
An object detection apparatus comprising: An object detection device comprising a plurality of object detection means for detecting an object for each update cycle in a different manner in an overlapping region,
Determining means for determining whether or not the objects detected by the plurality of object detecting means are the same object;
The objects detected by the plurality of object detection means in the previous update cycle process and determined to be the same object by the determination means are determined to be a plurality of objects that are not the same object by the determination means in the current update cycle. is the case was as object target number of detected at a specific one of said object detecting means of the plurality of object detecting means, the object target of which is determined to the same object in the processing of the previous update cycle Storage control means for taking over the number and holding it in the storage unit;
An object detection apparatus comprising:   3. The object detection apparatus according to claim 1, wherein the one specific object detection unit is an object detection unit having a relatively high detection capability among the plurality of object detection units. .

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