JP5309831B2 - Vehicle obstacle detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle detector for a vehicle, which can surely discriminate a stationary object from a moving object and prevent another vehicle moving across the front of its own vehicle from misrecognizing as the stationary object. <P>SOLUTION: When there is no change in a target vehicle speed of another vehicle CA which is detected by a millimeter-wave radar 3 and there is no lateral movement in the other vehicle CA, an obstacle determination part 23 determines the other vehicle CA as a stationary object, and when the lateral movement exists, determines the other vehicle CA as a moving object. Thereby a vertically long edge of the other vehicle CA, which is a detection result of a CCD camera 2 for determining an object shape, can be utilized as a determination target for detecting the movement of the obstacle in a direction other than the advancing direction of its own vehicle, so that the crossing vehicle can be prevented from being misrecognized as the stationary object and the generation of an unnecessary warning can be prevented. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an obstacle detection device for a vehicle that controls an operation device of the vehicle according to a detection state by an obstacle detection means using a radar and an imaging means.

  Conventionally, an obstacle for a vehicle having obstacle detection means for detecting an obstacle ahead of the host vehicle and an operation equipment control means for controlling the operation equipment of the vehicle in accordance with the detection state of the obstacle by the obstacle detection means. Sensing devices are known.

  Patent Document 1 detects an obstacle by a radar device and determines whether or not the obstacle is a stationary object based on the relative speed between the host vehicle and the obstacle. When the obstacle is a stationary object, There has been proposed a technique for estimating a relative movement position with respect to the host vehicle based on a deviation amount from a traveling path center line corrected by a turning radius when a predetermined time has elapsed since the obstacle was detected.

  In Patent Document 1, since the deviation amount calculated when a stationary obstacle is detected by the radar device is corrected based on the turning radius when a predetermined time has elapsed, the relative movement position with respect to the host vehicle can be accurately grasped. Interpolation of obstacles that do not actually exist is prevented from complicating the process, and erroneous collision determination is prevented.

  On the other hand, there are cases where an imaging means such as a CCD camera for imaging the front of the host vehicle is mounted on the vehicle for the purpose of preventing the departure of the traveling lane. The radar device uses a phenomenon in which the frequency of the electromagnetic wave varies depending on the relative speed between the electromagnetic wave source (vehicle) and the reflection side (obstacle), so-called Doppler effect, so the shape of the object can be grasped. However, the imaging means such as a CCD camera is excellent in detecting the outer shape of the end of an object, so-called edge, and is used for various object shape determinations such as vehicles, people, buildings, etc. Yes.

JP 2007-278892 A

  In the vehicle obstacle detection, it is important for the subsequent control to determine the target obstacle. That is, it is not necessary to predict the movement of a fixed object that is fixed like a building, but a moving object such as a vehicle must take into account operations such as starting, stopping, and turning. Since the fixed object and the movable object can be selected to some extent by their object shapes, it is effective for object detection to mount a CCD camera on the obstacle detection device as described above.

  Based on FIGS. 6 and 7, the vehicle recognition process when the radar apparatus and the CCD camera are mounted will be described. FIG. 6 shows a captured image when the vehicle CA traveling straight starts to cross the front of the host vehicle, and FIG. 7 shows a captured image when the crossing of the vehicle CA proceeds.

As shown in FIG. 6, the radar apparatus captures the vehicle CA traveling straight in the area A, and the traveling speed (target vehicle speed) of the vehicle CA along the traveling direction of the vehicle CA based on the relative speed between the vehicle CA and the host vehicle. ) Can be detected. At this time, it is unknown whether the object is a vehicle. Upon receiving this relative speed detection, the image processing unit sets a predetermined range of image processing area with reference to area A, and then performs image processing of this processing area.

  In the image processing, feature parts such as a front window glass, a headlight, and a tail lamp of the vehicle CA are extracted from the captured image of the processing area. For vehicle recognition, a vehicle-specific collation template is prepared in advance, and the extracted feature portion is compared with the template. If there are a predetermined number or more of matching portions, the vehicle is recognized as a moving object. To do.

When the vehicle CA starts traversing, there is still a change in the relative speed between the vehicle CA and the host vehicle accompanying the forward movement , and the target vehicle speed is detected from the relative speed between the vehicle CA and the host vehicle. The capture area B moved from the area A is set. Based on this area B, an image processing area C is set. When the image processing area C is set, the vehicle recognition described above is performed next, and it is possible to determine whether or not the object is a vehicle.

As shown in FIG. 7, when the vehicle CA crosses further, there is no change in the relative speed between the vehicle CA and the host vehicle, and the target vehicle speed is detected from the relative speed between the vehicle CA and the host vehicle by the radar device. Therefore, the vehicle is recognized as a stationary vehicle (stationary object), and the capture region B does not move, that is, the next capture region is not set.

That is, even equipped with a CCD camera to detect the radar device and shape for detecting the movement, if the target vehicle speed along the vehicle traveling direction is not detected, for example, when another vehicle traverses the vehicle forward, Even when another vehicle completes crossing while the host vehicle is traveling, there is a possibility that the vehicle is erroneously recognized as a stationary vehicle and a collision warning is activated. In Patent Document 1, it is possible to estimate the position of a stationary object with respect to the host vehicle, but no examination has been made regarding a situation in which the target vehicle speed is not detected, and there is no suggestion.

An object of the present invention, the lateral movement thereof the body is positively identified, is to provide an obstacle detection device for a vehicle which can prevent the other vehicle crossing ahead of the vehicle is erroneously recognized as a stationary object.

According to the first aspect of the present invention, the radar device that detects an obstacle ahead of the host vehicle, the imaging unit that images the front of the host vehicle, and the information on the obstacle obtained from the radar unit and the imaging unit operate the operating device. An obstacle detection apparatus for a vehicle having a determination means for controlling , wherein the determination means extracts a relative speed between the obstacle detected by the radar means and the host vehicle, and the relative speed. and the relative speed comparing means for comparing the relative speed and the predetermined time after the relative speed extracted by the extraction means, an edge extracting means for extracting an edge of the obstacle from the image of the obstacle taken by the image pickup means A lateral distance calculating means for calculating a lateral distance between the edge of the obstacle extracted by the edge extracting means and the host vehicle, and a lateral distance calculated by the lateral distance calculating means. The lateral distance comparing means for comparing the lateral length of time after, by the relative velocity comparison result of the comparison by the means, there is no change in the relative speed between the obstacle and the vehicle, and the lateral distance comparing means result of the comparison, if there is a change in the lateral distance between the obstacle and the vehicle, and a obstacle determining means for determining the obstacle and laterally moving object, the obstacle determining means the obstacle When the moving object is determined to be a laterally moving object, the operation of the operating means can be prohibited .

  In the first aspect of the invention, the lateral distance between the edge of the obstacle extracted by the edge extracting means and the host vehicle is calculated, and the calculated lateral distance is compared with the lateral distance after a predetermined time. As a result, it is possible to detect the crossing of the obstacle ahead of the host vehicle, which is difficult to detect with the radar means.

  According to a second aspect of the invention, in the first aspect of the invention, the lateral distance calculating means calculates a lateral distance between the edge of the obstacle and the host vehicle every predetermined time.

  The invention of claim 3 is characterized in that, in the invention of claim 1 or 2, the type of the obstacle is determined based on the edge of the obstacle extracted by the edge extracting means.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, when the operating device is predicted to collide with the obstacle detected by the obstacle detecting means, It is an alerting means for alerting the passenger to the danger.

  According to a fifth aspect of the present invention, in the invention according to any one of the first to third aspects, the operating device is a brake operating means for operating a brake.

  According to a sixth aspect of the present invention, in the invention according to any one of the first to third aspects, the operating device is a seat belt pretensioner that restrains a vehicle occupant with a predetermined tension.

According to the present invention, wherein the determining means includes a relative speed extracting means for extracting a relative speed between the detected obstacle and the vehicle by the radar device, a relative speed which is extracted by the relative speed extractor means is extracted and the relative velocity comparison means for comparing the relative velocity after a predetermined time, an edge extracting means for extracting an edge of the obstacle from the image of the obstacle taken by the imaging means, by the edge extraction means horizontal and horizontal distance calculating means for calculating the direction distance, transverse distance for comparing the lateral length of the lateral distance and a predetermined time after that is calculated by the transverse distance calculation means between the edge and the vehicle of the obstacle comparison means, the relative speed comparison result of the comparison by the means, the obstacle and the relative speed without change in the vehicle, and the lateral distance comparing means compares the result of, and the obstacle and the vehicle If the lateral distance there is a change, and a obstacle determining means for determining the obstacle and laterally moving object, when the obstacle determining means determines the obstacle and laterally moving object, the actuating since banned configured to be capable of actuation means, lateral movement thereof bodies reliably identify and can prevent the other vehicle crossing ahead of the vehicle is erroneously recognized as a stationary object.

In other words, an obstacle detection device having radar means for detecting movement of an obstacle and imaging means for detecting the shape of the obstacle, the obstacle's edge as a detection result of the imaging means being used to detect the obstacle 's own vehicle By using it as a determination target for detecting a front crossing, it is possible to prevent other vehicles crossing the front of the host vehicle from being mistakenly recognized as stationary objects and to prevent unnecessary alarms and the like.

  According to a second aspect of the present invention, the lateral distance calculating means calculates a lateral distance between the edge of the obstacle and the host vehicle every predetermined time, so that the lateral movement of the obstacle can be detected. it can.

  According to the invention of claim 3, since the type of the obstacle is determined based on the edge of the obstacle extracted by the edge extracting means, the type of the obstacle can be reliably determined, and the fixed object and the movable object Identification becomes possible.

  According to a fourth aspect of the present invention, when the operating device is predicted to collide with the obstacle detected by the obstacle detection means, the operating device is informed by the occupant to notify the occupant of the danger. Risk avoidance is possible early.

  According to the invention of claim 5, since the operating device is a brake operating means for operating the brake, it is possible to ensure the safety of the occupant.

  According to the invention of claim 6, since the operating device is a seat belt pretensioner that restrains the vehicle occupant with a predetermined tension, safety of the occupant can be ensured.

  The vehicle obstacle control device according to the present invention includes an obstacle detection unit having a radar unit that detects an obstacle ahead of the host vehicle and an imaging unit that images the front of the host vehicle, and a detection state of the obstacle detection unit. And operating device control means for controlling the operating device of the host vehicle.

  As shown in FIGS. 1 and 2, the obstacle detection device 1 installed in the host vehicle V includes a CCD camera 2, a millimeter wave radar 3, a collision sensor 4, and a rudder that detects the driving state of the host vehicle V. An angle sensor 5, a rudder angular velocity sensor 6, a lateral G sensor 7, a seat belt pretensioner 8, a notification means 9, a brake means 10, and a control unit 11 (hereinafter referred to as an ECU) are provided. 10 are electrically connected as shown in FIG.

  The CCD camera 2 is an imaging means (on-vehicle camera) that images the front of the host vehicle V, and is attached to the upper rear side of the windshield of the host vehicle V, for example. It is fixed to the lower end surface of the roof on the upper rear side. It is also possible to provide a CCD camera rotation device so that the CCD camera 2 can be rotated up and down and left and right according to instructions from the ECU 11 and the imaging direction can be changed.

  The millimeter wave radar 3 is a radar unit that detects the other vehicle CA in front of the vehicle V and can detect the relative speed between the detected other vehicle CA and the host vehicle V. At the rear side of the emblem or the like, it is attached to the front. Various radars having the above functions can be employed instead of the millimeter wave radar 3.

  The seat belt pretensioner 8 includes a first seat belt pretensioner 12 and a second seat belt pretensioner 13, and the first is when the millimeter wave radar 3 detects that an obstacle has approached a predetermined distance. The seat belt is pulled into the retractor by the seat belt pretensioner 12 to restrain the occupant with a predetermined tension (a degree that does not affect the collision avoidance operation). When the collision sensor 4 detects that the host vehicle V has collided, the second seat belt pretensioner 13 further pulls in the seat belt and restrains the occupant with a strong restraining force.

  The notification means 9 includes a speaker 14, a buzzer 15, a lamp 16, and a display 17. At least one of the ECU 11, the speaker 14, the buzzer 15, the lamp 16, and the display 17 is an obstacle. Corresponds to notification means for outputting a notification when detected

The ECU 11 (determination unit) includes an image processing unit 18 (image processing unit), a relative speed extraction unit 19 (relative speed extraction unit), an edge extraction unit 20 (edge extraction unit), and a lateral distance calculation unit 21 (lateral distance). and calculating means), a comparison section 22 (lateral distance comparing means), the obstacle determining unit 23 (the obstacle determining means), operation device control section 2 4 that consists.

The image processing unit 18 includes a preset image processing area in the captured image of the CCD camera 2, and this image processing area has a relative speed with respect to the host vehicle V by a relative speed extraction unit 19 described later. When the other vehicle CA is detected, it is set corresponding to the capture area of the millimeter wave radar 3. The image processing unit 18 extracts characteristic parts such as a front window glass, a headlight, and a tail lamp of the other vehicle CA from the captured image in the image processing area, and compares them with a vehicle-specific template stored in the ROM in advance. When there are a predetermined number or more of matching parts, the vehicle is recognized as a vehicle.

The relative speed extraction unit 19 calculates the relative speed between the captured and detected other vehicle CA and the host vehicle V based on the detection value of the millimeter wave radar 3. The relative speed extraction unit 19 calculates a vehicle speed along the traveling direction of the host vehicle V of the other vehicle CA, that is , a so-called target vehicle speed V0 based on the calculated relative speed . The edge extraction unit 20 extracts a pair of vertically long edges corresponding to both side walls of the other vehicle CA from the captured image processed by the image processing unit 18. In extracting a pair of vertically long edges, the determination condition is that the interval between both edges is within a predetermined range.

  The lateral distance calculation unit 21 calculates a lateral distance between the longitudinal edge close to the host vehicle V and the host vehicle V among the both longitudinal edges. In this embodiment, the distance L0 between the center line in the vehicle width direction of the host vehicle V and the vertically long edge close to the host vehicle V is calculated every predetermined time. The comparison unit 22 is configured to compare the lateral distance L0 with the lateral distance L1 after a predetermined time, for example, 50 mmsec. The lateral distance of the lateral distance calculation unit 21 can be calculated even when the vehicle speed of the other vehicle CA is not detected.

The obstacle determination unit 23 has no change in the relative speed between the other vehicle CA detected by the millimeter wave radar 3 and the host vehicle V, and the comparison by the comparison unit 22 shows that the lateral distance L0 and the lateral distance L1 are If there is no change in the distance, it is determined that the other vehicle CA is a stationary object or a moving object that moves at the same speed as the own vehicle V with respect to the own vehicle V, and if the target vehicle speed V0 is zero, the other vehicle CA is Judge as a stationary object . Obstacle determining unit 23, the relative velocity is no change in the other vehicle CA and the vehicle V detected by the millimeter wave radar 3, the lateral distance L0 and the lateral distance L1 and in a region towards the vehicle V traveling direction If there is a distance change in, it is determined that lateral moving object other vehicle CA laterally.

Furthermore, when the obstacle determination unit 23 determines that the other vehicle CA is a laterally moving object that crosses the course of the host vehicle V, the obstacle speed is determined by the relative speed between the other vehicle CA and the host vehicle V and the lateral movement of the other vehicle CA. Based on the speed, the position of the other vehicle CA at the time when the host vehicle V reaches the region where the other vehicle CA crosses is detected, and it is determined whether or not the crossing is completed at that time. Even in the case of a laterally moving object, the obstacle is not determined when the distance changes in the direction away from the traveling direction of the host vehicle V.

The operating device control unit 24 controls the operating device of the host vehicle V according to the detection state of the CCD camera 2 and the millimeter wave radar 3. As shown in FIG. 3, the notification means 9 includes an obstacle 50 (in the LONG alarm area A1 as the first operation timing and the SHORT alarm area A2 as the second operation timing later than the first operation timing. It is configured to operate when another vehicle CA or the like enters . This LONG alarm area A1 has a wide area where the obstacle 50 is detected by the millimeter wave radar 3, and the SHORT alarm area A2 is narrower than the LONG alarm area A1.

  The area in the vehicle width direction of the LONG alarm area A1 and the SHORT alarm area A2 is limited to the same area as the vehicle width L, and the front end leaves an area of ± 10% of the vehicle width L from the left and right center line. It is a mountain-shaped region extending from there to the front end of the host vehicle V cut so as to spread rearward. That is, the LONG warning area A1 is a line connecting a point P1 at 40% offset from the end of the vehicle width direction end of the host vehicle V and T1 second until the collision, and a point P4 at 0% offset and T4 second until the collision. The outside is cut off. The time until the collision is determined from the relative speed between the host vehicle V and the obstacle 50, the traveling direction, and the like.

  The SHORT warning area A2 is more than the line connecting the point P2 at 40% offset from the end of the vehicle width direction end of the host vehicle V and T2 seconds until the collision, and the point P4 at 0% offset and T4 seconds until the collision. The outside is a cut area. In this way, the left and right corners on the front end side are cut off because the obstacle 50 at a short distance from the host vehicle V is difficult to avoid by the steering operation, but the obstacle 50 at a long distance and the left and right center side is This is because it is easy to avoid by steering operation. The host vehicle V also includes a brake means 10 that applies a braking force as an operating device and a seat belt pretensioner 8 that removes slack in the seat belt and increases the restraining force of the occupant.

  When the millimeter wave radar 3 determines that the obstacle 50 has entered a region of a predetermined distance (point P3 at T3 seconds until the collision), a signal is sent to the brake means 10 by the ECU 11 to the relatively weak driver. A primary brake is activated to call attention. Further, when the millimeter wave radar 3 determines that the obstacle 50 has further entered the region at a closer distance (point P5 at T5 seconds until the collision), the ECU 11 sends a signal to the brake means 10 to avoid the collision. In order to actuate a strong secondary brake.

  The detection areas A3 and A4 of the primary brake and the secondary brake are also cut off at the left and right front end sides in the same manner as the alarm areas A1 and A2. Specifically, the primary brake area A3 is cut outside the line connecting the point of steering avoidance time of 10% offset (not shown) and the point P3 of 40% offset and T3 seconds until the collision. The region up to the tip of the vehicle 1 is a mountain shape.

  Further, the secondary brake area A4 includes a range up to a point P7 T7 seconds after the collision. This is a control continuation time for absorbing the measurement variation of the millimeter wave radar 3, and is provided for reasons such as preventing the brake means 10 from being released after a collision.

  The seat belt pretensioner 8 includes a first seat belt pretensioner 12 and a second seat belt pretensioner 13, and the obstacle 50 moves the obstacle 50 by a predetermined distance (point P6 at T6 seconds until the collision) by the millimeter wave radar 3. When it is detected that the vehicle is approaching, the first seat belt pretensioner 12 pulls the seat belt into the retractor to restrain the occupant with a predetermined tension (a degree that does not affect the collision avoiding operation).

  When the collision sensor 4 detects that the vehicle has collided, the second seat belt pretensioner 13 further pulls in the seat belt and restrains the occupant with a strong restraining force. The first seat belt pretensioner 12 is configured to retract the seat belt by an electric motor (not shown). The second seat belt pretensioner 13 is configured to retract the seat belt by an inflator such as explosives.

  The driving operation state is detected by a steering angle sensor 5 that detects a steering angle θf that indicates the steering angle of the steering wheel, a steering angular velocity sensor 6 that detects a steering angular velocity dθf / dsec that indicates a change in the steering angle θf per unit time, This is detected by the lateral G sensor 7 that detects the acceleration received in the lateral direction with respect to the traveling direction of the host vehicle V, that is, the lateral G. The steering angle θf and the lateral G are input to the ECU 11 with the right side being positive and the left side being negative, for example. Although the steering angle θf, the steering angular velocity dθf / dsec, and the lateral G are detected, it is not necessary to detect all of them, and only a part of them may be detected.

The ECU 11 determines whether the absolute value of the steering angle θf is larger than a predetermined value (for example, 90 °), whether the absolute value of the steering angular velocity dθf / dsec is larger than a predetermined value (for example, 50 ° / sec), or the absolute value of the lateral G Is greater than a predetermined value (for example, 6 m / sec ² ), and if at least one of the conditions is satisfied, the vehicle V is in a driving operation state in which the vehicle V turns and the current If the driving state is continued, it is determined that the obstacle does not collide with the host vehicle, and the operation timing of the notification means 9 is set to SHORT.

In the operating device control unit 24, the obstacle determination unit 23 determines that the other vehicle CA is a laterally moving object that crosses the course of the host vehicle V, and the host vehicle V is in a region where the other vehicle CA crosses. When it is determined that the crossing of the other vehicle CA is completed at the time of arrival, the operation of the operating device is prohibited.

  Next, the obstacle detection process executed by the ECU 11 will be described in detail based on the flowchart of FIG. A program for executing the obstacle detection process is stored in the computer ROM of the ECU 11 or the like. Si (i = 1, 2,...) Indicates a processing step.

First, it is determined whether or not an obstacle (another vehicle CA) is detected in front of the host vehicle V by the millimeter wave radar 3 (S1). Result of the determination in S1, when Yes, the from the detection results of the millimeter-wave radar 3, reads the relative velocity between the host vehicle V and the obstacle (S2). Incidentally, in this step, as well as detecting the data Getto speed V0 of the obstacle and sets an image processing area by the image processing unit 18 on the basis of the capture region of the millimeter wave radar 3. If the determination result in S1 is No, the process returns.

Next, the image processing area set in S2 is image-processed among the captured images of the CCD camera 2, and as shown in FIG. 5, the oblong edge and the driving lane LA closer to the host vehicle V of the obstacle are displayed. A distance L0 from the center line in the vehicle width direction of the traveling vehicle V is read (S3), and the process proceeds to S4. In this step, the characteristic part of the obstacle is extracted, and the type of the object is recognized by using the template. Therefore, the obstacle can be recognized as a vehicle.

In S4, no change from the previous relative velocity from the detection of the previous relative velocity and the current relative speed is detected after a predetermined time, or data Getto speed V0 of the obstacle based on the current relative speed is generated Determine whether or not. As a result of the determination in S4, when the target vehicle speed V0 is generated, the vehicle is recognized as a moving object (S5), and the process proceeds to S6. As a result of the determination in S6, when it is determined that the collision is predicted, the process proceeds to S7, the operating device is operated by a command from the operating device control unit 24, and the process proceeds to S8. The collision prediction in this step is controlled based on the operation control map of the operation equipment shown in FIG. Further, the operating device corresponds to at least one of the notification means 9, the brake means 10, and the first seat belt pretensioner 12.

  If a collision is detected by the collision sensor 4 as a result of the determination in S8, the second seat belt pretensioner 13 is activated (S9) and the process returns. If no collision is detected by the collision sensor 4 as a result of the determination in S8, and if the result of determination in S6 is No, the process returns.

As a result of the determination in S4, when there is no change between the previous relative speed and the current relative speed and the target vehicle speed V0 is not generated, the other vehicle CA is estimated to be a stopped object or a laterally moving object. To determine , the distance L1 between the longitudinal edge of the other vehicle CA closer to the host vehicle V and the center line in the vehicle width direction of the host vehicle V is read, and the procedure proceeds to S11. As shown in FIG. 5, another vehicle CA that was traveling along the traveling lane LB is a situation that has moved from a state of another vehicle CA1 to the state of another vehicle CA2.

S11 in the determination result, if the sensed L0 and the L1 coincide, the other vehicle CA is no data Getto speed V0, since there is no movement in the transverse direction, the other vehicle CA and the vehicle as a stationary object recognition is (S5), the process proceeds to S6.

S11 in the determination result, if the sensed L0 and the L1 do not match, but the other vehicle CA data Getto vehicle speed V0 is not in the traveling direction of the vehicle V, in the lateral direction toward the traveling direction of the host vehicle V there movement, it is recognized that the so-called transverse vehicle, the process proceeds to S5. At this time, in the operating device control unit 24, the obstacle determination unit 23 determines that the other vehicle CA is a moving object that crosses the course of the host vehicle V, and the host vehicle V reaches an area where the other vehicle CA crosses. at the time of, as shown in FIG. 5, if the crossing of another vehicle CA3 is determined to be completed, and is configured to prohibit the operation of the operating device.

Next, the operation and effect of the obstacle detection apparatus according to the present embodiment will be described.
Obstacle determining unit 23, there is no change in the relative speed between the detected other vehicle CA and the vehicle V in the millimeter-wave radar 3, and when there is no lateral movement of the other vehicle CA, the stationary object or vehicle The other vehicle which is the detection result of the CCD camera 2 that determines the object shape in order to determine that it is a moving object in the lateral direction when it is determined that the moving object moves at the same speed as V and the other vehicle CA moves in the lateral direction. The vertically long edge of the CA can be used as a determination target for detecting the crossing of the obstacle ahead of the host vehicle, and it is possible to prevent misidentification that the crossing vehicle is erroneously recognized as a stationary object and to prevent an unnecessary alarm.

  Further, since the lateral distance between the vertically long edge of the other vehicle CA and the host vehicle V is calculated every predetermined time, the crossing of the other vehicle CA can be detected. Furthermore, since the type of the other vehicle CA is determined based on the vertically long edge of the other vehicle CA extracted by the edge extraction unit 20, the type of the other vehicle CA can be reliably determined, and the fixed object and the movable object can be identified. Become.

  When it is predicted that the host vehicle V will collide with the other vehicle CA detected by the millimeter wave radar 3, the danger is notified to the occupant so that the occupant can avoid danger at an early stage. Further, since the operating device is the brake means 10, it is possible to ensure the safety of the passenger. Furthermore, since the operating device is the seat belt pretensioner 8 that restrains the vehicle occupant with a predetermined tension, safety of the occupant can be ensured.

  In addition, various modifications can be added without departing from the spirit of the present invention. The obstacle detection device is not limited to collision detection, and any control can be applied as long as the vehicle uses radar means and imaging means that can recognize the shape of an object.

1 is a perspective view of a vehicle according to an embodiment of the present invention. It is a block diagram of the obstacle detection device concerning an example. It is a conceptual diagram which shows the detection range of a millimeter wave radar. It is a flowchart of the obstacle detection process which concerns on an Example. It is explanatory drawing of the obstruction detection process which concerns on an Example. It is explanatory drawing of the vehicle recognition at the time of using together the millimeter wave radar of a vehicle crossing start initial stage, and a CCD camera. It is explanatory drawing of the vehicle recognition at the time of using together the millimeter wave radar and CCD camera when predetermined time passes after a vehicle crossing start.

V Vehicle 1 Obstacle detection device 2 CCD camera 3 Millimeter wave radar 8 Seat belt pretensioner 9 Notification means 10 Brake means 11 ECU
18 Image processing unit 19 Relative speed extraction unit 20 Edge extraction unit 21 Lateral distance calculation unit 22 Comparison unit 23 Obstacle determination unit 24 Actuator control unit

Claims (6)

Radar means for detecting an obstacle ahead of the host vehicle , imaging means for imaging the front of the host vehicle, and judgment means for controlling the operation of the operating device based on information about the obstacle obtained from the radar means and the imaging means. An obstacle detection device for a vehicle,
The determination means includes
A relative speed extracting means for extracting a relative speed between the obstacle detected by the radar means and the host vehicle;
A relative speed comparison means for comparing the relative speed extracted by the relative speed extraction means with a relative speed after a predetermined time;
An edge extracting means for extracting an edge of the obstacle from the image of the obstacle taken by the imaging means,
A lateral distance calculating means for calculating a lateral distance between the edge of the obstacle extracted by the edge extracting means and the host vehicle;
A lateral distance comparing means for comparing the lateral distance calculated by the lateral distance calculating means with the lateral distance after a predetermined time;
As a result of the comparison by the relative speed comparison means, there is no change in the relative speed between the obstacle and the host vehicle, and as a result of the comparison by the lateral distance comparison means, a change is made in the lateral distance between the obstacle and the host vehicle. If there is, and a obstacle determining means for determining the obstacle and laterally moving object,
When said obstacle determination means determines the obstacle and laterally moving object, obstacle detecting device for a vehicle, characterized in that the disabling can be configured actuation of said actuating means.   The vehicle obstacle detection device according to claim 1, wherein the lateral distance calculation unit calculates a lateral distance between the edge of the obstacle and the host vehicle every predetermined time.   The obstacle detection device for a vehicle according to claim 1, wherein a type of the obstacle is determined based on an edge of the obstacle extracted by an edge extraction unit.   The operating device is an informing means for informing a passenger of a danger when the host vehicle is predicted to collide with an obstacle detected by the obstacle detecting means. The obstacle detection device for a vehicle according to any one of claims 3 to 4.   The obstacle detection device for a vehicle according to any one of claims 1 to 3, wherein the operating device is a brake operating unit that operates a brake. 4. The vehicle obstacle detection device according to claim 1, wherein the operating device is a seat belt pretensioner that restrains a vehicle occupant with a predetermined tension.