JP5745927B2 - Vehicle object detection device - Google Patents

Description

  The present invention relates to a vehicle object detection device, and more specifically to an apparatus that determines whether an object detected using electromagnetic waves is a stationary object such as a tree that does not move laterally.

  Detecting a laterally moving object such as a pedestrian in front of the vehicle traveling direction using electromagnetic waves is often performed, and the technology described in Patent Document 1 below can be given as an example. In the prior art, it is determined whether or not the laterally moving object is a dangerous object by comprehensively considering the laterally moving speed, position and size of the object.

JP 2000-251200 A

By the way, when detecting an object with electromagnetic waves, when detecting an object with low reflection intensity (low reflection object) such as a tree, the reflection intensity is so weak that only a part of the object may be detected. It was. Therefore, if the branch of a tree is like swaying by the wind, and move to the left and right portion of the object before and after (X-axis direction and the direction of Cartesian X-axis), it is detected to come though towards relative vehicle A tree or the like that is a stationary object may be erroneously determined to be a dangerous object, and thus unnecessary contact avoidance control may be performed.

  However, since the technique described in Patent Document 1 uses the lateral movement speed of an object, it is detected that a tree or the like is also moving laterally, and a stationary object is used as a moving object (dangerous object). A misjudgment could not be prevented.

  Therefore, the object of the present invention is to solve the above-mentioned problems and to erroneously judge that a low-reflective object such as a tree has moved from the lateral direction with respect to the traveling direction of the own vehicle when detecting an object using electromagnetic waves. An object of the present invention is to provide an object detection device for a vehicle that is prevented.

In order to solve the above object, in the claim 1, the traveling direction with the X-axis direction, the vehicle traveling on the XY plane the direction of Cartesian to the X-axis direction and the Y-axis direction An object detection means for detecting an object in the X-axis direction, an object group recognition means for grouping the plurality of objects and recognizing the object group when there are a plurality of detected objects, and the recognized object group Object determining means for determining whether or not the object is in a stationary state, object distance determining means for determining whether or not a total value σpx of distances between objects in the recognized object group exceeds a first predetermined value Lpx The object for each step t to t-1 , t-1 to t-2 ,... T- (n-1) to tn in the period from time t to n steps in the past. absolute value of the difference in the position of the X-axis direction of the group | p (t) -p (t -1) |, ··· | p (t- (n-1)) - (t−n) | is calculated, and the calculated absolute values are summed to obtain a position total value σp, and an object group position for determining whether or not the position total value σp exceeds a second predetermined value Lp. Difference of the width of the object group in the Y-axis direction for each of the change determination means and the one step t to t-1 , t-1 to t-2 , ... t- (n-1) to t-n W (t) −w (t−1) |,... | W (t− ( n−1 ) ) − w (t−n) |, and calculate the absolute value of And an object group width change determining means for determining whether or not the width total value σw exceeds a third predetermined value Lw, and obtaining the width total value σw, and the object determining means includes the object distance Of the determination means, the object group position change determination means, and the object group width change determination means, when the first condition determined that the determination results in at least two determination means are affirmed satisfies the object There was configured as judged to be in a stationary state.

  In the vehicle object detection device according to claim 2, the vehicle object detection device includes object group state recognition means for recognizing the detection time of the object group in the n steps, and the object determination means satisfies the first condition. At the same time, when the second condition for determining that the detection time is less than a fourth predetermined value TAVETHR is satisfied, the object group is determined to be in a stationary state.

  In the vehicle object detection device according to claim 3, when there are a plurality of the object groups satisfying the first condition, the object groups existing within a predetermined range are grouped to be recognized as an object group group. Object group group recognizing means, and the object group state recognizing means calculates the number Gcnt of object groups in the object group group and the detection time in the n steps of each object group in the object group group. In addition to recognizing the average detection time Tave on average, the object determination means satisfies the first condition, and determines that the average detection time Tave is less than the fourth predetermined value TAVETHR, and When the third condition for determining that the number of object groups Gcnt exceeds the fifth predetermined value CNTHHR is satisfied, the object group is determined to be in a stationary state.

For the vehicle object detecting device according to claim 1, the traveling direction and the X-axis direction, detects the X-axis direction of the object of the vehicle traveling on the XY plane and Y-axis direction and the direction Cartesian An object detection unit that recognizes an object group by grouping a plurality of objects when there are a plurality of detected objects, and an object determination that determines whether or not the recognized object group is in a stationary state Means, object distance determination means for determining whether or not the total value σ px of the distances between objects in the recognized object group exceeds a first predetermined value Lpx, and from time t to time t-n past n steps The absolute value of the difference in the position of the object group in the X-axis direction for every step t to t-1 , t-1 to t-2 , ... t- (n-1) to tn | p (t) -p (t -1) |, ··· | p (t- (n-1)) -p (t-n) | is calculated and the sum of the calculated absolute value Then the positional sum .sigma.p, the position sum .sigma.p second determining whether the object group position change determining means exceeds a predetermined value Lp, 1 t-1 from step t, t-1 from t-2, ... Absolute value of difference in width in Y-axis direction of object group from t- (n-1) to t-n | w (t) -w (t-1) |, ... | w (t - ( n-1 ) )-w (t-n) | is calculated, and the calculated absolute value is summed to obtain the width total value σw, and whether the width total value σw exceeds the third predetermined value Lw An object group width change determining means for determining whether or not the object determination means has a determination result in at least two of the object distance determination means, the object group position change determination means, and the object group width change determination means. When the first condition that is determined to be affirmed is satisfied, the object group is configured to be determined to be in a stationary state, so when detecting a low-reflection object such as a tree, In other words, when there is a large variation in the front and back of the objects to be taken out, when the position of the detected object group is detected at a different position at each detection time, or when the width of the object group varies from time to time, Even when a tree that is an object is detected as moving with respect to the host vehicle, it is possible to accurately determine that the object group is in a stationary state. Therefore, it is possible to detect a low-reflecting object such as a tree composed of a plurality of objects as a stationary object, and to prevent misidentification of the stationary object as a moving object, thereby performing unnecessary contact avoidance control, etc. There is nothing.

  The vehicle object detection device according to claim 2 further comprises object group state recognition means for recognizing the detection time of the object group in n steps, and the object determination means satisfies the first condition and has n steps. The object group is determined to be in a stationary state when the second condition for determining that the detection time of the object group is less than the fourth predetermined value TAVETHR is satisfied, that is, the detection time of the object group is also Since it is configured to be added to the determination condition, it is possible to detect the low reflection object as a stationary object more accurately.

  In the vehicle object detection device according to claim 3, when there are a plurality of object groups that satisfy the first condition, the objects that are grouped among the object groups existing within a predetermined range are recognized as object group groups. A group group recognizing unit, and the object group state recognizing unit averages the number Gcnt of object groups in the object group group and the detection time in n steps of each object group in the object group group. In addition to recognizing Tave, the object determination means satisfies the first condition, determines that the average detection time Tave is less than the fourth predetermined value TAVETHR, and sets the number of object groups Gcnt to a fifth predetermined value. When the third condition determined to exceed the value CNTHHR is satisfied, the object group is determined to be in the stationary state, in other words, the object group determined not to be in the stationary state is excluded. Since only a group of objects that have not been excluded is made into one group and further conditions are added to determine whether or not the object is stationary, it is possible to detect a low-reflection object as a stationary object more accurately. it can.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram illustrating an entire vehicle object detection device according to an embodiment of the present invention. It is a flowchart which shows operation | movement of the apparatus shown in FIG. FIG. 3 is a flowchart showing the operation of the apparatus shown in FIG. 1 as in FIG. 2. It is explanatory drawing explaining the grouping method of the object in the process of FIG. It is explanatory drawing explaining the position of the objects in one object group in the process of FIG. It is explanatory drawing explaining the change of the position of the X-axis direction of the object group in the n step of the process of FIG. 2, and the width | variety of a Y-axis direction. It is explanatory drawing explaining the view at the time of recognizing the object group in the process of FIG. 3 as an object group group.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments for implementing a vehicle object detection device according to the invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic view generally showing a vehicle object detection device according to an embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes a vehicle (own vehicle), and a four-cylinder internal combustion engine (shown as “ENG” in FIG. 1, hereinafter referred to as “engine”) 12 is mounted on the front thereof. The output of the engine 12 is input to an automatic transmission (shown as “T / M” in FIG. 1) 14. The automatic transmission 14 is a stepped type with 5 forward speeds and 1 reverse speed, and the output of the engine 12 is appropriately shifted there and transmitted to the left and right front wheels 16, driving the left and right front wheels 16, and the left and right rear wheels. 20 is driven and the vehicle 10 is driven.

  The driver's seat of the vehicle 10 is provided with an alarm device 22 including an audio speaker and an indicator. When the alarm device 22 is operated, the driver is warned by sound and vision. A brake pedal 24 disposed on the driver's seat floor of the vehicle 10 is a brake (disc brake) mounted on each of the left and right front wheels 16 and rear wheels 20 via a master back 26, a master cylinder 30 and a brake hydraulic mechanism 32. 34.

  When the driver operates (depresses) the brake pedal 24, the depressing force (depressing force) is increased by the master back 26, and the master cylinder 30 generates a braking pressure with the increased depressing force, via the brake hydraulic mechanism 32. Then, the brakes 34 attached to the front wheels 16 and the rear wheels 20 are operated to decelerate (brake) the vehicle 10.

  The brake hydraulic mechanism 32 includes an electromagnetic solenoid valve group inserted in an oil passage connected to a reservoir, a hydraulic pump, and an electric motor (all not shown) that drives the hydraulic pump. The electromagnetic solenoid valve group is connected to an ECU (Electronic Control Unit) 40 via a drive circuit (not shown).

  The ECU 40 includes a microcomputer including a CPU, a RAM, a ROM, an input / output circuit, and the like, and the four brakes 34 are operated independently of each other by the ECU 40 separately from the operation of the brake pedal 24 by the driver. Composed.

  A laser radar (laser scan radar) 42 is provided at the front of the vehicle 10. The laser radar 42 emits laser light (transmits electromagnetic waves) in the traveling direction (X-axis direction) of the vehicle 10, and reflects the laser light to an object such as a preceding vehicle or a tree existing in the traveling direction of the vehicle 10. An object is detected by receiving the obtained reflected wave. The output of the laser radar 42 is input to a radar output processing ECU (electronic control unit) 42a formed of a microcomputer.

  The radar output processing ECU 42a detects an object such as an object such as a tree as a plurality of laser reflection points. Specifically, the position (front-rear position (position in the X-axis direction), left-right position (position in the Y-axis direction), height (position in the Z-axis direction)) and reflection intensity (position in the Z-axis direction) of each object from the reflection point. Alternatively, the object is detected by obtaining the reflectance. The output of the radar output processing ECU 42a is sent to the ECU 40.

  A wheel speed sensor 46 is disposed in the vicinity of the front wheel 16 and the rear wheel 20 and outputs a pulse signal for each predetermined rotation angle of each wheel. The output of the wheel speed sensor 46 is sent to the ECU 40. The ECU 40 counts the outputs of the four wheel speed sensors 46 and calculates the average value thereof to detect the speed (traveling speed) V of the vehicle 10.

  2 and 3 are flowcharts showing the operation of the apparatus shown in FIG. The illustrated program is executed in the ECU 40 every predetermined time, for example, every 100 msec.

  In the following, in S10, the front / rear position, left / right position, height, and reflection intensity of all objects are detected using electromagnetic waves. That is, an electromagnetic wave is transmitted from the radar 42 in the traveling direction (X-axis direction) of the host vehicle (vehicle) 10 and reflected on all the objects existing in the traveling direction, and the object is reflected on the reflected light (reflection point). To detect.

  In step S12, objects are grouped based on information detected by electromagnetic waves (front and rear position, left and right position, height, reflection intensity, and the like). That is, a plurality of detected objects 72 are grouped (grouped) and recognized as an object group 74.

  FIG. 4 is an explanatory diagram for explaining a method of grouping objects. FIG. 4A is an image of a traveling path and a low reflection object that can be seen from the driver's seat.

  In the object detection of the radar 42, as shown in FIG. 4B, the laser light irradiated on the tree 70 is captured as a plurality of reflection points. In other words, the tree 70 is detected as a plurality of objects 72. The “object” in the present application refers to each reflection point detected by the radar.

  The plurality of detected objects 72 are grouped and recognized as an object group 74 as shown in FIG. When a plurality of object groups 74 are recognized in one detection, the number of recognized object groups 74 is set to the total object group number Omax (the total object group number Omax is 4 in FIG. 4C). .

  As a grouping method, even when a predetermined number of objects 72 are grouped together to form one object group 74, the objects 72 existing in blocks (areas, areas) divided into predetermined ranges on the XY plane (or ZY plane) are grouped. Then, it may be recognized as one object group 74.

  The processes of S10 and S12 are repeated n times (n steps). In other words, the detection of the object 72 and the recognition of the object group 74 are performed during the period from the time t to the time t-n that is n steps in the past.

Returning to the description of the flow chart of FIG. 2, the process then proceeds to S14, where the object group counter m is initialized with 1 , and the process proceeds to S16, where the variation determination counter C is initialized with zero, and a determination flag F_1 (m) described later. Set the False flag to Note that, as will be described later, the variation determination counter C counts the number of times that the determination result of whether the variation with respect to the front and rear position of the object and the variation with time with respect to the front and rear position and width of the object group are large is affirmed.

  Further, the process proceeds to S18, in which it is determined whether or not the total value σpx (m) of the front-rear position (position in the X-axis direction) of the object 72 exceeds the first predetermined value Lpx. Note that m in parentheses indicates the value of the object group counter m.

  This process will be described in detail. As shown in FIG. 5, when a tree 70 such as a tree or a forest is detected, the tree 70 is composed of leaves and branches that vary in the front-rear position (position in the X-axis direction). The position in the X-axis direction varies as compared with a general object such as a car. In other words, in the low reflection object, a plurality of detected objects vary in the front-rear position of each object in the cross section for one hour.

  That is, when the dispersion (variation) of the front and rear positions of the objects 72 in one object group 74 is equal to or greater than a certain value, that is, the total value σpx of the distances between the objects 72 in the X-axis direction exceeds the first predetermined value Lpx. When (Yes in S18), it is highly likely that the radar has detected trees or forests.

  Accordingly, when the object group 74 is recognized in S18, the distances between adjacent objects among the plurality of objects 72 existing in one object group 74 are calculated, and all the calculated distances are added. The total value σpx is obtained, and it is determined whether or not the total value σpx (m) exceeds the first predetermined value Lpx.

  When the result in S18 is affirmative, the process proceeds to S20, and the variation determination counter C is incremented by 1. On the other hand, when the result in S18 is negative, the process in S20 is skipped.

  Next, in S22, the total position value σp (m) obtained by summing the front and rear positions (positions in the X-axis direction) of the object group 74 for the past n times (n steps) exceeds the second predetermined value Lp. To determine.

  In this determination, as shown in FIG. 6, when a tree 70 such as a tree or a forest is detected, the position of the object group 74 in the front-rear direction (X-axis direction) is changed due to the leaves and branches swaying under the influence of wind and the like. It varies depending on the detection time. Therefore, the change in the front-rear position in the past n times (n steps) is more than a certain value, that is, the position total value σp (m) that is the total value of the positions of the object group 74 in the time axis in the X-axis direction is the second predetermined value Lp. It is highly possible that the radar has detected trees or forests.

Accordingly, in step S22, one step t to t-1 , t-1 to t-2 ,... T- (n-1) to t- from the time t to the time t-n in the past n steps. Absolute value of the difference in position in the X-axis direction of the object group 74 every n | p (t) −p (t−1) |,... | p (t− ( n−1 ) ) − p (t− n) | is calculated, and the calculated absolute values are summed to obtain the position total value σp, and it is determined whether or not the position total value σp (m) exceeds the second predetermined value Lp. In other words, this corresponds to a process of determining the degree of variation in the front-rear position of the object group 74 for the past n steps on the time axis.

  When the result in S22 is affirmative, the process proceeds to S24. As in S20, the variation determination counter C is incremented by one, while when the result in S22 is negative, the process in S24 is skipped.

  Further, the process proceeds to S26, in which it is determined whether or not the total width value σw (m) obtained by adding the widths of the object group 74 in the past n times (n steps) exceeds the third predetermined value Lw.

  Similar to the front and rear positions of the object group 74, this determination is also based on the knowledge that when a tree 70 such as a tree or a forest is detected as shown in FIG. 6, the width of the object group 74 itself varies greatly with time. ing. That is, when the change in the width of the object group 74 in the past n times (n steps) is a certain value or more, there is a high possibility that the object group 74 is a low reflection object.

Accordingly, in the process of S26, similarly to S22, one step t to t-1 , t-1 to t-2 ,..., T- (n-) between time t and n steps past time t- n. 1) to the absolute value of the difference in width in the Y-axis direction of the object group 74 every t−n | w (t) −w (t−1) |,... | W (t− ( n−1 ) ) −w (t−n) | is calculated, and the calculated absolute values are summed to obtain the width total value σw, and it is determined whether or not the width total value σw (m) exceeds the third predetermined value Lw.

  Next, when the result in S26 is affirmative, the process proceeds to S28, and similarly to S20 and S24, the variation determination counter C is incremented by 1, while when the result in S26 is negative, the process in S28 is skipped.

Next, in S30, whether or not the value of the variation determination counter C for the object group 74 is 2 or more, that is, in the determination process executed in S18, S22, and S26, the number of times that the variation is determined to be large is at least twice. It is determined whether or not this is the case.

When the result in S30 is affirmative, it can be determined that the object group 74 is a low-reflecting object, that is, a stationary object. Therefore, the process proceeds to S32, and the determination flag F_1 (m) indicating the determination result of whether or not the object group is True Set a flag. On the other hand, when the result in S30 is negative, the process of S32 is skipped, and therefore the determination flag F_1 (m) remains False.

  Next, in S34, the object group counter m is incremented by one, and then, in S36, it is determined whether or not the object group counter m is equal to or less than the total object group number Omax. When the result in S36 is affirmative, the process returns to S16, and the same process is executed for the next (m + 1) th object group 74.

  The first, second, and third predetermined values Lpx, Lp, and Lw are obtained in advance by experimentally detecting a detection result of a low reflection object (for example, a tree or a forest) by the laser radar 42 mounted on the vehicle 10. Is obtained.

On the other hand, S36 if negative in (A), the process proceeds to S38 shown in FIG. 3, the total object group number Omax content is determined flag F_1 (1) from F_1 (Oma x) object group True is standing in the ( to object group) satisfying the first condition, longitudinal and lateral position (X-axis direction · Y-axis direction position) to group those are within a predetermined distance L.

  In other words, when there are a plurality of object groups in which True is set in the determination flag F_1 (m), the object groups 74 existing within the predetermined range are grouped and recognized as the object group group G. When the object group group G is recognized, the number of recognized object group groups G is set to the total object group group number Gmax.

  Specifically, as shown in FIG. 7, the object groups A to D are located within the predetermined range (distance L [m], for example, 1 [m]) in the X-axis direction and the Y-axis direction. Groups A to D are grouped as one object group group G, while object group E is not within the predetermined range for all object groups A to D, so it is not grouped and excluded from the object group group Is done.

Returning to the description of the flow chart of FIG. 3, the process then proceeds to S40, where the object group group counter g is initialized to 1 . Next, in S42, the number of object groups included (existing) in one object group group G (g) is counted and input to the object group counter Gcnt (g).

  Next, in S44, the average detection time Tave (g) is calculated for the object group 74 of the object group group G (g). Specifically, the detection times T within n steps of each object group 74 in one object group group G (g) are averaged, and the object groups 74 present in the object group group G (g) are averaged. It is recognized as an average detection time Tave (g). That is, the process of S44 corresponds to a process of recognizing the detection time within n steps of the object group 74.

  Next, the process proceeds to S46, and whether or not the object group number counter Gcnt (g) exceeds the predetermined number CCNTHR (fifth predetermined value) and the average detection time Tave (g) is less than the predetermined time TAVETHR (fourth predetermined value). Judging. The predetermined time TAVETHR and the predetermined number CNTTHR are values set based on the knowledge that, when a tree or the like is detected, the number of object groups 74 in the object group group G increases to some extent and the average detection time becomes relatively short. It is.

  Specifically, when a relatively large object such as a tree or a forest is detected using the laser radar 42 or the like, the entire tree or forest is not detected as a single object, but a plurality of object groups 74 are detected. It is assumed that it is detected as an aggregate, and as a result, there is an increased probability that a tree or forest that is a stationary object will be misjudged as a dangerous object. Therefore, it is detected when a tree or the like is detected using the laser radar 42. A predetermined number CNTHHR is obtained by experimentally obtaining the number of object groups 74 in advance.

  Further, since the detection accuracy of a low reflection object such as a tree is low, the number of times it is detected as the object group 74, in other words, the time recognized as the object group 74 becomes unstable, so that it exceeds the predetermined time TAVETHR. It can be determined that the object group 74 that is stably detected is not a stationary object such as a tree.

  Note that the determination condition in S46 may be only whether or not the average detection time Tave (g) is less than the predetermined time TAVETHR.

  When the result in S46 is affirmative, the program proceeds to S48, in which it is determined that the object group in the object group group G (g) is in a stationary state. As a result, contact avoidance control such as the alarm device 22 (or braking via the brake hydraulic mechanism 32) is not performed unnecessarily.

  Although illustration is omitted, when the object group group G is not created or when the object group 74 is single, the processing of S38 and S42 is skipped, and the detection time T within n steps of the object group 74 is calculated in S44. In S46, it is determined only whether or not the detection time T is less than the predetermined time TAVETHR. If the result in S46 is affirmative, the program proceeds to S48, in which it is determined that the object group 74 is in a stationary state.

  Next, in S50, the object group group counter g is incremented by one, and then, in S52, it is determined whether or not the object group group counter g is less than Gmax. When the result in S52 is affirmative, the process returns to S42, and the next (g + 1) th object group group G (g + 1) is continuously determined.

  In this way, it captures the characteristics of low-reflection objects such as trees and forests, and objects that look like trees and forests (objects with variations in the front-rear position on a one-hour section, temporal changes in the front-rear position and width) If the object is detected as if it has moved due to the transfer of an object, etc., by determining that it is a moving object for large objects and objects with a short detection time) However, it is possible to determine that the low reflection object is in a stationary state, and it is possible to obtain higher detection accuracy.

As mentioned above, in this embodiment, the traveling direction with the X-axis direction, the X-axis of the vehicle 10 traveling on the XY plane the direction of Cartesian to the X-axis direction and the Y-axis direction When there are a plurality of object detection means (laser radar 42, radar output processing ECU 42a, S10) for detecting the object 72 in the direction and the detected object 72, the plurality of objects 72 are grouped and recognized as an object group 74. Object group recognition means (ECU 40, S12), object determination means (ECU 40, S32, S48) for determining whether or not the recognized object group 74 is stationary, and objects in the recognized object group 74 Between the object distance determination means (ECU 40, S18) for determining whether or not the total value σpx of the distances between the two 72 exceeds the first predetermined value Lpx, and from the time t to the time t−n that is n steps past. The absolute value of the difference in the position of the object group 74 in the X-axis direction for each step t to t-1 , t-1 to t-2 ,... T- (n-1) to tn. p (t) −p (t−1) |,... | p (t− ( n−1 ) ) − p (t−n) | is calculated, and the calculated absolute values are summed to obtain the position. An object group position change determining means (ECU 40, S22) for determining a total value σp and determining whether the position total value σp exceeds a second predetermined value Lp, and from the one step t to t−1 , t− Absolute value of difference in width in the Y-axis direction of the object group 74 every 1 to t−2 ,... T− (n−1) to t−n | w (t) −w (t−1) ... | W (t− ( n−1 ) ) − w (t−n) | is calculated and the calculated absolute values are summed to obtain the width total value σw, and the width total value Object group width change determining means (ECU 40, S26) for determining whether or not σw exceeds a third predetermined value Lw. In addition, the object determination means is a first condition for determining that the determination results in at least two of the object distance determination means, the object group position change determination means, and the object group width change determination means are affirmed. When satisfying (ECU 40, S30), since the object group 74 is determined to be in a stationary state (S22), when detecting a low-reflection object such as a tree, the variation of the detected object 72 before and after each other In other words, when the position of the object group 74 detected from time t to time t-n is detected at a different position for each time, or when the width of the object group 74 differs for each time, Even if the tree 70 which is a stationary object is detected as moving with respect to the own vehicle, the object group 74 can be accurately determined to be in a stationary state. The number of objects 72 is also determined to be stationary, so that a low reflection object such as a tree composed of a plurality of objects can be detected as a stationary object, and it can be prevented that the stationary object is erroneously determined as a moving object. Unnecessary contact avoidance control is not performed.

  The first condition is set when the determination results of at least two determination means are affirmed (S30). However, in order to prevent erroneous determination more reliably, the value of the variation determination counter C is 3 in S30. In other words, in other words, when the determination results (S18, S22, S26) in all the determination means are affirmed, the first condition may be satisfied.

  In addition, an object group state recognition unit (ECU 40, S44) for recognizing the detection time of the object group 74 in the n steps is provided, and the object determination unit satisfies the first condition and the detection time T is When the second condition determined to be less than the fourth predetermined value TAVETHR is satisfied (S46), the object group 74 is determined to be stationary (S48), that is, the object group detection time is also determined. Since it is configured to be added to the determination condition, it is possible to detect the low reflection object as a stationary object more accurately.

  Further, when there are a plurality of the object groups 74 satisfying the first condition, the object group group recognition means (ECUs 40, S38) recognizes the object group group G by grouping the object groups 74 existing within a predetermined range. The object group state recognition means averages the number Gcnt of the object groups 74 in the object group group G and the detection time in the n steps of each object group 74 in the object group group G. Then, the average detection time Tave is recognized (S42, S44), and it is determined that the object determination unit satisfies the first condition and the average detection time Tave is less than the fourth predetermined value TAVETHR. In addition, when the fourth condition for determining that the number Gcnt of the object groups exceeds the fifth predetermined value CNTHHR is satisfied (S46), the object group 74 is statically It is configured so that it is determined to be in a state (S48). In other words, an object group determined not to be in a stationary state is excluded, only the object group that has not been excluded is made into one group, and further conditions are added and the object is stopped. Since it is configured to determine whether or not it is in a state, it is possible to more accurately detect a low reflection object as a stationary object.

  In the above, the determination conditions of S18, S22, and S26 are the total values (total value σpx, position total value σp, width total value σw). However, in these processes, it is only necessary to be able to determine the magnitude of variation. Instead of the value, an average value or standard deviation may be used.

  In the above description, the determination condition is the detection time T and the average detection time Tave, but it may be the number of times the object group 74 is detected during n steps.

In the above description, the object group 74 is plural ( four in FIG. 4C), but may be recognized as singular.

  In the above description, the laser radar is disclosed as an apparatus for transmitting an electromagnetic wave. However, the present invention is not limited thereto, and instead of or in addition, for example, a millimeter wave radar may be used.

  DESCRIPTION OF SYMBOLS 10 Vehicle (own vehicle), 12 Engine (internal combustion engine), 16 Front wheel, 20 Rear wheel, 22 Alarm device, 34 Brake, 36 Brake switch, 40 ECU (electronic control unit), 42 Laser radar, 42a Radar output processing ECU, 46 wheel speed sensor, 70 tree, 72 object, 74 object group, G object group group

Claims (3)

a. With the traveling direction of the X-axis direction, and the object detecting means for detecting the object in the X-axis direction of the vehicle traveling XY on a plane to the X-axis Cartesian directions of the Y-axis direction in the direction,
b. When there are a plurality of detected objects, an object group recognition unit that groups the plurality of objects and recognizes them as an object group;
c. Object determination means for determining whether or not the recognized object group is in a stationary state;
d. Object distance determination means for determining whether or not a total value σpx of distances between objects in the recognized object group exceeds a first predetermined value Lpx;
e. The object group for each step t to t-1 , t-1 to t-2 ,... T- (n-1) to tn in the period from time t to n steps in the past. The absolute value of the difference in position in the X-axis direction | p (t) −p (t−1) |,... | P (t− ( n−1 ) ) − p (t−n) | Then, the calculated absolute values are summed to obtain a position total value σp, and an object group position change determining means for determining whether the position total value σp exceeds a second predetermined value Lp;
f. Absolute value | w of the difference in width in the Y-axis direction of the object group for each one step t to t-1 , t-1 to t-2 , ... t- (n-1) to t-n (t) −w (t−1) |,... | w (t− ( n−1 ) ) − w (t−n) | is calculated, and the calculated absolute values are summed to obtain the total width. An object group width change determining means for determining a value σw and determining whether the width total value σw exceeds a third predetermined value Lw;
And the object determination means determines that the determination results of at least two of the object distance determination means, the object group position change determination means, and the object group width change determination means are affirmed. When the above condition is satisfied, it is determined that the object group is in a stationary state. g. Object group state recognition means for recognizing the detection time of the object group in the n steps;
The object determination means satisfies the first condition and satisfies the second condition in which the detection time is determined to be less than a fourth predetermined value TAVETHR. The vehicle object detection device according to claim 1, wherein the vehicle object detection device is determined to be present. h. When there are a plurality of the object groups satisfying the first condition, an object group group recognizing means for grouping the object groups existing in a predetermined range among them and recognizing the object group group;
The object group state recognizing means averages the number Gcnt of object groups in the object group group and the detection times in the n steps of the respective object groups in the object group group. While recognizing Tave, the object determination means determines that the first condition is satisfied, the average detection time Tave is less than the fourth predetermined value TAVETHR, and the number of object groups Gcnt is The vehicle object detection device according to claim 2, wherein when the third condition determined to exceed the fifth predetermined value CNTHHR is satisfied, the object group is determined to be in a stationary state.