JP6075168B2 - Vehicle object detection device - Google Patents

Description

  The present invention relates to a technique for emitting a transmission wave in a traveling direction of a host vehicle and detecting an object existing in the traveling direction of the host vehicle based on a detection result of the reflected wave.

There are various techniques for detecting an object existing in the traveling direction of a vehicle (see, for example, Patent Documents 1 and 2).
Among such techniques, there is a technique for grouping detection points (or reflection points) of objects existing around the host vehicle obtained by laser radar to identify the objects. Then, as a grouping technique, a straight line is extracted by the Hough transform process, and whether or not the detection point is included in the straight line is determined using a threshold value, and the detection point group on the same line is grouped as the same object. There is technology. Further, as a grouping technique, there is a grouping technique in which the distance between two adjacent detection points is determined using a threshold value and it is determined whether or not these detection points belong to the same object.

JP 2003-255047 A JP 2010-256040 A

  By the way, in the method of extracting a straight line by the Hough transform process, whether the detection point is included in the straight line again by performing a voting process to the ρ-θ space for all the detected points and based on the straight line specified by the Hough transform process. It is necessary to determine whether or not. Therefore, this method has a problem that the calculation process is complicated and the calculation cost increases. Furthermore, in this method, the accuracy of straight line extraction depends on the resolution of the ρ-θ space during the Hough transform process.

  In the method of determining the distance between two adjacent detection points using a threshold value, the density of the laser beam decreases as the distance from the host vehicle increases. Therefore, if an object close to the own vehicle and an object far from the own vehicle are determined with the same threshold value, there is a problem that the determination accuracy, that is, the accuracy of grouping is lowered. Furthermore, since the density of the laser beam changes depending on the angle of the object with respect to the host vehicle, there is a problem that the accuracy of the simple determination using the threshold value is lowered.

Due to these problems, the vehicle detection system is highly accurate in information about vehicles parked in parallel on the shoulder, such as the side and rear end of vehicles parked in parallel, and the gaps between vehicles parked in parallel. It cannot be detected.
An object of the present invention is to detect an object with a simpler calculation while preventing a reduction in grouping accuracy.

In order to solve the above-described problem, according to one aspect of the present invention, a transmission wave is emitted while being scanned in a horizontal direction in a traveling direction of the host vehicle, and a reflected wave of the transmitted transmission wave is detected to detect the reflected wave of the host vehicle. the vehicle object detection apparatus for detecting an object existing in the traveling direction, a plurality of reflection points which the transmission wave is reflected by the scanning, the transmission plurality of detection points in the firing the order of wave P _{h (h} = 0, 1, 2, and N-1, N (N is an integer)) to assign the detection point group generation unit, a detection point _{P i} of interest to be compared from the plurality of detection points _{P h} comparison to determine the comparand detection point determining unit determining, the continuous detection point adjacent a plurality of detection points P _h to the detection point P _i to be compared with the detection point P _i P _{i-1, P i-2} a straight line including a detection point determining unit, and the firing point of the transmission wave and the detection point P _i, said analyzing Distance calculating the intersection specifying unit configured to specify a point of intersection between the straight line, the distance between the firing point of the transmission wave and intersection the intersection specifying unit has identified containing the point P _i-1 and said detection point P _i-2 A calculation unit, a distance calculated by the distance calculation unit, a distance difference calculation unit that calculates a difference between a launch point of the transmission wave and a distance between the detection points _Pi, and a distance calculated by the distance difference calculation unit A distance difference determination unit that determines whether or not the difference is greater than or equal to a preset distance difference determination threshold, and the distance difference determination unit has the distance difference less than the distance difference determination threshold The detection point P _i is grouped into the same group as the detection points P _i-1 and P _i-2, and the distance difference determination unit has the distance difference equal to or greater than the distance difference determination threshold value. and if it is determined, wherein the detection point _{P i} detection point _{P i-1,} different from _{P i-2} Based on detection groups grouped by the grouping processing unit, grouping processing unit for grouping into groups, an updating unit for updating the value i to a larger value after the grouping by the grouping processing unit, and the grouping processing unit And an object detection unit that detects an object existing in the traveling direction of the vehicle.

In one other first example embodiment of the present invention, the respective detection points P _i, P _{i-1, P i-2} of the respective position information based, the detection point P _i and the detection point P _{i -1} and an angle calculation unit that calculates an angle formed by a straight line including the detection point P _i-1 and the detection point P _i-2, and an angle calculated by the angle calculation unit is set in advance. An angle determination unit that determines whether or not the angle determination threshold value is greater than or equal to the angle determination threshold value, and the grouping processing unit is configured such that the angle determination unit has the angle equal to or greater than the angle determination threshold value. When it is determined that there is, the detection point P _i is grouped into a group different from the detection points P _i-1 and P _i-2 regardless of the determination result of the distance difference determination unit, and the angle determination unit Is determined to be less than the angle determination threshold, the determination result of the distance difference determination unit is It is preferable to perform grouping based on the results.

According to one aspect of the present invention, the vehicle object detection device detects each detection point P _i , P _i-1 , P _i-2 on the same straight line from the relationship between the distance difference and the distance determination threshold value. Grouping is performed by determining whether or not it is a point cloud, and grouping can be performed by simple calculation.

  Further, according to one aspect of the present invention, grouping the detection points based on the relationship between the distance difference and the distance determination threshold causes the resolution to change depending on the distance to the object and the direction of the object. Decrease in accuracy can be prevented.

  According to another first example of one aspect of the present invention, the vehicle object detection device can suppress the number of detection points for determining whether or not the detection point group is on the same straight line. . As a result, the vehicle object detection device can shorten the grouping calculation time.

FIG. 1 is a block diagram illustrating a configuration example of the driving support apparatus according to the present embodiment. FIG. 2 is a diagram illustrating an operation example of the laser radar when detecting an object. FIG. 3 is a flowchart illustrating a processing example of the driving support device. FIG. 4 is a block diagram illustrating a configuration example of the object detection unit. FIG. 5 is a diagram illustrating an example of detection points P _i−2 , P _i−1 , and P _i detected by the laser radar. FIG. 6 is a flowchart illustrating an example of processing contents of the grouping unit. FIG. 7 is a diagram illustrating an example of detection points P _h (h = 0 to 77) assigned to reflection points on the side surfaces of other vehicles existing in the traveling direction of the host vehicle. FIG. 8 is a diagram illustrating an example of the distances L _i and L _q , the distance difference ΔL, and the group number j when the detection points P _h (h = 0 to 77) as illustrated in FIG. 7 are obtained. is there. FIG. 9 is a diagram illustrating an example of a plurality of stopped vehicles that are objects detected by the driving support control unit and a plurality of areas requiring attention determined by the driving support control unit.

Embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, a driving support device is cited. The driving support device detects an object existing in the traveling direction of the host vehicle, and performs driving support of the host vehicle based on the detection result (configuration).
In FIG. 1, the structural example of the driving assistance apparatus 1 is shown.

As shown in FIG. 1, the driving support device 1 includes a laser radar 2, a vehicle speed sensor 3, a rudder angle sensor 4, a yaw rate sensor 5, a driving support control unit 10, a braking device 6, and a display unit 7.
FIG. 2 shows an operation example of the laser radar 2 when detecting an object.
As shown in FIG. 2, the laser radar 2 emits a laser beam 2a in the traveling direction of the host vehicle (for example, in front of the host vehicle) and scans in the horizontal direction (vehicle width direction) and exists in the traveling direction of the host vehicle. A reflected wave from the object 100 is detected. Thereby, the laser radar 2 acquires the distance between the reflection point on the object 100 and the own vehicle and the detection angle of the reflection point (for example, the angle of the reflection point with respect to the optical axis of the light source of the laser radar 2). Then, the laser radar 2 outputs the acquired various information (hereinafter referred to as distance information) to the driving support control unit 10.

  The vehicle speed sensor 3 detects the vehicle speed of the host vehicle. Then, the vehicle speed sensor 3 outputs the detected value to the driving support control unit 10. The steering angle sensor 4 detects the steering angle of the steering wheel. Then, the steering angle sensor 4 outputs the detected value to the driving support control unit 10. The yaw rate sensor 5 detects the yaw rate of the host vehicle. Then, the yaw rate sensor 5 outputs the detected value to the driving support control unit 10.

  The driving support control unit 10 is configured in, for example, an ECU (Electronic Control Unit) including a microcomputer and its peripheral circuits. Therefore, for example, the driving support control unit 10 is configured by a CPU, a ROM, a RAM, and the like. The ROM stores one or more programs. The CPU executes various processes according to one or more programs stored in the ROM.

In the present embodiment, the driving support control unit 10 includes the own vehicle movement amount calculation unit 11, the object detection unit 20, a caution area determination unit 12, a priority order setting unit 13, an obstacle determination unit 14, and a contact possibility determination unit 15. The brake control unit 16 and the display processing unit 17 are provided.
Here, detection values (vehicle information) from the vehicle speed sensor 3, the rudder angle sensor 4, and the yaw rate sensor 5 are input to the own vehicle movement amount calculation unit 11. The own vehicle movement amount calculation unit 11 calculates the movement amount of the own vehicle from these detection values and the like. Then, the own vehicle movement amount calculation unit 11 outputs the calculated value to the attention area determination unit 12 and the object detection unit 20.

  In addition to the movement amount of the host vehicle from the host vehicle movement amount calculation unit 11, distance information from the laser radar 2 is input to the object detection unit 20. The object detection unit 20 detects (identifies) an object that exists in front of the host vehicle based on the distance information from the laser radar 2 and the amount of movement of the host vehicle. Specifically, the object detection unit 20 corrects the distance information from the laser radar 2 with the movement amount of the host vehicle, and detects an object present in the traveling direction of the host vehicle based on the corrected distance information. For example, the object detection unit 20 cancels the movement amount of the host vehicle from the distance value included in the distance information from the laser radar 2, and exists in the traveling direction of the host vehicle using the distance value at which the movement amount is canceled. The object to be detected is detected. Here, the object is, for example, a vehicle or a person. Then, the object detection unit 20 outputs the detected object information to the attention area determination unit 12 and the obstacle determination unit 14. The configuration of the object detection unit 20 and the processing content will be described in detail later.

  The caution area determination unit 12 identifies an area (hereinafter referred to as a blind spot area) that is a blind spot of each object based on the object information from the object detection unit 20. Then, the attention area determination unit 12 determines the possibility that an obstacle such as a pedestrian or a bicycle jumps out in front of the vehicle for each identified blind spot area. As a result, the caution area determination unit 12 may cause an obstacle such as a pedestrian or a bicycle to jump out of each blind spot area in the traveling direction of the host vehicle (for example, in front of the host vehicle) (highly likely). ), The blind spot area that may pop out is determined as the area requiring attention. Then, the attention area determination unit 12 outputs information on the determined attention area to the priority order setting unit 13.

  The priority setting unit 13 calculates the degree of possibility of contact in each caution area when there are a plurality of caution areas determined by the caution area determination unit 12. And the priority order setting part 13 sets a priority order according to the calculated degree of contact possibility. Specifically, the priority order setting unit 13 sets the priority order higher as the degree of contact possibility increases. The priority order setting unit 13 outputs information on the set priority order to the obstacle determination unit 14 and the display processing unit 17.

The obstacle determination unit 14 determines whether the object detected by the object detection unit 20 can be an obstacle based on the object information from the object detection unit 20 and the priority order information from the priority order setting unit 13. Specifically, the obstacle determination unit 14 determines that an object that is likely to enter the path of the host vehicle among the objects detected by the object detection unit 20 is an obstacle. At this time, the obstacle determination unit 14 determines whether or not the obstacle can be an obstacle based on the priority order information. For example, the obstacle determination unit 14 decreases the threshold value used for grouping detection points when determining an obstacle in a high-priority attention area. As will be described later, the threshold values are an angle determination threshold value β _th and a distance determination threshold value L _th . By reducing the threshold value, many objects can be identified as obstacles, and obstacles popping out from the blind spot can be detected at an early stage. The obstacle determination unit 14 outputs the determination result of the obstacle to the contact possibility determination unit 15.

  The contact possibility determination unit 15 determines the possibility that the obstacle determined by the obstacle determination unit 14 contacts the host vehicle. If the contact possibility determination unit 15 determines that there is a high possibility that an obstacle will contact the host vehicle, for example, if the contact possibility determination unit 15 determines that the degree of possibility is greater than a preset threshold value, the braking control unit A braking command is output to 16 and a display command is output to the display processing unit 17.

When the braking command from the contact possibility determination unit 15 is input, the braking control unit 16 drives the braking device 6. Thereby, the own vehicle can avoid contact with an obstacle, or can reduce the damage of contact with an obstacle.
When the display command from the contact possibility determination unit 15 is input, the display processing unit 17 causes the display unit 7 to display that the possibility that the vehicle is in contact with an obstacle is high. At this time, the display unit 7 may output an alarm sound from an audio output unit included in the display unit 7. The display processing unit 17 may display the priority order on the display unit 7 together with the area requiring attention based on the priority order information from the priority order setting unit 13.

FIG. 3 shows a flowchart of a processing example of the driving support device 1 shown in FIG.
As shown in FIG. 3, first in step S1, the object detection unit 20 scans the laser beam of the laser radar 2 in the horizontal direction, and detects a reflected wave from an object existing in the traveling direction of the host vehicle. As a result, the laser radar 2 acquires the distance between the detection point serving as the reflection point and the host vehicle and the detection angle of the reflection point (acquires distance information). The configuration and processing contents of the object detection unit 20 that realizes this acquisition processing will be described in detail later.

Next, in step S2, the own vehicle movement amount calculation unit 11 acquires vehicle information from the vehicle speed sensor 3, the steering angle sensor 4, the yaw rate sensor 5, and the like.
Next, in step S3, the own vehicle movement amount calculation unit 11 calculates the movement amount of the own vehicle based on the vehicle information acquired in step S2.

Next, in step S4, the object detection unit 20 corrects the distance information about the detection point acquired in step S1 based on the movement amount of the host vehicle calculated in step S3.
Next, in step S5, the object detection unit 20 groups the detection point group whose distance information has been corrected in step S4. The configuration and processing contents of the object detection unit 20 that realizes this grouping will be described in detail later.

  Next, in step S6, the object detection unit 20 detects (identifies) an object (such as a vehicle) that exists in the traveling direction of the host vehicle. Furthermore, the object detection part 20 detects the clearance gap between the object which exists in the traveling direction of the own vehicle. At this time, the object detection unit 20 may determine whether an object existing in the traveling direction of the host vehicle is a stationary object or a moving object based on past information.

Next, in step S7, the caution area determination unit 12 specifies the blind spot area of each object based on the object information (object detection information and gap information between objects) detected in step S6.
Next, in step S8, the caution area determination unit 12 may cause an obstacle such as a pedestrian or a bicycle to jump out in the traveling direction of the host vehicle in each blind spot area specified in step S7 ( The blind spot area (which is highly likely) is determined as the area requiring attention.

Next, in step S9, the priority order setting unit 13 sets the priority order of the areas requiring attention determined in step S8.
Next, in step S10, the obstacle determination unit 14 determines whether the object detected in step S6 is based on the object information detected in step S6 and the priority order of the attention area set in step S9. Determine whether it can be an obstacle.

Next, in step S11, when the contact possibility determination unit 15 determines that there is a high possibility that the object determined as an obstacle in step S10 is in contact with the host vehicle, the contact possibility determination unit 15 outputs a braking command to the braking control unit 16. Then, the braking device 6 is driven.
Next, in step S11, when the contact possibility determination unit 15 determines that there is a high possibility that the object determined to be an obstacle in step S10 is in contact with the host vehicle, it outputs a display command to the display processing unit 17. Then, the display unit 7 displays that the possibility that the host vehicle is in contact with the obstacle is high.
The processing shown in FIG. 3 is as described above.

Next, a configuration of the object detection unit 20 and a specific example of the processing contents will be described.
FIG. 4 shows a configuration example of the object detection unit 20.
As illustrated in FIG. 4, the object detection unit 20 includes an information acquisition unit 21 and a grouping unit 30. Here, the information acquisition part 21 implement | achieves the process of said step S1. That is, the information acquisition unit 21 scans the laser beam of the laser radar 2 in the horizontal direction and detects a reflected wave from an object existing in the traveling direction of the host vehicle. Thereby, the information acquisition unit 21 acquires the distance between the detection point (reflection point) and the host vehicle and the detection angle of the reflection point (acquires distance information). In addition, the grouping unit 30 realizes the process of step S5. That is, the grouping unit 30 detects (identifies) an object by grouping a plurality of detection points.

Here, the principle of object detection by grouping performed by the grouping unit 30 will be described first.
FIG. 5 shows detection points P _i−2 , P _i−1 and P _i detected by the laser radar 2.
Here, as a premise, the object detection unit 20 is configured so that the laser radar 2 scans a laser beam in the horizontal direction and reflects a plurality of reflection points (or detection points, measurement points) in the scanning order of the laser beam. It is assigned to detection points P _h (h = 0, 1, 2,..., N−2, N−1, N (N is an integer)). For example, this assignment process is performed by the object detection unit 20 within the process of step S1.

Detection points P _i−2 , P _i−1 , and P _i shown in FIG. 5 are arbitrary three adjacent detection points among such a plurality of detection points P _h (h = 0 to N) .
In such a case, the grouping unit 30 uses a detection point (hereinafter referred to as a comparative detection point) P _i and two consecutive detection points P _i-1 and P _i-2 adjacent to the comparative detection point P _i. decide. Hereinafter, the detection point P _i-1 closer to the comparison detection point P _i is referred to as a first adjacent detection point, and the detection point P _i-2 farther from the comparison detection point P _{i is referred} to as a second adjacent detection point. .

Then, the grouping unit 30 compares the two adjacent detection points P _i-1 and P _i-2 with an extended line (a straight line including the two adjacent detection points P _i-1 and P _i-2 ) and comparative detection. identifying an intersection Q between the optical axis (or loci) of the laser beam of the laser radar 2 detects a point P _i.
The grouping unit 30 then determines the distance _Lq between the identified intersection Q and the own vehicle (specifically, the laser beam launch point of the laser radar 2), the comparison detection point _Pi, and the own vehicle (specifically, The distance difference ΔL (= | L _q −L _i |) from the distance L _i to the laser beam launch point of the laser radar 2 is calculated.

Here, the distance _Lq is calculated using, for example, the following equation (1).
_{L q = L i-2 ·} L i-1 / (2 · L i-2 · cosα-L i-1) ··· (1)
Here, L _i-1 is the distance between the first adjacent detection point P _i-1 and the host vehicle. L _i-2 is the distance between the second adjacent detection point P _i-2 and the host vehicle. Further, if the angle between the laser beams for detecting each detection point P _h (h = 0 to N) is constant, α is an angle between such laser beams.

Then, the grouping unit 30 compares the distance difference △ L a distance difference determining threshold value L _th. For example, the distance difference determination threshold L _th is a value set in advance experimentally, empirically, or theoretically. When the grouping unit 30 determines that the distance difference _{ΔL is} less than the distance difference determination threshold L _th , the comparison detection point P _i is collinear with the adjacent detection points P _i-1 and P _i-2. These detection points P _i-2 , P _i-1 , P _i are grouped into the same group. That is, the grouping unit 30 sets the detection point groups P _i−2 , P _i−1 and P _i as detection point groups belonging to the same object. When the grouping unit 30 determines that the distance difference _ΔL is equal to or greater than the distance difference determination threshold L _th , the comparison detection point P _i is the same as the adjacent detection points P _i-2 and P _i-1. The comparison detection points P _i are grouped into groups different from the adjacent detection points P _i-1 and P _{i-2 on the} assumption that they are not on a straight line. That is, the grouping unit 30 sets the comparison detection point P _i as a detection point belonging to an object different from the object to which the adjacent detection points P _i−2 and P _i−1 belong.

In addition, the grouping unit 30 forms an angle β formed by a straight line connecting the two adjacent detection points P _i-1 and P _i-2 and a straight line connecting the first adjacent detection point P _i-1 and the comparison detection point P _i. Grouping is also performed based on this.
Here, the angle β is calculated using, for example, the following equation (2).
cos β = ((x _i −x _i−1 ) (x _i−1 −x _i−2 ) + (y _i −y _i−1 ) (y _i−1 −y _i−2 )) / (√ (( x _i -x _i-1 ) ² + (y _i -y _i-1 ) ² ) · √ ((x _i-1 -x _i-2 ) ² + (y _i-1 -y _i-2 ) ² ) )) (2)

Here, the coordinates of P _i are (x _i , y _i ), the coordinates of P _i-1 are (x _i-1 , y _i-1 ), and the coordinates of P _i-2 are (x _i-2 , y _i-2 ). In this case, the components of the vector P _i P _i-1 are (x _i −x _i−1 , y _i −y _i−1 ), and the components of the vector P _i−1 P _i−2 are (x _i−1 − x _i−2 , y _i−1 −y _{i− 2} ), and the angle β formed by these two vectors is expressed by the above equation (2) by the cosine theorem of the vectors.

The grouping unit 30 compares the angle β calculated by the equation (2) with the angle determination threshold value _βth . For example, the angle determination threshold value β _th is a value that is experimentally, empirically, or theoretically set in advance. When the grouping unit 30 determines that the angle β is less than the angle determination threshold β _th , the comparison detection point P _i is positioned on the same straight line as the adjacent detection points P _i-1 and P _i-2. The detection points P _i-2 , P _i-1 , P _i are grouped into the same group. That is, the grouping unit 30 sets the detection point groups P _i−2 , P _i−1 and P _i as detection point groups belonging to the same object. When the grouping unit 30 determines that the angle β is equal to or greater than the angle determination threshold value β _th , the comparison detection point P _i is positioned on the same straight line as the adjacent detection points P _i-1 and P _i-2. If not, the comparison detection point P _i is grouped into a group different from the adjacent detection points P _i-1 and P _i-2 . That is, the grouping unit 30 sets the comparison detection point P _i as a detection point belonging to an object different from the object to which the adjacent detection points P _i-1 and P _i-2 belong.
The above is the principle of object detection by grouping.

In order to realize the object detection by the grouping as described above, as shown in FIG. 4, the grouping unit 30 includes a detection point management unit 31, an angle calculation unit 32, an angle determination unit 33, a distance calculation unit 34, a distance difference. A calculation unit 35, a distance difference determination unit 36, and a grouping processing unit 37 are included.
Here, FIG. 6 shows a flowchart of an example of processing contents of the grouping unit 30. In the following, the processing content of each part of the grouping unit 30 shown in FIG. 4 will be specifically described along the processing procedure shown in FIG.

First, in step S31, the detection point management unit 31 initializes the detection point number i to i = 2.
Next, in step S32, the detection point management unit 31 initializes the group number j so that j = 0.

Next, in step S33, the detection point management unit 31 determines (sets) the detection point P _i as a comparison detection point.
Next, in step S34, the detection point management unit 31 determines (sets) the two detection points P _i-1 and P _i-2 as the first and second adjacent detection points, respectively.

Next, in step S35, the angle calculation unit 32 calculates the angle β. Specifically, the angle calculation unit 32 includes a straight line connecting the _two adjacent detection points P _i-1 and P _i-2 , and a straight line connecting the first adjacent detection point P _i-1 and the comparison detection point P _i. Is calculated.
Next, in step S36, the angle determination unit 33 determines whether or not the angle β calculated in step S35 is equal to or greater than the angle determination threshold value _βth . If the angle determination unit 33 determines that the angle β is equal to or greater than the angle determination threshold value β _th , the process proceeds to step S42. If the angle determination unit 33 determines that the angle β is less than the angle determination threshold β _th , the process proceeds to step S37.

Next, in step S37, the distance calculation unit 34 calculates the distance _{L q.} Specifically, the distance calculation unit 34 extends the straight line connecting the _two adjacent detection points P _i-2 and P _i-1 and the optical axis of the laser beam of the laser radar 2 that detects the comparison detection point P _i. The intersection point Q with (or the trajectory) is specified. Then, the distance calculation unit 34 calculates the distance L _q of the intersection Q and the subject vehicle identified.

Next, in step S38, the distance difference calculation unit 35 calculates a distance difference ΔL. Specifically, the distance difference calculation unit 35 calculates the distance difference ΔL (= | L _q −L _i ) between the distance L _q calculated in step S37 and the distance L _i between the comparison detection point P _i and the host vehicle. |) Is calculated.
Next, in step S39, the distance difference determination unit 36 determines whether or not the distance difference ΔL calculated in step S38 is greater than or _{equal to the} distance determination threshold value Lth. When the distance difference determination unit 36 determines that the distance difference ΔL is _{equal to} or greater than the distance determination threshold value Lth, the process proceeds to step S42. If the distance difference determination unit 36 determines that the distance difference ΔL is less than the distance determination threshold L _th , the process proceeds to step S40.

In step S40, the detection point management unit 31 updates the detection point number i (i = i + 1). That is, the detection point management unit 31 changes the comparison detection point P _i to the next detection point P _{i + 1} .
Next, in step S41, the detection point management unit 31 determines whether or not the detection point number i is the last detection point number. When the detection point management unit 31 determines that the detection point number i is the last detection point number (when i = N), the processing shown in FIG. 6 ends. If the detection point management unit 31 determines that the detection point number i is not the last detection point number (if i <N), the detection point management unit 31 starts the process again from step S33.

In step S42, the grouping processing unit 37 performs grouping of the group Grp _j . Specifically, the grouping processing unit 37 sets the first adjacent detection point P _i as the detection point at the end of the group Grp _j , that is, the detection point at the end of the object (specifically, the surface of the object).
Next, in step S43, the detection point management unit 31 updates the group number j (j = j + 1).

Next, in step S44, the grouping processing unit 37 sets the detection point P _i as the detection point at the tip of the group Grp _j , that is, the detection point at the tip of the object (specifically, the surface of the object).
Next, in step S45, the detection point management unit 31 updates the detection point number i (i = i + 2). That is, the detection point management unit 31 changes the comparison detection point P _i to the detection point P _{i + 2} that is _two points ahead. Then, the detection point management unit 31 proceeds to step S41.
The processing shown in FIG. 6 is as described above.

(Operation, action, etc.)
Next, an example of a series of operations of the driving support control unit 10 and its operation will be described.
Driving support control unit 10 acquires the distance information for each detection point P _h by scanning the laser beam of the laser radar 2 in the horizontal direction (step S1). And the driving assistance control part 10 calculates the moving amount | distance of the own vehicle based on the vehicle information from the vehicle speed sensor 3, the steering angle sensor 4, the yaw rate sensor 5, etc., and each based on the calculated moving amount | distance of the own vehicle. It corrects the distance information of the detection point _{P h} (step S2~ step S4). Then, the driving support control unit 10, the distance information is grouping each detection point P _h corrected (step S5).

In the grouping, the driving support control unit 10 firstly connects a straight line connecting the _two adjacent detection points P _i-1 and P _i-2 and a straight line connecting the first adjacent detection point P _i-1 and the comparison detection point P _i. An angle β formed by the above is calculated (step S35).
Then, when the angle β is less than the angle determination threshold β _th , the driving support control unit 10 compares the extension line of the straight line connecting the _two adjacent detection points P _i-2 and P _i-1 and the comparison detection point. identifying an intersection Q between the optical axis (or loci) of the laser beam of the laser radar 2 detects a P _i (the step S36, step S37). Furthermore, the distance calculation unit 34 calculates the distance L _q of the intersection Q and the subject vehicle identified (step S37). In addition, the driving support control unit 10 calculates a distance difference ΔL between the distance L _q and the distance L _i between the comparison detection point P _i and the host vehicle (Step S38).

Then, when the distance difference ΔL is less than the distance determination threshold value L _th , the driving support control unit 10 updates the detection point number i (i = i + 1), thereby obtaining one comparison detection point P _i. The detection point is changed to the previous detection point _{Pi + 1} (step S39, step S40). On the other hand, when the distance difference ΔL is greater than or _{equal to the} distance determination threshold L _th , the driving support control unit 10 performs grouping of the group Grp _j , and then updates the group number j (j = j + 1) for detection. The point P _i is set as a detection point at the tip of the group Grp _j , that is, a detection point at the tip of the object (specifically, the surface of the object) (Step S39, Steps S42 to S44). Then, the driving support control unit 10 updates the detection point number i (i = i + 2), thereby changing the comparison detection point P _i to the next detection point P _{i + 2} (step S45).

Further, when the angle β is equal to or greater than the angle determination threshold β _th , the driving support control unit 10 does not perform the determination of comparing the distance L _q with the distance determination threshold L _th , that is, distance _{L q} and the distance determination regardless of the comparison judgment result of the threshold _{L th,} performs grouping of the group Grp _j, then update the group number j (j = j + 1) , the group detection point _{P i} Grp The detection point at the tip of _j , that is, the detection point at the tip of the object (specifically, the surface of the object) is used (step S36, step S42 to step S44). Then, the driving support control unit 10 updates the detection point number i (i = i + 2), thereby changing the comparison detection point P _i to the next detection point P _{i + 2} (step S45).

And the driving assistance control part 10 performs the above processes until the detection point number i becomes the last detection point number N (step S41).
The processing described above, the driving support control unit 10 performs the grouping of all of the detection points P _h, to identify the object (step S5, step S6).

FIG. 7 shows an example of detection points P _h (h = 0 to 77) assigned to the reflection points on the side surfaces of the other vehicles 101 and 102 existing in the traveling direction of the host vehicle 50. In the example shown in FIG. 7, are assigned a plurality of reflection points, the detection point P _{h (h} = 0~77) in order distance from the vehicle 50 is long.

FIG. 8 shows an example of distances L _i , L _q , distance difference ΔL, and group number when detection points P _h (h = 0 to 77) as shown in FIG. 7 are obtained. In the example shown in FIG. 8, the distance determining threshold value L _th is set to 100. As shown in FIG. 8, the driving support control unit 10 detects the lateral side surfaces 101 a and 102 a and the rear side surfaces 101 b and 102 b of the two vehicles 101 and 102, respectively. As a result, the detection point P _h (h = 0, 1, 2,..., 77) are grouped into four groups (j = 0 to 3).

Then, the driving support control unit 10 detects (identifies) an object (such as a vehicle) that exists in the traveling direction of the host vehicle through such grouping, and based on the information on the detected object, determines the blind spot area of each object. Specify (step S6, step S7).
Then, the driving support control unit 10 determines a blind spot area in which the pedestrian or the bicycle or the like is likely to jump out in front of the host vehicle among the identified blind spot areas (the possibility is high). Is determined (step S8).

  FIG. 9 shows an example of a plurality of stopped vehicles 103, 104, and 105 that are objects detected by the driving support control unit 10 and a plurality of caution areas 111 and 112 determined by the driving support control unit 10. As shown in FIG. 9, there are caution areas 111 and 112 between the stopped vehicles 103, 104, and 105.

  Then, the driving support control unit 10 sets priorities for the areas requiring attention as shown in FIG. 9, and determines whether or not the detected object can be an obstacle based on the set priorities (the step). S9, said step S10). When the driving support control unit 10 determines that an object determined to be an obstacle is likely to contact the host vehicle, the driving support control unit 10 outputs a braking command to the braking control unit 16 to drive the braking device 6, and Then, a display command is output to the display processing unit 17 to display on the display unit 7 that the possibility that the vehicle is in contact with the obstacle is high (step S11, step S12).

As described above, the driving support control unit 10 (specifically, the object detection unit 20) is a straight line including _two adjacent detection points P _i-1 and P _i-2 (two adjacent detection points P _i-1 , identifying an intersection of the locus of the linear extension) and laser beam detecting a comparison detection points P _i connecting P _i-2, and calculates the distance L _q of the comparison detection point P _i and the identified intersection point Yes. Then, the driving support control unit 10 (object detection unit 20 in particular), on the basis of the comparison result between the calculated distance L _q and the distance determining threshold value L _th, is performed grouping.

  As a result, the driving support control unit 10 can determine whether the detection point group is on the same straight line by simple calculation, and can group the detection point group. In addition, the driving support control unit 10 uses a constant threshold value regardless of the change in the density (resolution) of the laser beam due to the distance between the host vehicle and the detection object and the direction of the detection object with respect to the host vehicle. It can be determined whether or not they are the same group.

  In the description of the above-described embodiment, the information acquisition unit 21 configures, for example, a detection point group generation unit. Moreover, the detection point management part 31 comprises a comparison detection point determination part, a comparison detection point determination part, and an update part, for example. Moreover, the distance calculation part 34 comprises an intersection specific part in addition to a distance calculation part, for example.

(Modifications of this embodiment, etc.)
In the present embodiment, the angle beta and angle determining threshold value beta _th respective detection points based on the result of comparison between _{P h (h = 0,1,2, ···} , N) and grouping, the distance difference △ L And grouping of detection points P _h (h = 0, 1, 2,..., N) based on the comparison result between the threshold value Lth and the distance determination threshold value L _th may be performed individually. In the present embodiment, only the grouping of the detection points P _h (h = 0, 1, 2,..., N) based on the comparison result between the distance difference ΔL and the distance determination threshold value L _th is performed. You can go.

In the present embodiment, two adjacent detection points are set as detection points P _i-1 and P _i-2 adjacent to the comparison detection point P _i and continuous with each other. However, the present embodiment is not limited to this. For example, the two adjacent detection points may be detection points P _i-1 and P _i-3 that are not continuous with each other, or may be continuous detection points P _i-2 and P _{i-3 that} are not adjacent to the comparison detection point P _i. The detection points P _i−2 and P _i−4 that are not adjacent to the comparison detection point P _i and are not continuous with each other may be used.

  Further, although the embodiments of the present invention have been specifically described, the scope of the present invention is not limited to the illustrated and described exemplary embodiments, and effects equivalent to those intended by the present invention. All embodiments that provide are also included. Further, the scope of the present invention is not limited to the combination of features of the invention defined by claim 1 but can be defined by any desired combination of specific features among all the disclosed features. .

  DESCRIPTION OF SYMBOLS 1 Driving assistance device, 20 Object detection part, 21 Information acquisition part, 30 Grouping part, 31 Detection point management part, 32 Angle calculation part, 33 Angle determination part, 34 Distance calculation part, 35 Distance difference calculation part, 36 Distance difference determination Part 37 Grouping processing part

Claims (2)

An object detection device for a vehicle that emits a transmission wave toward a traveling direction of the host vehicle while scanning in the horizontal direction and detects an object existing in the traveling direction of the host vehicle by detecting a reflected wave of the transmitted transmission wave. There,
Wherein the plurality of reflection points which the transmission wave is reflected by the scanning, the plurality of detection points in the order that fired the transmission wave _{P h (h = 0,1,2, ···} , N-1, N (N Is a detection point cloud generation unit to be assigned to an integer)),
And the comparison detection point determining unit for determining a detection point P _i of interest to be compared from the plurality of detection points P _h,
A comparison detection point determining unit for determining a detection point P _{i-1, P i-2} consecutive adjacent said plurality of detection points P _h to the detection point P _i to be compared with the detection point P _i,
An intersection specifying unit for specifying an intersection of a straight line including the emission point of the transmission wave and the detection point P _i and a straight line including the detection point P _i-1 and the detection point P _i-2 ;
A distance calculation unit that calculates a distance between the intersection point identified by the intersection point identification unit and the launch point of the transmission wave;
The distance which the distance calculation unit is calculated, the distance difference calculation section that calculates a difference between the distance between the firing point of the transmission wave and the detection point P _i,
A distance difference determination unit that determines whether the distance difference calculated by the distance difference calculation unit is greater than or equal to a preset distance difference determination threshold;
When the distance difference determination unit determines that the distance difference is less than the distance difference determination threshold, the detection points P _i are grouped into the same group as the detection points P _i-1 and P _i-2 , When the distance difference determination unit determines that the distance difference is greater than or equal to the distance difference determination threshold, the detection point P _i is grouped into a group different from the detection points P _i-1 and P _i-2. A grouping processing unit;
When the grouping by the grouping processing unit is finished, an update unit that updates the value i to a large value;
Based on the detection points grouped by the grouping processing unit, an object detection unit that detects an object present in the traveling direction of the host vehicle,
A vehicle object detection device comprising: Based on the position information of each of the detection points P _i , P _i-1 and P _i-2 , a straight line including the detection point P _i and the detection point P _i-1, and the detection point P _{i- 1} and an angle calculation unit for calculating an angle formed by a straight line including the detection point P _i-2 ;
An angle determination unit that determines whether or not the angle calculated by the angle calculation unit is equal to or greater than a preset threshold for angle determination;
The grouping processing unit, wherein the angle determination unit determines that the angle is the angle determining threshold value or more, regardless of the determination result of the distance difference determining unit, the detection point P _i to the detection point P _When grouping into a group different from _i-1 and _Pi-2 and the angle determination unit determines that the angle is less than the angle determination threshold, grouping is performed based on the determination result of the distance difference determination unit. The vehicle object detection device according to claim 1, wherein:

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