JP6319361B2 - Pedestrian detection device for vehicles - Google Patents
Pedestrian detection device for vehicles Download PDFInfo
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- JP6319361B2 JP6319361B2 JP2016104801A JP2016104801A JP6319361B2 JP 6319361 B2 JP6319361 B2 JP 6319361B2 JP 2016104801 A JP2016104801 A JP 2016104801A JP 2016104801 A JP2016104801 A JP 2016104801A JP 6319361 B2 JP6319361 B2 JP 6319361B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Description
本発明は、車両用歩行者検出装置に関するものである。 The present invention relates to a vehicle pedestrian detection device.
車両においては、安全対策の観点から、前方に存在する歩行者を検出することが望まれるようになっており、カメラによって歩行者を検出することも実用化されている。また、特許文献１には、レーダによる反射波の強度に基づいて、歩行者であるか否かを判定するものが開示されている。また、カメラによって、歩行者を検出することも実用化されている。
In a vehicle, it is desired to detect a pedestrian existing ahead from the viewpoint of safety measures, and detection of a pedestrian by a camera has been put into practical use.
特許文献１に記載のように、レーダによる反射波の強度に基づいて歩行者を検出する場合、歩行者からの反射波がきわめて弱いために、現実には反射波の強度に基づく歩行者の検出は難しいものである。
As described in
本発明は以上のような事情を勘案してなされたもので、その目的は、レーダを利用して歩行者の検出をより精度よく行えるようにした車両用歩行者検出装置を提供することにある。 The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle pedestrian detection device that can detect a pedestrian more accurately using a radar. .
前記目的を達成するため、本発明にあっては次のような解決手法を採択してある。すなわち、請求項１に記載のように、
車両に搭載されたレーダと、
第１所定時間における前記レーダでの受信信号の特徴を取得する第１取得手段と、
前記第１所定時間よりも長い時間となる第２所定時間における前記レーダでの受信信号の特徴を取得する第２取得手段と、
前記第１取得手段で取得された受信信号の特徴と前記第２取得手段で取得された受信信号の特徴とに基づいて、歩行者の有無を判定する歩行者判定手段と、
を備え、
前記第１取得手段で取得される前記受信信号の特徴が、受信信号の変動を示す第１変動係数とされ、
前記第２取得手段で取得される前記受信信号の特徴が、受信信号の変動を示す第２変動係数とされ、
前記歩行者判定手段は、前記第１変動係数が前記第２変動係数よりも所定割合以上大きいときに、歩行者が存在すると判定する、
ようにしてある。
In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in
Radar mounted on the vehicle,
First acquisition means for acquiring characteristics of a received signal at the radar at a first predetermined time;
Second acquisition means for acquiring characteristics of the received signal at the radar at a second predetermined time which is longer than the first predetermined time;
Pedestrian determination means for determining the presence or absence of a pedestrian based on the characteristics of the reception signal acquired by the first acquisition means and the characteristics of the reception signal acquired by the second acquisition means;
Bei to give a,
The characteristic of the reception signal acquired by the first acquisition means is a first variation coefficient indicating variation of the reception signal,
The characteristic of the received signal acquired by the second acquiring means is a second variation coefficient indicating the variation of the received signal,
The pedestrian determination means determines that a pedestrian exists when the first variation coefficient is greater than the second variation coefficient by a predetermined percentage or more.
It is like that.
上記解決手法によれば、車両の走行中は、検出対象物が歩行者であるときは、検出対象物が固定障害物である場合に比して、第１取得手段で取得された第１所定時間での受信信号の特徴（瞬時特徴）と第２取得手段で取得された第２所定時間での特徴（車両の走行に伴うレーダ位置の変更による空間的特徴）とが大きく相違することから、歩行者であるか否かを精度よく検出することができる。 According to the above solution, when the detection target is a pedestrian during traveling of the vehicle, the first predetermined unit acquired by the first acquisition unit is compared to a case where the detection target is a fixed obstacle. Since the characteristics of the received signal in time (instantaneous characteristics) and the characteristics at the second predetermined time acquired by the second acquisition means (spatial characteristics due to the change of the radar position as the vehicle travels) are greatly different, Whether it is a pedestrian or not can be detected with high accuracy.
以上に加えて、変動係数を用いるという歩行者の検出についてより具体的な手法が提供される。なお、レーダ位置がほぼ同じであれば、検出対象物が歩行者であるときは変動係数は極めて大きくなる一方、検出対象物が固定障害物である場合は変動係数は小さいものとなる。 In addition to the above, a more specific method is provided for pedestrian detection using a coefficient of variation. If the radar positions are almost the same, the coefficient of variation is extremely large when the detection target is a pedestrian, while the coefficient of variation is small when the detection target is a fixed obstacle.
上記解決手法を前提とした好ましい態様は、請求項２以下に記載のとおりである。すなわち、
前記第１取得手段で取得される前記受信信号の特徴として、受信信号の強度を含み、
前記第２取得手段で取得される前記受信信号の特徴として、受信信号の強度を含み
前記歩行者判定手段は、前記第１取得手段で取得される受信信号の強度と前記第２取得手段で取得される受信信号の強度との偏差が所定範囲内であることを条件として、歩行者が存在すると判定する、
ようにしてある（請求項２対応）。この場合、受信強度は、歩行者の場合は固定障害物に比してかなり小さいものとなり、また第１所定時間での受信強度と第２所定時間での受信強度との偏差は小さいものとなることから、より精度よく歩行者の検出を行うことができる。
A preferred mode based on the above solution is as described in
As the characteristics of the received signal acquired by the first acquiring means, including the strength of the received signal,
The characteristics of the reception signal acquired by the second acquisition means include the intensity of the reception signal. The pedestrian determination means acquires the intensity of the reception signal acquired by the first acquisition means and the second acquisition means. It is determined that there is a pedestrian on the condition that the deviation from the intensity of the received signal is within a predetermined range,
(Corresponding to claim 2 ). In this case, the reception intensity is considerably smaller for a pedestrian than a fixed obstacle, and the deviation between the reception intensity at the first predetermined time and the reception intensity at the second predetermined time is small. Therefore, pedestrians can be detected with higher accuracy.
前記レーダが、ミリ波レーダまたは赤外線レーザレーダとされている、ようにしてある（請求項３対応）。この場合、車両用として広く普及している一般的なレーダを用いて、歩行者の検出を行うことができる。 The radar is a millimeter wave radar or an infrared laser radar (corresponding to claim 3 ). In this case, pedestrians can be detected using a general radar that is widely used for vehicles.
本発明によれば、レーダによって歩行者の検出をより精度よく行うことができる。 According to the present invention, a pedestrian can be detected with higher accuracy by a radar.
まず、図１を参照しつつ、実験例について説明するが、実験は、検出対象物に対するレーダの設置位置の相違に応じたレーダでの受信信号（反射信号）の特徴を計測するためのものとなっている。レーダの設置位置として、左右に５０ｃｍ離間され２列についてそれぞれ前後方向に５ｃｍ刻みでもって、レーダ位置となるエリアを設定した。エリア数は合計２２で、１〜２２のエリア番号でその区別を示してある。左右２列のエリアの最前端位置から４５ｍ前方に、人（静止歩行者）を配置して、受信信号を取得した。また、人に代えて、固定障害物を配置して、同様に受信信号を取得した。なお、固定障害物は、実験例では、郵便ポストを想定して、表面が滑らかな鉄製で形成したものを用いた。
First, an experimental example will be described with reference to FIG. 1. The experiment is for measuring the characteristics of the received signal (reflected signal) at the radar according to the difference in the radar installation position with respect to the detection target. It has become. As an installation position of the radar, an area to be a radar position is set by separating the two rows by 5 cm in the front-rear direction, separated by 50 cm on the left and right. The total number of areas is 22, and the distinction is shown by
各エリアにおいて、人および固定障害物のそれぞれについて多数回（実験例では２０回）について受信信号を取得して、それぞれ受信強度の変動係数を算出した。各エリア毎について算出された変動係数が、図２に示される。図２から明かなように、同一エリアにおいて、固定障害物についての変動係数は、人についての変動係数に比して、十分に小さいものとなっている。人についての変動係数が大きくなるのは、呼吸により表面が微妙に動くことや、衣服表面の凹凸等が影響しているものと考えられる。 In each area, the received signal was acquired many times (20 times in the experimental example) for each of the person and the fixed obstacle, and the variation coefficient of the received intensity was calculated. The coefficient of variation calculated for each area is shown in FIG. As is clear from FIG. 2, in the same area, the variation coefficient for the fixed obstacle is sufficiently smaller than the variation coefficient for the person. The reason why the coefficient of variation for humans is large is thought to be due to the fact that the surface moves slightly due to breathing and the unevenness of the clothing surface.
図３は、前述した実験例によって人および固定障害物についてそれぞれ取得された各エリア毎の受信強度を示してある。人の受信強度は、固定障害物の受信強度に比して変動が小さいものとなる。 FIG. 3 shows the reception intensity for each area acquired for a person and a fixed obstacle by the above-described experimental example. A person's reception intensity has a smaller fluctuation than that of a fixed obstacle.
車両に搭載されたレーダによって歩行者を検出する場合は、車両が走行していることを前提とすると、時間の経過によってレーダ位置が変化することを意味する。つまり、走行中は、レーダ位置が変化することになる（図１の多数のエリア設定対応）。 When a pedestrian is detected by a radar mounted on a vehicle, this means that the radar position changes with the passage of time, assuming that the vehicle is traveling. That is, the radar position changes during traveling (corresponding to a large number of area settings in FIG. 1).
検出対象物が実際に歩行者であり、かつ車両が走行している場合を想定したとき、第１所定時間（以下「ショートタイム」と称することもあり、例えば１０ｍｓｅｃ）でのレーダによる受信信号の特徴は、レーダ位置が殆ど変化しないことから、変動係数が極めて大きいものとなる。より具体的には、例えば、レーダによる受信信号のサンプリングタイムを１ｍｓｅｃとし、車両の走行速度を３６ｋｍ／ｓとしたとき、１ｍｓｅｃあたりの車両の移動量は０．６ｃｍである。そして、検出対象物が実際に歩行者である場合は、各サンプリングタイム毎に取得される変動係数は極めて大きいものとなる。そして、ショートタイムとして設定される例えば１０ｍｓｅｃについて、各サンプリングタイム毎に得られた変動係数を平均した平均値も大きいものとなる。また、各サンプリングタイム毎に取得される受信信号の強度は小さいものとなり、この強度をショートタイムについて平均した平均値も小さいものとなる。なお、ショートタイムでの受信信号の特徴は時間的な（瞬間的な）ものを示すものと把握することができる。 Assuming that the object to be detected is actually a pedestrian and the vehicle is running, the signal received by the radar at the first predetermined time (hereinafter sometimes referred to as “short time”, for example, 10 msec) The characteristic is that the coefficient of variation is extremely large because the radar position hardly changes. More specifically, for example, when the sampling time of the received signal by the radar is 1 msec and the traveling speed of the vehicle is 36 km / s, the moving amount of the vehicle per msec is 0.6 cm. When the detection target is actually a pedestrian, the coefficient of variation acquired at each sampling time is extremely large. For example, for 10 msec set as the short time, the average value obtained by averaging the coefficient of variation obtained at each sampling time is also large. Further, the intensity of the received signal acquired at each sampling time is small, and the average value obtained by averaging the intensity over the short time is also small. It can be understood that the characteristics of the received signal in the short time indicate temporal (instantaneous) characteristics.
一方、検出対象物が実際に歩行者である場合は、前記第１所定時間（ショートタイム）よりも長い時間となる第２所定時間（以下「ロングタイム」と称することもあり、例えば１００ｍｓｅｃ）では、車両が走行している限り、レーダ位置が大きく移動することになる。このロングタイムについての変動係数は、ショートタイムでの変動係数に比して十分に小さいものとなる（例えば１／１０以下）。すなわち、ロングタイムでの変動係数は、ショートタイムでの大きな変動係数の間での変動状況を示すことから、ロングタイムでの変動係数は極めて小さいものとなる。ロングタイムにおいては、受信信号の強度やその平均値も小さいものとなる。これに対して、検出対象物が固定障害物であるときは、ショートタイムでの受信信号の強度とロングタイムでの受信信号の強度（強度の平均値と見ることができる）との偏差が大きいものとなる。なお、ロングタイムでの受信信号の特徴は、レーダ位置の変更を伴う空間的特徴を示すものと把握することができる。 On the other hand, when the detection target is actually a pedestrian, in a second predetermined time (hereinafter, referred to as “long time”, which is longer than the first predetermined time (short time), for example, 100 msec), As long as the vehicle is traveling, the radar position will move greatly. The variation coefficient for the long time is sufficiently smaller than the variation coefficient for the short time (for example, 1/10 or less). That is, since the long time variation coefficient indicates the variation state between the large variation coefficients in the short time, the long time variation coefficient is extremely small. In the long time, the intensity of the received signal and its average value are also small. On the other hand, when the detection target is a fixed obstacle, there is a large deviation between the intensity of the received signal in the short time and the intensity of the received signal in the long time (which can be regarded as an average value of the intensity). It will be a thing. Note that it can be understood that the characteristic of the received signal in the long time indicates a spatial characteristic accompanying a change in the radar position.
以上の説明から明かなように、ショートタイムでの変動係数がロングタイムでの変動係数よりも所定割合以上大きいときは、検出対象物が歩行者であると判定することができる。これに加えて、ショートタイムでの受信強度とロングタイムでの受信強度（ショートタイムでの強度の平均値とみることができる）との偏差が所定値よりも小さいときは、検出対象物が歩行者であると判定することができる。さらに、ショートタイム、ロングタイム共に、受信信号の強度が所定値以下というように小さい場合を条件として歩行者であると判定することにほり、歩行者の検出をより精度よく行うことができる。 As is clear from the above description, when the variation coefficient in the short time is larger than the variation coefficient in the long time by a predetermined ratio or more, it can be determined that the detection target is a pedestrian. In addition to this, when the deviation between the reception intensity in the short time and the reception intensity in the long time (which can be regarded as an average value of the intensity in the short time) is smaller than a predetermined value, the detection object walks. It can be determined that the person is a person. Furthermore, both the short time and the long time are determined to be a pedestrian on the condition that the intensity of the received signal is as small as a predetermined value or less, so that the pedestrian can be detected more accurately.
次に、図４、図５を参照しつつ、車両に搭載された歩行者検出のための制御系について説明する。まず、図４において、Ｕはマイクロコンピュータによって構成されたコントローラ（制御ユニット）である。このコントローラＵには、車両前方の危険対象物（特に歩行者）を検出するためのレーダＳ１が搭載されている。コントローラＵは、ブレーキアクチュエータＳ１１、パワーステアリング装置Ｓ１２、警報器Ｓ１３を制御する。コントローラＵは、前方に検出された危険対象物が歩行者であると判定し、かつこの歩行者と衝突あるいはその直近を通過する可能性があると判定したときに、ブレーキアクチュエータＳ１１を作動させたり（自動ブレーキ）、パワーステアリング装置Ｓ１２を作動させたり（自動回避）、警報器Ｓ１３を作動させる（運転者への警告）。 Next, a control system for detecting a pedestrian mounted on a vehicle will be described with reference to FIGS. First, in FIG. 4, U is a controller (control unit) constituted by a microcomputer. The controller U is equipped with a radar S1 for detecting a dangerous object (particularly a pedestrian) in front of the vehicle. The controller U controls the brake actuator S11, the power steering device S12, and the alarm device S13. When the controller U determines that the dangerous object detected in front is a pedestrian and determines that there is a possibility of collision with the pedestrian or passing through the pedestrian, the controller U activates the brake actuator S11. (Automatic braking), power steering device S12 is activated (automatic avoidance), and alarm device S13 is activated (warning to the driver).
次に、図５を参照しつつ、本発明の制御例について説明するが、以下の説明でＱはステップを示す。まず、Ｑ１において、データ入力されるが、このＱ１の処理によって、サンプリングタイム（実施形態では１ｍｓｅｃ）毎にレーダＳ１の受信強度が取得される。 Next, a control example of the present invention will be described with reference to FIG. 5, where Q indicates a step in the following description. First, data is input in Q1, but the reception intensity of the radar S1 is acquired at every sampling time (1 msec in the embodiment) by the processing of Q1.
Ｑ１の後、Ｑ２において、ショートタイム（実施形態では１０ｍｓｅｃ）について、サンプリングタイム毎に得られる受信信号の強度についての平均値が第１平均値としα１として算出され、またその変動係数が第１変動係数β１として算出される。 After Q1, in Q2, for the short time (10 msec in the embodiment), the average value of the received signal strength obtained at each sampling time is calculated as α1 as the first average value, and the coefficient of variation is the first variation. Calculated as a coefficient β1.
Ｑ２の後、Ｑ３において、ロングタイム（実施形態では１００ｍｓｅｃ）について、Ｑ１の場合と動揺に、受信信号の強度の平均値が第２平均値α２として算出され、またその変動係数が第２変動係数β２として算出される。 After Q2, in Q3, the average value of the intensity of the received signal is calculated as the second average value α2 for the long time (100 msec in the embodiment) as in Q1, and the variation coefficient is the second variation coefficient. Calculated as β2.
Ｑ３の後、Ｑ４において、第１変動係数β１を第２変動係数β２で除した値が、あらかじめ設定されたしきい値としての所定値βＢ（例えば数値で１０）以上であるか否かが判別される。 After Q3, in Q4, it is determined whether or not the value obtained by dividing the first variation coefficient β1 by the second variation coefficient β2 is equal to or greater than a predetermined value βB (for example, a numerical value of 10) as a preset threshold value. Is done.
上記Ｑ４の判別でＹＥＳのときは、Ｑ５において、第１平均値と第２平均値との偏差が、あらかじめ設定されたしきい値として所定量αＢ以下であるか否かが判別される。このＱ５の判別でＹＥＳのときは、Ｑ６において、検出対象物が歩行者であると判定される。 If the determination in Q4 is YES, it is determined in Q5 whether or not the deviation between the first average value and the second average value is equal to or less than a predetermined amount αB as a preset threshold value. If the determination in Q5 is YES, it is determined in Q6 that the detection target is a pedestrian.
前記Ｑ４の判別でＮＯのとき、あるいはＱ５の判別でＮＯのときは、それぞれ、Ｑ１へ戻る。なお、Ｑ５の判別でＹＥＳのときに、第１平均値α１および第２平均値α２がそれぞれしきい値としての所定値以下であることを確認するステップを設けて、この確認が行われたばあいを条件としてＱ６移行するようにしてもよい。 If NO in Q4 or NO in Q5, the process returns to Q1, respectively. If YES in Q5, a step for confirming that the first average value α1 and the second average value α2 are each equal to or less than a predetermined value as a threshold value is provided. You may make it transfer to Q6 on condition of Ai.
以上実施形態について説明したが、本発明は、実施形態に限定されるものではなく、特許請求の範囲の記載された範囲において適宜の変更が可能である。レーダＳ１としては、ミリ波レーダや赤外線レーダを用いることができるが、他の形式のレーダであってもよい。第１所定時間と第２所定時間（特に第１所定時間）を、車速に応じて変更するようにしてもよい（車速が大きいほど短い時間とする）。勿論、本発明の目的は、明記されたものに限らず、実質的に好ましいあるいは利点として表現されたものを提供することをも暗黙的に含むものである。 Although the embodiments have been described above, the present invention is not limited to the embodiments, and appropriate modifications can be made within the scope of the claims. As the radar S1, a millimeter wave radar or an infrared radar can be used, but other types of radars may be used. The first predetermined time and the second predetermined time (particularly the first predetermined time) may be changed according to the vehicle speed (the higher the vehicle speed, the shorter the time). Of course, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.
本発明は、歩行者に対する車両の安全対策の上で好ましいものとなる。 The present invention is preferable in terms of vehicle safety measures for pedestrians.
Ｕ：コントローラ
Ｓ１：レーダ
U: Controller S1: Radar
Claims (3)
第１所定時間における前記レーダでの受信信号の特徴を取得する第１取得手段と、
前記第１所定時間よりも長い時間となる第２所定時間における前記レーダでの受信信号の特徴を取得する第２取得手段と、
前記第１取得手段で取得された受信信号の特徴と前記第２取得手段で取得された受信信号の特徴とに基づいて、歩行者の有無を判定する歩行者判定手段と、
を備え、
前記第１取得手段で取得される前記受信信号の特徴が、受信信号の変動を示す第１変動係数とされ、
前記第２取得手段で取得される前記受信信号の特徴が、受信信号の変動を示す第２変動係数とされ、
前記歩行者判定手段は、前記第１変動係数が前記第２変動係数よりも所定割合以上大きいときに、歩行者が存在すると判定する、
ことを特徴とする車両用歩行者検出装置。 Radar mounted on the vehicle,
First acquisition means for acquiring characteristics of a received signal at the radar at a first predetermined time;
Second acquisition means for acquiring characteristics of the received signal at the radar at a second predetermined time which is longer than the first predetermined time;
Pedestrian determination means for determining the presence or absence of a pedestrian based on the characteristics of the reception signal acquired by the first acquisition means and the characteristics of the reception signal acquired by the second acquisition means;
Bei to give a,
The characteristic of the reception signal acquired by the first acquisition means is a first variation coefficient indicating variation of the reception signal,
The characteristic of the received signal acquired by the second acquiring means is a second variation coefficient indicating the variation of the received signal,
The pedestrian determination means determines that a pedestrian exists when the first variation coefficient is greater than the second variation coefficient by a predetermined percentage or more.
A vehicle pedestrian detection device characterized by the above.
前記第１取得手段で取得される前記受信信号の特徴として、受信信号の強度を含み、
前記第２取得手段で取得される前記受信信号の特徴として、受信信号の強度を含み
前記歩行者判定手段は、前記第１取得手段で取得される受信信号の強度と前記第２取得手段で取得される受信信号の強度との偏差が所定範囲内であることを条件として、歩行者が存在すると判定する、
ことを特徴とする車両用歩行者検出装置。 In claim 1 ,
As the characteristics of the received signal acquired by the first acquiring means, including the strength of the received signal,
The characteristics of the reception signal acquired by the second acquisition means include the intensity of the reception signal. The pedestrian determination means acquires the intensity of the reception signal acquired by the first acquisition means and the second acquisition means. It is determined that there is a pedestrian on the condition that the deviation from the intensity of the received signal is within a predetermined range,
A vehicle pedestrian detection device characterized by the above.
前記レーダが、ミリ波レーダまたは赤外線レーザレーダとされている、ことを特徴とする車両用歩行者検出装置。
Oite to claim 1 or claim 2,
The vehicle pedestrian detection device, wherein the radar is a millimeter wave radar or an infrared laser radar.
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