JP6967846B2

JP6967846B2 - Object detection method and object detection device

Info

Publication number: JP6967846B2
Application number: JP2016189263A
Authority: JP
Inventors: 達弥志野; 孝彦沖; 公大矢野
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 2016-09-28
Filing date: 2016-09-28
Publication date: 2021-11-17
Anticipated expiration: 2036-09-28
Also published as: JP2018054405A

Description

本発明は、物体の検出方法、物体検出装置に関する。 The present invention relates to an object detection method and an object detection device.

パルス状のレーザ光を所定頻度で発光し、受光素子の受光信号をサンプリングし、所定の検出期間内にサンプリングされた受光信号の積算値に基づいて物体を検出する技術が知られている（特許文献１）。 A technique is known in which a pulsed laser beam is emitted at a predetermined frequency, a light receiving signal of a light receiving element is sampled, and an object is detected based on an integrated value of the light receiving signals sampled within a predetermined detection period (patented). Document 1).

特開２０１５−１５２４２８号公報Japanese Unexamined Patent Publication No. 2015-152428

従来の技術では、広角レンズを介して受光する、複数のセンサの測定結果を用いて物体を検出する場合の検出精度について検討がされていない。 In the conventional technique, the detection accuracy in the case of detecting an object by using the measurement results of a plurality of sensors that receive light through a wide-angle lens has not been studied.

本発明が解決しようとする課題は、広角レンズを介して受光する、複数のセンサの測定結果を用いて物体を検出する場合の検出精度を向上させることである。 An object to be solved by the present invention is to improve the detection accuracy when an object is detected by using the measurement results of a plurality of sensors that receive light through a wide-angle lens.

本発明は、第１センサに設定された第１検出領域に存在する物体からの反射光を、第１広角レンズを介して、第１検出領域に対する画角の中央に設定された第１基準軸に対して垂直に交わる第１受光面にアレイ状に設けられた第１受光素子を用いて受光し、第１受光面に平行な第１座標に基づく第１受光素子のアドレス情報が付された第１受光信号を第1センサから検出結果として取得し、第１基準軸に対して仰俯角及び／又は方位角が小さいほど大きい正の値が第１座標に対応づけられた第１評価係数を算出し、前記算出された前記第１評価係数を参照し、検出結果として取得した、第１受光信号の第１座標を、第１検出領域の第１座標に対応づけられた第１評価係数に基づいて変換し、第２センサに設定された第２検出領域に存在する物体からの反射光を、第２広角レンズを介して、第２検出領域に対する画角の中央に設定された第２基準軸に対して垂直に交わる第２受光面にアレイ状に設けられた第２受光素子を用いて受光し、第２受光面に平行な第２座標に基づく第２受光素子のアドレス情報が付された第２受光信号を第２センサから検出結果として取得し、第２基準軸に対して仰俯角及び／又は方位角が小さいほど大きい正の値が第２座標に対応づけられた第２評価係数を算出し、前記算出された前記第２評価係数を参照し、検出結果として取得した、第２受光信号の第２座標を、第２検出領域の第２座標に対応づけられた第２評価係数に基づいて変換し、変換された第１座標と変換された第２座標とを合成し、最終的な検出結果である物体の座標を検出することにより、上記課題を解決する。 In the present invention, the reflected light from an object existing in the first detection region set in the first sensor is set to the center of the azimuth with respect to the first detection region via the first wide-angle lens. Light is received by using the first light receiving element provided in an array on the first light receiving surface that intersects perpendicularly to the first light receiving surface, and the address information of the first light receiving element based on the first coordinate parallel to the first light receiving surface is attached. The first light receiving signal is acquired from the first sensor as a detection result, and the first evaluation coefficient in which the larger positive value is associated with the first coordinate as the elevation / depression angle and / or the azimuth is smaller with respect to the first reference axis is obtained. The first coordinate of the first light receiving signal calculated and obtained with reference to the calculated first evaluation coefficient as a detection result is used as the first evaluation coefficient associated with the first coordinate of the first detection region. Based on the above, the reflected light from the object existing in the second detection region set in the second sensor is set to the center of the azimuth with respect to the second detection region via the second wide-angle lens. Light is received using a second light receiving element provided in an array on the second light receiving surface that intersects perpendicularly to the axis, and the address information of the second light receiving element based on the second coordinates parallel to the second light receiving surface is attached. The second light receiving signal is acquired from the second sensor as a detection result, and the smaller the elevation / depression angle and / or the azimuth with respect to the second reference axis, the larger the positive value is associated with the second coordinate. Is calculated, the calculated second evaluation coefficient is referred to, and the second coordinate of the second light receiving signal acquired as the detection result is associated with the second coordinate of the second detection region. The above problem is solved by converting based on the above, synthesizing the converted first coordinate and the converted second coordinate, and detecting the coordinate of the object which is the final detection result.

本発明によれば、広角レンズを介して受光する、複数のセンサを用いた場合の物体検出の精度を向上させることができる。 According to the present invention, it is possible to improve the accuracy of object detection when a plurality of sensors that receive light through a wide-angle lens are used.

図１は、本実施形態に係る運転支援システムのブロック図である。FIG. 1 is a block diagram of a driving support system according to the present embodiment. 図２は、検出領域の設定手法の一例を示す図である。FIG. 2 is a diagram showing an example of a detection area setting method. 図３Ａは、外界の像と受光部との関係を説明するための図である。FIG. 3A is a diagram for explaining the relationship between the image of the outside world and the light receiving portion. 図３Ｂは、広角レンズと受光部と制御装置の関係を説明するための図である。FIG. 3B is a diagram for explaining the relationship between the wide-angle lens, the light receiving unit, and the control device. 図３Ｃは、受光信号の一例を示す図である。FIG. 3C is a diagram showing an example of a light receiving signal. 図４は、各センサの受光信号を説明するための図である。FIG. 4 is a diagram for explaining a light receiving signal of each sensor. 図５Ａ（ａ）（ｂ）（ｃ）は、受光信号の処理方法例を説明するための第１図である。5A, 5A, 5A, 5A, 5A, 5A, 5A (a), 5A 図５Ｂは、受光信号の処理方法例を説明するための第２図である。FIG. 5B is a second diagram for explaining an example of a processing method for a received light signal. 図６Ａは、本実施形態の受光信号の処理例を説明するための第１図である。FIG. 6A is a first diagram for explaining a processing example of the received light signal of the present embodiment. 図６Ｂは、本実施形態の受光信号の処理例を説明するための第２図である。FIG. 6B is a second diagram for explaining a processing example of the received light signal of the present embodiment. 図６Ｃは、本実施形態の受光信号の処理例を説明するための第３図である。FIG. 6C is a third diagram for explaining a processing example of the received light signal of the present embodiment. 本実施形態の物体検出処理の手順を示すフローチャート図である。It is a flowchart which shows the procedure of the object detection processing of this embodiment.

以下、本発明の実施形態を図面に基づいて説明する。本実施形態では、本発明に係る物体検出装置を、車両に搭載された運転支援システムに適用した場合を例にして説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the case where the object detection device according to the present invention is applied to a driving support system mounted on a vehicle will be described as an example.

図１は、運転支援システム１のブロック構成を示す図である。本実施形態の運転支援システム１は、物体検出装置１００と車載装置２００を備える。物体検出装置１００の実施の形態は限定されず、車両に搭載して車載装置２００と一体として構成してもよいし、これらと情報の授受が可能な可搬の端末装置として独立の機器として構成してもよい。端末装置は、スマートフォン、ＰＤＡなどの機器を含む。運転支援システム１、物体検出装置１００、車載装置２００及びこれらが備える各装置は、ＣＰＵなどの演算処理装置を備え、演算処理を実行するコンピュータである。 FIG. 1 is a diagram showing a block configuration of the driving support system 1. The driving support system 1 of the present embodiment includes an object detection device 100 and an in-vehicle device 200. The embodiment of the object detection device 100 is not limited, and the object detection device 100 may be mounted on a vehicle and integrally configured with the in-vehicle device 200, or may be configured as an independent device as a portable terminal device capable of exchanging information with these devices. You may. Terminal devices include devices such as smartphones and PDAs. The driving support system 1, the object detection device 100, the in-vehicle device 200, and each of the devices provided therein are computers equipped with an arithmetic processing unit such as a CPU and executing arithmetic processing.

本実施形態の物体検出装置１００について説明する。
物体検出装置１００は、所定の検出領域に存在する物体からの反射光を、広角レンズを介して受光する。物体検出装置１００は、複数のセンサ１０（１０ａ，１０ｂ…）を備える。説明を簡潔にするために、図１には、二つのセンサ１０ａ，１０ｂを備える物体検出装置１００を例示した。複数のセンサに含まれる一つのセンサを第１センサ１０ａとし、第１センサ１０ａ以外のセンサを第２センサ１０ｂとする。第１センサ１０ａは、第１広角レンズ１１ａと、第１受光部１２ａと、第１通信部１３ａを備える。同様に、第２センサ１０ｂは、第２広角レンズ１１ｂと、第２受光部１２ｂと、第２通信部１３ｂとを備える。 The object detection device 100 of this embodiment will be described.
The object detection device 100 receives the reflected light from the object existing in the predetermined detection region through the wide-angle lens. The object detection device 100 includes a plurality of sensors 10 (10a, 10b ...). For the sake of brevity, FIG. 1 illustrates an object detection device 100 including two sensors 10a and 10b. One sensor included in the plurality of sensors is referred to as a first sensor 10a, and a sensor other than the first sensor 10a is referred to as a second sensor 10b. The first sensor 10a includes a first wide-angle lens 11a, a first light receiving unit 12a, and a first communication unit 13a. Similarly, the second sensor 10b includes a second wide-angle lens 11b, a second light receiving unit 12b, and a second communication unit 13b.

図２は、車両Ｖ１の搭載された第１センサ１０ａ、第２センサ１０ｂ、第３センサ１０ｃ、第４センサ１０ｄ、第５センサ１０ｅの配置例を示す。第１センサ１０ａは、車両Ｖ１の進行方向前方の検出領域ＳＰ１に存在する物体を検出する。第２センサ１０ｂは、車両Ｖ１の進行方向左側の検出領域ＳＰ２に存在する物体を検出する。第３センサ１０ｃは、車両Ｖ１の進行方向とは逆の後方の検出領域ＳＰ３に存在する物体を検出する。第４センサ１０ｄは、車両Ｖ１の進行方向右側の検出領域ＳＰ４に存在する物体を検出する。また、必要に応じて車両Ｖ１のルーフ近傍に第５センサ１０ｅを設けてもよい。同じ方向を異なる高さのセンサ１０により監視できる。また、本例では車両Ｖ１の左右側方に第２センサ１０ｂ、第４センサ１０ｄを一つずつ設ける例を示したが、車両Ｖ１の右側／左側に複数のセンサ１０を設けてもよい。検出精度を向上させる観点から、各検出領域ＳＰ１〜ＳＰ４（ＳＰｎ）は、隣り合う検出領域の一部が重複するように設定することが好ましい。 FIG. 2 shows an arrangement example of the first sensor 10a, the second sensor 10b, the third sensor 10c, the fourth sensor 10d, and the fifth sensor 10e mounted on the vehicle V1. The first sensor 10a detects an object existing in the detection region SP1 in front of the vehicle V1 in the traveling direction. The second sensor 10b detects an object existing in the detection region SP2 on the left side in the traveling direction of the vehicle V1. The third sensor 10c detects an object existing in the detection region SP3 behind the vehicle V1 in the direction opposite to the traveling direction. The fourth sensor 10d detects an object existing in the detection region SP4 on the right side in the traveling direction of the vehicle V1. Further, if necessary, the fifth sensor 10e may be provided in the vicinity of the roof of the vehicle V1. The same direction can be monitored by sensors 10 at different heights. Further, in this example, the second sensor 10b and the fourth sensor 10d are provided one by one on the left and right sides of the vehicle V1, but a plurality of sensors 10 may be provided on the right side / left side of the vehicle V1. From the viewpoint of improving the detection accuracy, it is preferable to set each detection area SP1 to SP4 (SPn) so that a part of the adjacent detection areas overlaps.

図２に示すように、複数のセンサ１０は、それらの検出領域が一部重複するように配置される。車両の周囲を万遍なく監視し、車両の周囲の物体を検出するためである。このため、検出領域の重複部分に物体が存在する場合には、複数のセンサ１０が同一の物体を検出することがある。 As shown in FIG. 2, the plurality of sensors 10 are arranged so that their detection regions partially overlap. This is to monitor the surroundings of the vehicle evenly and detect objects around the vehicle. Therefore, when an object exists in the overlapping portion of the detection area, a plurality of sensors 10 may detect the same object.

図示はしないが、物体検出装置１００は、所定の検出領域に測定光を発光する発光部を備えてもよい。発光部は、所定周期で断続的な測定光を発光してもよいし、水平方向又は鉛直方向に移動させながらパルス状の測定光（レーザパルス）を継続的に発光してもよい。発光部としては、本願出願時に知られているレーザレーダ装置の発光機構を採用できる。発光部は、駆動回路、発光素子、及び、発光光学系を含むように構成できる。駆動回路は、センサ１０の所定の制御の下に、発光素子の発光強度及び発光タイミングを制御する。発光素子は、例えば、レーザダイオードを用いる。駆動回路の制御の下に、測定光（レーザパルス）の発光を実行する。発光素子から発光された測定光は、レンズ等により構成される発光光学系を介して検出領域に向けて照射される。 Although not shown, the object detection device 100 may include a light emitting unit that emits measurement light in a predetermined detection region. The light emitting unit may emit intermittent measurement light at a predetermined cycle, or may continuously emit pulsed measurement light (laser pulse) while moving in the horizontal direction or the vertical direction. As the light emitting unit, a light emitting mechanism of a laser radar device known at the time of filing the present application can be adopted. The light emitting unit can be configured to include a drive circuit, a light emitting element, and a light emitting optical system. The drive circuit controls the light emission intensity and the light emission timing of the light emitting element under a predetermined control of the sensor 10. As the light emitting element, for example, a laser diode is used. The measurement light (laser pulse) is emitted under the control of the drive circuit. The measurement light emitted from the light emitting element is irradiated toward the detection region via a light emitting optical system composed of a lens or the like.

受光部１２は、広角レンズ１１を介して物体からの反射光を受光する。受光部１２は、水平方向のそれぞれ異なる方向から入射する反射光の強度（明るさ）を検出する。受光部１２は、各方向の反射光の強度に応じた電気信号である複数の受光信号を出力する。受光部１２は、広角レンズ１１を含む受光光学系と、複数の受光素子１２０を含む。
広角レンズ１１は、受光素子１２０と検出領域との間に配置される。検出領域に存在する物体の表面で反射された反射光は広角レンズ１１に入射し、広角レンズ１１を介して受光素子１２０に入射する。センサ１０が備える受光素子１２０は、例えば、入射した光電荷をその光量に応じた電流値の受光信号に光電変換するフォトダイオードである。受光素子１２０は、広角レンズ１１に入射した反射光が集光する位置において、その光軸に対して垂直に交わる受光面にアレイ状に設けられる。各受光素子１２０は、その配置位置に応じて、受光面の位置（座標）に基づくアドレスが付される。受光素子１２０が、出力する受光信号には、受光した受光素子１２０のアドレス情報が付される。
広角レンズ１１を含む受光光学系に入射した反射光は、広角レンズ１１への入射角度に応じて、各受光素子１２０に入射する。受光素子１２０は、受光した反射光をその受光量（強度）に応じた電流値の受光信号に光電変換する。センサ１０、１０ａ，１０ｂは、受光素子１２０から取得した受光信号とアドレス情報を、通信部１３，１３ａ，１３ｂを介して制御装置２０に送出する。 The light receiving unit 12 receives the reflected light from the object via the wide-angle lens 11. The light receiving unit 12 detects the intensity (brightness) of the reflected light incident from different directions in the horizontal direction. The light receiving unit 12 outputs a plurality of light receiving signals which are electric signals according to the intensity of the reflected light in each direction. The light receiving unit 12 includes a light receiving optical system including a wide-angle lens 11 and a plurality of light receiving elements 120.
The wide-angle lens 11 is arranged between the light receiving element 120 and the detection region. The reflected light reflected by the surface of the object existing in the detection region is incident on the wide-angle lens 11 and is incident on the light receiving element 120 via the wide-angle lens 11. The light receiving element 120 included in the sensor 10 is, for example, a photodiode that photoelectrically converts an incident light charge into a light receiving signal having a current value corresponding to the amount of light. The light receiving element 120 is provided in an array on the light receiving surface perpendicular to the optical axis at the position where the reflected light incident on the wide-angle lens 11 is collected. Each light receiving element 120 is given an address based on the position (coordinates) of the light receiving surface according to its arrangement position. The address information of the light receiving element 120 that has received light is attached to the light receiving signal output by the light receiving element 120.
The reflected light incident on the light receiving optical system including the wide-angle lens 11 is incident on each light receiving element 120 according to the angle of incidence on the wide-angle lens 11. The light receiving element 120 photoelectrically converts the received reflected light into a light receiving signal having a current value corresponding to the received light amount (intensity). The sensors 10, 10a, and 10b send the light receiving signal and the address information acquired from the light receiving element 120 to the control device 20 via the communication units 13, 13a, 13b.

制御装置２０は、受光信号に基づく情報処理を行い、物体の存在、物体の位置を検出する。まず、受光素子１２０の得た受光信号を、デジタルの受光信号に変換する。
制御装置２０は、センサ１０と一体として構成してもよいし、情報の授受が可能なように別体として構成してもよい。
特に限定されないが、制御装置２０は、情報選択部、電流電圧変換部、増幅部、及びサンプリング部を備える。情報選択部は、複数のマルチプレクサ（ＭＵＸ）を含む。電流電圧変換部は、複数のトランス・インピーダンス・アンプ（ＴＩＡ）を含む。増幅部は、複数のプログラマブル・ゲイン・アンプ（ＰＧＡ）含む。サンプリング部は、複数のＡ／Ｄコンバータ（ＡＤＣ）含む。制御装置２０の基本的構成及び処理手順は、本願出願時に知られた受光型のセンサの処理手順を適宜に採用できる。 The control device 20 performs information processing based on the received light signal, and detects the existence of the object and the position of the object. First, the light receiving signal obtained by the light receiving element 120 is converted into a digital light receiving signal.
The control device 20 may be configured integrally with the sensor 10 or may be configured as a separate body so that information can be exchanged.
Although not particularly limited, the control device 20 includes an information selection unit, a current-voltage conversion unit, an amplification unit, and a sampling unit. The information selection unit includes a plurality of multiplexers (MUX). The current-voltage converter includes a plurality of transimpedance amplifiers (TIAs). The amplification unit includes a plurality of programmable gain amplifiers (PGA). The sampling unit includes a plurality of A / D converters (ADCs). As the basic configuration and processing procedure of the control device 20, the processing procedure of the light receiving type sensor known at the time of filing the present application can be appropriately adopted.

マルチプレクサは、制御装置２０の制御に従い、受光素子１２０から取得した受光信号のうち１つ以上の受光信号を選択して、トランス・インピーダンス・アンプに供給する。取得した受光信号が複数である場合には、マルチプレクサはこれら受光信号を加算してトランス・インピーダンス・アンプに出力する。特に限定されないが、マルチプレクサは、デコーダ、複数の入力端子、複数のスイッチ及び出力端子を備える。スイッチは、複数の入力端子と一の出力端子との間に配置される。デコーダは、制御装置２０から供給される選択信号をデコードし、デコードした選択信号の内容に従って、各スイッチのオン／オフを個別に切り替える。そして、オンになっているスイッチに接続されている入力端子に入力される受光信号が選択され、出力端子から出力される。なお、複数のスイッチがオンである場合には、選択された複数の受光信号が加算されて出力端子から出力される。 The multiplexer selects one or more light-receiving signals among the light-receiving signals acquired from the light-receiving element 120 under the control of the control device 20, and supplies the light-receiving signals to the transimpedance amplifier. When there are a plurality of acquired received light signals, the multiplexer adds these received light signals and outputs them to the transimpedance amplifier. Although not particularly limited, the multiplexer includes a decoder, a plurality of input terminals, a plurality of switches, and an output terminal. The switch is arranged between a plurality of input terminals and one output terminal. The decoder decodes the selection signal supplied from the control device 20, and individually switches on / off of each switch according to the content of the decoded selection signal. Then, the light receiving signal input to the input terminal connected to the switched on is selected and output from the output terminal. When a plurality of switches are on, a plurality of selected light receiving signals are added and output from the output terminal.

トランス・インピーダンス・アンプは、制御装置２０の制御に従い、マルチプレクサから供給された受光信号の電流−電圧変換を行う。すなわち、各トランス・インピーダンス・アンプは、入力された電流としての受光信号を、電圧としての受光信号に変換するとともに、制御装置２０が設定したゲインで受光信号の電圧を増幅し、後段のプログラマブル・ゲイン・アンプに出力する。
プログラマブル・ゲイン・アンプは、各トランス・インピーダンス・アンプから取得した受光信号の電圧を、制御装置２０が設定したゲインで増幅し、後段のＡ／Ｄコンバータに出力する。Ａ／Ｄコンバータは、受光信号のＡ／Ｄ変換を行う。Ａ／Ｄコンバータは、制御装置２０の制御の下に、プログラマブル・ゲイン・アンプから供給されるアナログの受光信号のサンプリングを行うことにより受光値の測定を行う。そして、Ａ／Ｄコンバータは、受光値のサンプリング結果（測定結果）を示すデジタルの受光信号を出力する。制御装置２０は、取得した受光信号に基づいて、物体の検出処理を行う。 The transimpedance amplifier performs current-voltage conversion of the received light signal supplied from the multiplexer according to the control of the control device 20. That is, each transimpedance amplifier converts the light-receiving signal as an input current into a light-receiving signal as a voltage, and amplifies the voltage of the light-receiving signal with the gain set by the control device 20, so that it can be programmed in the subsequent stage. Output to the gain amplifier.
The programmable gain amplifier amplifies the voltage of the received light signal acquired from each transimpedance amplifier with the gain set by the control device 20, and outputs the voltage to the A / D converter in the subsequent stage. The A / D converter performs A / D conversion of the received light signal. The A / D converter measures the light receiving value by sampling the analog light receiving signal supplied from the programmable gain amplifier under the control of the control device 20. Then, the A / D converter outputs a digital light receiving signal indicating a sampling result (measurement result) of the light receiving value. The control device 20 performs an object detection process based on the acquired received light signal.

図３Ａは、外界の検出領域と、広角レンズ１１と、受光部１２との位置関係を示す図である。外界における実際の検出領域は三次元の空間であるが、本例の座標系（ＸＹ）は、受光部１２の受光面に対して平行な面を定義する。座標系（ＸＹ）に対して垂直なＺ軸方向は、検出領域の奥行に対応し、本例では車両Ｖ１の進行方向に対応する。
図３Ｂに示すように、反射光は、広角レンズ１１を介して、二次元のアレイ状に配置された受光素子に入射する。受光素子は、反射光に対応する受光信号を、制御装置２０に出力する。受光信号は検出領域の二次元の面を定義する座標系（ＸＹ）に対応づけられる。受光素子は、受光信号に、検出領域の座標系に対応する受光素子のアドレスを付して出力する。この座標値（ＸＹ）により物体の位置を特定し、受光信号の強度により物体までの距離（座標値（Ｚ）を特定できるので、三次元空間における物体の存在位置（座標ＸＹＺ）を検出できる。 FIG. 3A is a diagram showing the positional relationship between the detection region in the outside world, the wide-angle lens 11, and the light receiving unit 12. Although the actual detection region in the outside world is a three-dimensional space, the coordinate system (XY) of this example defines a plane parallel to the light receiving surface of the light receiving unit 12. The Z-axis direction perpendicular to the coordinate system (XY) corresponds to the depth of the detection region, and in this example, corresponds to the traveling direction of the vehicle V1.
As shown in FIG. 3B, the reflected light is incident on the light receiving elements arranged in a two-dimensional array via the wide-angle lens 11. The light receiving element outputs a light receiving signal corresponding to the reflected light to the control device 20. The received signal is associated with a coordinate system (XY) that defines a two-dimensional surface of the detection area. The light receiving element outputs the light receiving signal with the address of the light receiving element corresponding to the coordinate system of the detection region. Since the position of the object can be specified by the coordinate value (XY) and the distance to the object (coordinate value (Z)) can be specified by the intensity of the received light signal, the existing position (coordinate XYZ) of the object in the three-dimensional space can be detected.

本例では、より広い検出領域を監視するために、広角レンズ１１が採用されている。このため、検出領域のＸＹ座標における像は左右端部において拡大される（引き伸ばされる）。図３Ａに示すように、検出領域の端部、特に左右端部の像に応じた反射光（受光信号）のＸＹ座標を基準とした密度は低くなる。一例であるが、図３Ｃに受光信号に対応する像を示す。図３Ｃに示すように、画像の中央部分（図中破線楕円ＣＴで示す）は反射光（受光信号）の強度が高く、明瞭であるが、画像の端部（図中破線楕円ＣＴの外側、図中に示す座標系の＋／−Ｘ軸方向、＋／−Ｙ軸方向）、特に左右端部（図中に示す座標系の＋／−Ｘ軸方向）は反射光（受光信号）の強度・密度が低く、暗い画像となり、不明瞭である。 In this example, the wide-angle lens 11 is adopted in order to monitor a wider detection area. Therefore, the image at the XY coordinates of the detection area is enlarged (stretched) at the left and right ends. As shown in FIG. 3A, the density of the reflected light (light receiving signal) corresponding to the image of the end portion of the detection region, particularly the left and right end portions, is low with respect to the XY coordinates. As an example, FIG. 3C shows an image corresponding to a received light signal. As shown in FIG. 3C, the central portion of the image (indicated by the dashed elliptical CT in the figure) has a high intensity of reflected light (light receiving signal) and is clear, but the end of the image (outside the dashed elliptical CT in the figure). The intensity of reflected light (light receiving signal) at the +/- X-axis direction and +/- Y-axis direction of the coordinate system shown in the figure, especially at the left and right ends (+/- X-axis direction of the coordinate system shown in the figure). -The image is low in density, dark, and unclear.

このように、広角レンズ１１を用いると、検出領域を拡大することができるものの、検出領域の中央部分の検出結果に比べて、検出領域の縁辺部の検出結果の精度が劣るという事態が生じる。これは、検出領域の周辺（端部）の反射光の強度の低下、広角レンズ１１の歪みよる分解能の低下、入射光の受光部１２に対する入射角度が大きくなることが原因として考えられる。 As described above, although the detection area can be expanded by using the wide-angle lens 11, the accuracy of the detection result of the edge portion of the detection area is inferior to that of the detection result of the central portion of the detection area. It is considered that this is because the intensity of the reflected light around the detection region (end) is lowered, the resolution is lowered due to the distortion of the wide-angle lens 11, and the incident angle of the incident light with respect to the light receiving portion 12 is increased.

制御装置２０は、センサ１０の受光部１２が出力する反射光の受光信号に基づいて、受光値の測定を行う。本実施形態の制御装置２０は、車両周囲全体を監視するために、複数のセンサ１０ａ〜１０ｄの検出結果に基づいて物体を検出する。
本実施形態の制御装置２０は、座標変換部２１と、合成部２２と、測定部２３とを有する。座標変換部２１は、各センサ１０の受光信号の座標を変換する。各センサ１０の受光信号の座標が一致しない場合には、各センサ１０の受光信号の精度に応じた重みづけを付与する処理を行う。合成部２２は、重みづけをした受光信号を合成する処理を行う。測定部２３は、合成後の受光信号に基づいて、物体の存在を検出し、物体の位置を測定する処理を行う。 The control device 20 measures the light receiving value based on the light receiving signal of the reflected light output by the light receiving unit 12 of the sensor 10. The control device 20 of the present embodiment detects an object based on the detection results of a plurality of sensors 10a to 10d in order to monitor the entire surroundings of the vehicle.
The control device 20 of the present embodiment has a coordinate conversion unit 21, a synthesis unit 22, and a measurement unit 23. The coordinate conversion unit 21 converts the coordinates of the received light signal of each sensor 10. When the coordinates of the received light signal of each sensor 10 do not match, a process of giving a weight according to the accuracy of the received light signal of each sensor 10 is performed. The synthesizing unit 22 performs a process of synthesizing a weighted received light signal. The measuring unit 23 detects the presence of an object based on the received light signal after synthesis, and performs a process of measuring the position of the object.

制御装置２０は、検出領域の拡大の観点から、複数のセンサ１０の検出結果を合成する。しかし、複数のセンサ１０ａ、１０ｂの検出結果を合成しようとするとき、検出結果が異なる場合がある。図４に示す例では、同じ物体に属する点Ｐ１について、第１センサ１０ａの点Ｐ１の位置についての検出結果は座標Ｐ１ａであり、第２センサ１０ｂの点Ｐ１の位置についての検出結果は座標Ｐ１ｂである。このように、同一の物体の存在位置であるＰ１について、センサ１０ａ、１０ｂは異なる検出結果を示すことがある。 The control device 20 synthesizes the detection results of the plurality of sensors 10 from the viewpoint of expanding the detection area. However, when trying to synthesize the detection results of a plurality of sensors 10a and 10b, the detection results may be different. In the example shown in FIG. 4, for the point P1 belonging to the same object, the detection result for the position of the point P1 of the first sensor 10a is the coordinate P1a, and the detection result for the position of the point P1 of the second sensor 10b is the coordinate P1b. Is. As described above, the sensors 10a and 10b may show different detection results for P1 which is the existence position of the same object.

図３Ａ乃至図３Ｃを用いて説明したように、センサ１０の検出結果のうち、検出領域の中央部における検出精度（確度）は、検出領域の周囲部（端部）における検出精度（確度）よりも高い。つまり、複数のセンサ１０の検出結果を用いる場合には、検出領域の中央部における検出結果を用いることが好ましい。 As described with reference to FIGS. 3A to 3C, among the detection results of the sensor 10, the detection accuracy (accuracy) in the central portion of the detection region is higher than the detection accuracy (accuracy) in the peripheral portion (edge portion) of the detection region. Is also expensive. That is, when using the detection results of a plurality of sensors 10, it is preferable to use the detection results in the central portion of the detection region.

ちなみに、検出領域は、画角で表現することができる。画角とは、検出領域の範囲を角度で表すものである。これに倣い、物体の存在位置が検出領域の中央部であるのか、検出領域の周囲部（端部）であるのかを、検出領域の中央に設定した基準軸に対する角度で判断する。基準軸は、受光部１２の受光面に対して略垂直方向であり、検出領域側（図３Ａに示すＺ軸方向）に延びるように設定する。検出領域、検出領域の座標、基準軸は、センサごとに設定する。第１センサ１０ａには、第１検出領域と、第１検出領域の第１座標、第１基準軸が設定され、第２センサ１０ｂには、第２検出領域と、第２検出領域の第２座標、第２基準軸が設定される。第３センサ１０ｃ、第４センサ１０ｄについても同様である。基準軸に対する角度は、基準軸に対する仰俯角及び／又は方位角により表現する。基準軸に対する仰俯角により、検出領域の上端側（天空側）の位置と下端側（地面側）の位置を定義することができる。基準軸に対する方位角により、検出領域の右端側の位置と左端側の位置を定義することができる。
By the way, the detection area can be expressed by the angle of view. The angle of view represents the range of the detection area by an angle. Following this, it is determined whether the existing position of the object is the central part of the detection area or the peripheral part (edge part) of the detection area by the angle with respect to the reference axis set in the center of the detection area. The reference axis is set so as to be substantially perpendicular to the light receiving surface of the light receiving unit 12 and extend toward the detection region side (Z-axis direction shown in FIG. 3A). The detection area, the coordinates of the detection area, and the reference axis are set for each sensor. The first sensor 10a is set with the first detection region, the first coordinates of the first detection region, and the first reference axis, and the second sensor 10b has the second detection region and the second detection region. The coordinates and the second reference axis are set. The same applies to the third sensor 10c and the fourth sensor 10d. The angle with respect to the reference axis is expressed by the elevation / depression angle and / or the azimuth with respect to the reference axis. The position of the upper end side (sky side) and the position of the lower end side (ground side) of the detection area can be defined by the elevation / depression angle with respect to the reference axis. The azimuth angle with respect to the reference axis can define the position on the right end side and the position on the left end side of the detection area.

ここで、二つのセンサの検出結果を用いた物体の検出手法を説明する。
例えば、図５Ａ（ａ）に示すように、センサ１０ａが同一の物体Ｐについての存在位置Ｐ１ａを検出し、センサ１０ｂが物体Ｐの存在位置Ｐ１ｂを検出したとき、その検出位置が異なる場合がある。複数のセンサ１０の受光信号を利用する場合において問題になるのは、同一の物体の同一の存在位置であるはずなのに、別の検出結果（存在位置）を出力することである。制御装置２０は、複数の各センサ１０の受光信号に基づいて、物体を検出し、その物体が同一である場合に、二つのセンサの検出結果を用いた、本実施形態の物体の検出手法を採用する。 Here, an object detection method using the detection results of the two sensors will be described.
For example, as shown in FIG. 5A (a), when the sensor 10a detects the existence position P1a of the same object P and the sensor 10b detects the existence position P1b of the object P, the detection positions may be different. .. When using the light receiving signals of a plurality of sensors 10, the problem is that the same object should be in the same existing position, but another detection result (existing position) is output. The control device 20 detects an object based on the light receiving signals of each of the plurality of sensors 10, and when the objects are the same, the control device 20 uses the detection results of the two sensors to detect the object of the present embodiment. adopt.

図５Ａ（ｂ）に示すように、センサ１０ａは、物体Ｐの存在位置Ｐ１ａを検出領域の中央に設定した基準軸Ｚａから角度αａの位置に検出し、センサ１０ｂは、物体Ｐの存在位置Ｐ１ｂを検出領域の中央に設定した基準軸Ｚｂから角度αｂの位置に検出することがある。同図に示すように、角度αａ＜角度αｂである。センサ１０ａの検出した物体Ｐの存在位置Ｐ１ａは、検出領域の基準軸Ｚａから角度αａの範囲、つまり検出領域の中央に近い領域である、他方、センサ１０ｂの検出した物体Ｐの存在位置Ｐ１ｂは、検出領域の基準軸Ｚｂから角度αｂの範囲、つまり中央から離れた端部の領域である。中央側のほうが、センサ１０の検出精度は高いので、センサ１０ａの検出結果のほうが、信頼度が高いと考えられる。
この考え方に基づいて、図５Ａ（ｃ）に示すように、センサ１０ｂの検出した、中央から離れた存在位置Ｐ１ｂという検出結果は採用せずに、センサ１０ａの検出した物体Ｐの存在位置Ｐ１ａを検出結果として採用するという手法も考えられる。
しかし、精度が相対的に低い一方の検出結果を消去して、他方の検出結果を採用するという手法によると、図５Ｂに示すように、センサ１０ａの検出する物体Ｐの存在位置Ｐ１ａの履歴（移動軌跡）と、センサ１０ｂの検出する物体Ｐの存在位置Ｐ１ｂの履歴（移動軌跡）とが不連続になる可能性があるという問題がある。 As shown in FIG. 5A (b), the sensor 10a detects the existence position P1a of the object P at an angle αa from the reference axis Za set in the center of the detection region, and the sensor 10b detects the existence position P1b of the object P. May be detected at an angle αb from the reference axis Zb set in the center of the detection area. As shown in the figure, the angle αa <angle αb. The presence position P1a of the object P detected by the sensor 10a is a range of an angle αa from the reference axis Za of the detection region, that is, a region close to the center of the detection region, while the presence position P1b of the object P detected by the sensor 10b is. , The range of the angle αb from the reference axis Zb of the detection region, that is, the region of the end portion away from the center. Since the detection accuracy of the sensor 10 is higher on the center side, it is considered that the detection result of the sensor 10a is more reliable.
Based on this idea, as shown in FIG. 5A (c), the existence position P1a of the object P detected by the sensor 10a is used without adopting the detection result of the existence position P1b away from the center detected by the sensor 10b. A method of adopting it as a detection result is also conceivable.
However, according to the method of erasing one of the detection results having relatively low accuracy and adopting the other detection result, as shown in FIG. 5B, the history of the existence position P1a of the object P detected by the sensor 10a ( There is a problem that the movement locus) and the history (movement locus) of the existence position P1b of the object P detected by the sensor 10b may be discontinuous.

このような不都合を解消するべく、本実施形態の物体検出装置／物体検出方法では、検出された物体の存在位置に応じた重みづけ情報に基づいて、その検出結果の信頼度を評価する。
二つのセンサ１０ａ，１０ｂから得られた受光信号に基づく検出位置を、図６Ａに示す。図６Ａの点Ｐ１は、センサ１０ａにより検出された物体Ｐの位置であり、同図６Ａの点Ｐ２は、センサ１０ｂにより検出された物体Ｐの位置である。センサ１０ａの検出領域ＳＰ１とセンサ１０ｂの検出領域ＳＰ２とは異なるので、座標変換をして、その検出位置を比較する。物体Ｐは同一の物体である。ちなみに、物体Ｐの同一性は、検出された物体のエッジの位置、連続性のあるエッジの位置、形状、大きさ、受光信号の強さなどから判断できる。物体Ｐの同一性の判断手法は特に限定されない。図６Ａに示すように、点Ｐ１は基準軸Ｚａに対して角度αａの画角内に存在し、点Ｐ２は基準軸Ｚｂに対して角度αｂの画角内に存在する。角度αａ＜角度αｂである。 In order to eliminate such inconvenience, in the object detection device / object detection method of the present embodiment, the reliability of the detection result is evaluated based on the weighting information according to the existence position of the detected object.
The detection position based on the received light signal obtained from the two sensors 10a and 10b is shown in FIG. 6A. The point P1 in FIG. 6A is the position of the object P detected by the sensor 10a, and the point P2 in FIG. 6A is the position of the object P detected by the sensor 10b. Since the detection area SP1 of the sensor 10a and the detection area SP2 of the sensor 10b are different, coordinate conversion is performed and the detection positions are compared. The object P is the same object. Incidentally, the identity of the object P can be judged from the position of the edge of the detected object, the position of the continuous edge, the shape, the size, the strength of the received light signal, and the like. The method for determining the identity of the object P is not particularly limited. As shown in FIG. 6A, the point P1 exists in the angle of view of the angle αa with respect to the reference axis Za, and the point P2 exists in the angle of view of the angle αb with respect to the reference axis Zb. Angle αa <angle αb.

図６Ｂに示すように、本実施形態の制御装置２０は、第１センサ１０ａの第１検出領域ＳＰ１の第１座標Ｘａ−Ｚａ／Ｚａ−Ｙａを定義し、第２センサ１０ｂの第２検出領域ＳＰ２の第２座標Ｘｂ−Ｚｂ／Ｚｂ−Ｙｂを定義する。Ｙａ軸、Ｙｂ軸は、Ｘ軸及びＺ軸に垂直な高さ／鉛直方向に沿う軸である。制御装置２０は、第１座標Ｘａ−Ｚａ／Ｚａ−Ｙａの座標値（アドレス）に応じた第１重みづけ情報を定義し、第２座標Ｘｂ−Ｚｂ／Ｚｂ−Ｙｂの座標値（アドレス）に応じた第２重みづけ情報を定義する。
第１座標Ｘａ−Ｚａ、第２座標Ｘｂ−Ｚｂは、車両の幅方向（水平方向・左右方向）の検出結果の評価するための座標であり、第１座標Ｚａ−Ｙａ、第２座標Ｚｂ−Ｙｂは、車両の高さ方向（鉛直方向・上下方向）の検出結果の評価するための座標である。 As shown in FIG. 6B, the control device 20 of the present embodiment defines the first coordinates Xa-Za / Za-Ya of the first detection area SP1 of the first sensor 10a, and defines the second detection area of the second sensor 10b. The second coordinates Xb-Zb / Zb-Yb of SP2 are defined. The Ya axis and the Yb axis are axes along the height / vertical direction perpendicular to the X axis and the Z axis. The control device 20 defines the first weighting information according to the coordinate value (address) of the first coordinate Xa-Za / Za-Ya, and sets the coordinate value (address) of the second coordinate Xb-Zb / Zb-Yb. The corresponding second weighting information is defined.
The first coordinate Xa-Za and the second coordinate Xb-Zb are coordinates for evaluating the detection result in the width direction (horizontal direction / left-right direction) of the vehicle, and are the first coordinate Za-Ya and the second coordinate Zb-. Yb is a coordinate for evaluating the detection result in the height direction (vertical direction / vertical direction) of the vehicle.

第１重みづけ情報、第２重みづけ情報は、検出結果の精度の評価の高低を示す指標としての評価係数を含む。評価係数は、正の値である。評価係数が大きい値であるほど、検出結果の精度は高いと評価され、評価係数が小さい値であるほど、検出結果の精度は低いと評価される。 The first weighting information and the second weighting information include an evaluation coefficient as an index indicating the level of evaluation of the accuracy of the detection result. The evaluation coefficient is a positive value. The larger the evaluation coefficient is, the higher the accuracy of the detection result is evaluated, and the smaller the evaluation coefficient is, the lower the accuracy of the detection result is evaluated.

第１重みづけ情報において、評価係数は、第１検出領域ＳＰ１に対する画角の中央に設定した第１基準軸Ｚａに対して第１座標Ｘａ−Ｚａの方位角が小さいほど大きい正の値が設定される。第１座標Ｘａ−Ｚａに対する方位角ごとに評価係数が設定された第１重みづけ情報によれば、第１検出領域ＳＰ１の中央部分の検出結果の精度が高く評価され、車両の幅方向（水平方向・左右方向）に中央から離隔するほどに（端部に近づくほどに）検出結果の精度が低く評価される。 In the first weighting information, the evaluation coefficient is set to a positive value as the azimuth angle of the first coordinates Xa-Za becomes smaller with respect to the first reference axis Za set in the center of the angle of view with respect to the first detection area SP1. Will be done. According to the first weighting information in which the evaluation coefficient is set for each azimuth angle with respect to the first coordinate Xa-Za, the accuracy of the detection result of the central portion of the first detection area SP1 is highly evaluated, and the width direction (horizontal) of the vehicle is evaluated. The accuracy of the detection result is evaluated lower as the distance from the center (in the direction / left-right direction) increases (as it approaches the end).

同じく第１重みづけ情報において、第１検出領域ＳＰ１に対する画角の中央に設定した第１基準軸Ｚａに対して第１座標Ｚａ−Ｙａの仰俯角が小さいほど大きい正の値の評価係数が設定される。第１座標Ｚａ−Ｙａに対する仰俯角ごとに評価係数が設定された第１重みづけ情報によれば、第１検出領域ＳＰ１の中央部分の検出結果の精度が高く評価され、車両高さ方向（鉛直方向・上下方向）に中央から離隔するほどに（端部に近づくほどに）検出結果の精度が低く評価される。 Similarly, in the first weighting information, a positive evaluation coefficient is set as the elevation / depression angle of the first coordinate Za-Ya is smaller with respect to the first reference axis Za set at the center of the angle of view with respect to the first detection area SP1. Will be done. According to the first weighting information in which the evaluation coefficient is set for each elevation / depression angle with respect to the first coordinate Za-Ya, the accuracy of the detection result of the central portion of the first detection area SP1 is highly evaluated, and the vehicle height direction (vertical) is evaluated. The accuracy of the detection result is evaluated lower as the distance from the center (in the direction / up / down direction) increases (as it approaches the end).

同様に、第２重みづけ情報において、第２検出領域ＳＰ２に対する画角の中央に設定した第２基準軸Ｚｂに対して第２座標Ｚａ−Ｙａの仰俯角及び／又は第２座標Ｘａ−Ｚａの方位角が小さいほど大きい正の値の評価係数が設定される。第３センサ１０ｃの第３検出領域ＳＰ３、第４センサ１０ｄの第４検出領域ＳＰ４、においても、同様に重みづけ情報が定義される。 Similarly, in the second weighting information, the elevation / depression angle of the second coordinate Za-Ya and / or the second coordinate Xa-Za with respect to the second reference axis Zb set at the center of the angle of view with respect to the second detection region SP2. The smaller the azimuth, the larger the positive evaluation coefficient is set. Weighting information is similarly defined in the third detection region SP3 of the third sensor 10c and the fourth detection region SP4 of the fourth sensor 10d.

これにより、検出領域の中央部における精度の高い検出結果の評価を高く算出し、検出領域の端部における精度の低い検出結果の評価を低く算出することにより、複数のセンサ１０から得た受光信号から精度の高い一の検出結果を得ることができる。 As a result, the evaluation of the highly accurate detection result in the central portion of the detection region is calculated high, and the evaluation of the low accuracy detection result in the end portion of the detection region is calculated low, so that the received light signals obtained from the plurality of sensors 10 are obtained. A highly accurate detection result can be obtained from.

制御装置２０は、受光信号の強度が高いほど、評価が高くなるように重みづけ情報を設定できる。制御装置２０は、重みづけ情報に関し、第１センサ１０ａから得た第１受光信号の強度の代表値と、第２センサ１０ｂから得た第２受光信号の強度の代表値とを比較する。第１受光信号の強度の代表値が第２受光信号の強度の代表値よりも大きい場合には、第１重みづけ情報の評価係数が、第２重みづけ情報の評価係数よりも大きい正の値となるように、第１、第２重みづけ情報を設定する。第２受光信号の強度の代表値が第１受光信号の強度の代表値よりも大きい場合には、第２重みづけ情報の評価係数が、第２重みづけ情報の重みづけの値よりも大きい正の値となるように、第１、第２重みづけ情報を設定する。 The control device 20 can set the weighting information so that the higher the intensity of the received light signal, the higher the evaluation. The control device 20 compares the representative value of the intensity of the first light receiving signal obtained from the first sensor 10a with the representative value of the intensity of the second light receiving signal obtained from the second sensor 10b with respect to the weighting information. When the representative value of the intensity of the first received light signal is larger than the representative value of the intensity of the second received light signal, the evaluation coefficient of the first weighted information is a positive value larger than the evaluation coefficient of the second weighted information. The first and second weighting information is set so as to be. When the representative value of the strength of the second light receiving signal is larger than the representative value of the strength of the first light receiving signal, the evaluation coefficient of the second weighted information is larger than the weighted value of the second weighted information. The first and second weighting information is set so as to be the value of.

第１受光信号の強度の代表値とは、第１センサ１０ａが出力した第１受光信号の全体の平均、最大値、中央値、最頻値などである。第１受光信号の強度の代表値として、第１受光信号のうち同一物体から反射された受信信号であると判断された一群の受光信号、言い換えると、抽出された同一物体の像に属する画素の受信信号の平均、最大値、中央値、最頻値としてもよい。 The representative value of the intensity of the first light receiving signal is the average, maximum value, median value, mode value, etc. of the entire first light receiving signal output by the first sensor 10a. As a representative value of the intensity of the first light-receiving signal, a group of light-receiving signals determined to be received signals reflected from the same object among the first light-receiving signals, in other words, pixels belonging to the extracted image of the same object. It may be the average, maximum value, median value, and mode value of the received signal.

これにより、受光信号の強度が高いほど、受光信号の信頼度を高く評価するので、物体の検出精度を向上させることができる。受光信号の強度が低いと、検出精度が低くなる傾向があるため、強度の高い受光信号の信頼を高くすることにより、物体の検出精度を向上させることができる。 As a result, the higher the intensity of the received light signal, the higher the reliability of the received light signal is evaluated, so that the detection accuracy of the object can be improved. When the intensity of the received light signal is low, the detection accuracy tends to be low. Therefore, by increasing the reliability of the received light signal having high intensity, the detection accuracy of the object can be improved.

制御装置２０は、第１センサ１０ａが出力した、第１検出領域ＳＰ１の第１座標Ｘａ−Ｚａ／Ｚａ−Ｙａに対応づけられた第１受光信号を、第１検出領域ＳＰ１の第１座標Ｘａ−Ｚａ／Ｚａ−Ｙａに対応づけられた第１重みづけ情報に基づいて第１変換受光信号に変換する。
同様に、制御装置２０は、第２センサ１０ｂが出力した、第２検出領域ＳＰ２の第２座標Ｘｂ−Ｚｂ／Ｚｂ−Ｙｂに対応づけられた第２受光信号を、第２検出領域ＳＰ２の第２座標Ｘｂ−Ｚｂ／Ｚｂ−Ｙｂに対応づけられた第２重みづけ情報に基づいて第２変換受光信号に変換する。 The control device 20 transmits the first light receiving signal associated with the first coordinate Xa-Za / Za-Ya of the first detection area SP1 output by the first sensor 10a to the first coordinate Xa of the first detection area SP1. It is converted into a first conversion received signal based on the first weighting information associated with −Za / Za—Ya.
Similarly, the control device 20 transfers the second light receiving signal associated with the second coordinate Xb-Zb / Zb-Yb of the second detection region SP2 output by the second sensor 10b to the second detection region SP2. It is converted into a second conversion received signal based on the second weighting information associated with the two coordinates Xb-Zb / Zb-Yb.

制御装置２０は、第１変換受光信号と第２変換受光信号とを合成した合成受光信号を得る。下記式（１）に示すように、第１センサ１０ａの受光信号に基づく検出結果（Ｘ_Ａ，Ｙ_Ａ，Ｚ_Ａ）に第１重みづけ情報の評価係数に対応する重みづけ関数Ｗ_Ａを付し、第２センサ１０ｂの受光信号に基づく検出結果（Ｘ_Ｂ，Ｙ_Ｂ，Ｚ_Ｂ）に第２重みづけ情報の評価係数に対応する重みづけ関数Ｗ_Ｂを付し、これらを加算して、合成受光信号に対応する、最終的な検出結果（Ｘ，Ｙ，Ｚ）を得る。検出結果（Ｘ，Ｙ，Ｚ）は、第１センサ１０ａの受光信号と第２センサ１０ｂの受光信号に基づき、各センサの信頼性(信頼度)を考慮した検出結果である。 The control device 20 obtains a combined light-receiving signal obtained by combining the first conversion light-receiving signal and the second conversion light-receiving signal. As shown in the following formula (1), with the detection result _{_{_{(X A, Y A, Z}}} A) weighting function _{W A} corresponding to the evaluation coefficients of the first weighting information based on the received light signal of the first sensor 10a and, the detection result based on the received light signal of the second sensor _{_{10b (X B, Y B,}} Z B) denoted by the weighting function _{W B} corresponding to the evaluation coefficients of the second weighting information, and adds them, The final detection result (X, Y, Z) corresponding to the combined light-receiving signal is obtained. The detection result (X, Y, Z) is a detection result in consideration of the reliability (reliability) of each sensor based on the light receiving signal of the first sensor 10a and the light receiving signal of the second sensor 10b.

広角レンズ１１を備えるセンサ１０を複数備える場合に、複数のセンサ１０の検出結果を単に合成すると、精度の低い検出結果によって最終的な物体の位置検出精度が低くなる。また、精度の高い検出結果を選択して物体の位置を検出すると、物体の検出結果が不連続となり、最終的な物体の位置検出精度が低くなる。
これに対し、本実施形態の物体検出装置１００は、第１，第２検出領域ＳＰ１，ＳＰ２に対する画角の中央に設定した第１、第２基準軸Ｚａ，Ｚｂに対して第１、第２座標Ｚａ−Ｙａ（Ｚｂ−Ｙｂ）の仰俯角及び／又は第１，第２座標Ｘａ−Ｚａ（Ｘｂ−Ｚｂ）の方位角が小さいほど大きい正の値の評価係数が設定された第１、第２重みづけ情報を定義する。そして、制御装置２０は、第１センサ１０ａが出力した、第１検出領域の第１座標に対応づけられた第１受光信号を、第１検出領域の第１座標に対応づけられた第１重みづけ情報に基づいて第１変換受光信号に変換し、第２センサ１０ｂが出力した、第２検出領域の第２座標に対応づけられた第２受光信号を、第２検出領域の第２座標に対応づけられた第２重みづけ情報に基づいて第２変換受光信号に変換し、これら第１変換受光信号と第２変換受光信号とを合成した合成受光信号に基づいて、物体を検出する。 When a plurality of sensors 10 including the wide-angle lens 11 are provided, if the detection results of the plurality of sensors 10 are simply combined, the position detection accuracy of the final object is lowered due to the low accuracy detection result. Further, when the position of the object is detected by selecting the detection result with high accuracy, the detection result of the object becomes discontinuous and the final position detection accuracy of the object becomes low.
On the other hand, the object detection device 100 of the present embodiment has the first and second reference axes Za and Zb set at the center of the angle of view for the first and second detection regions SP1 and SP2. The smaller the elevation / depression angle of the coordinates Za-Ya (Zb-Yb) and / or the azimuth of the first and second coordinates Xa-Za (Xb-Zb), the larger the positive evaluation coefficient is set. 2 Define the weighting information. Then, the control device 20 makes the first light receiving signal associated with the first coordinate of the first detection region, which is output by the first sensor 10a, the first weight associated with the first coordinate of the first detection region. The second light-receiving signal associated with the second coordinate of the second detection area, which is converted into the first conversion light-receiving signal based on the attached information and output by the second sensor 10b, is converted into the second coordinate of the second detection area. It is converted into a second converted light receiving signal based on the associated second weighting information, and an object is detected based on the combined light receiving signal obtained by combining the first converted light receiving signal and the second converted light receiving signal.

図６Ｃは、第１センサ１０ａの受光信号に応じた物体Ｐの存在位置Ｐ１と、第２センサ１０ｂの受光信号に応じた物体Ｐの存在位置Ｐ２を示す。図６Ｃに示すＰ３は、第１センサ１０ａの受光信号に重みづけを付した第１変換受光信号と、第２センサ１０ｂの受光信号に重みづけを付した第２変換受光信号とを合成した合成受光信号に応じた存在位置Ｐ３である。存在位置Ｐ３は、第１センサ１０ａの受光信号に応じたＰ１、第２センサ１０ｂの受光信号に応じたＰ２とも異なる、検出結果となる。存在位置Ｐ３は、第１センサ１０ａの受光信号に応じた検出結果（存在位置Ｐ１）の信頼度と、第２センサ１０ｂの受光信号に応じた検出結果（存在位置Ｐ２）の信頼度とを考慮した、検出結果（存在位置Ｐ３）である。本例では、二つの検出結果である存在位置Ｐ１，Ｐ２を例に一つの検出結果（存在位置Ｐ３を求める手法を説明したが、三つ以上の検出結果であっても同様に、重みづけ情報の評価係数を用いて三つ以上の変換受光信号を合成し、一つの検出結果を得ることができる。 FIG. 6C shows the existence position P1 of the object P corresponding to the light receiving signal of the first sensor 10a and the existence position P2 of the object P corresponding to the light receiving signal of the second sensor 10b. P3 shown in FIG. 6C is a composite of a first converted light receiving signal in which the light receiving signal of the first sensor 10a is weighted and a second converted light receiving signal in which the light receiving signal of the second sensor 10b is weighted. It is the existence position P3 corresponding to the received light signal. The existing position P3 is different from P1 corresponding to the light receiving signal of the first sensor 10a and P2 corresponding to the light receiving signal of the second sensor 10b, and the detection result is different. The existence position P3 considers the reliability of the detection result (existence position P1) according to the received signal of the first sensor 10a and the reliability of the detection result (existing position P2) corresponding to the received signal of the second sensor 10b. It is a detection result (existence position P3). In this example, one detection result (the method of obtaining the existence position P3 has been described by taking the existence positions P1 and P2, which are two detection results, as an example. However, even if there are three or more detection results, the weighting information is similarly described. One detection result can be obtained by synthesizing three or more converted light-receiving signals using the evaluation coefficient of.

これにより、広い検出範囲を確保しつつ、物体の検出精度を向上させることができる。まだ、相対的に移動する物体の移動軌跡が不連続となることも防止できる。 This makes it possible to improve the detection accuracy of the object while ensuring a wide detection range. It is still possible to prevent the movement trajectories of relatively moving objects from becoming discontinuous.

図７のフローチャートに基づいて、本実施形態の物体検出の制御処理について説明する。
ステップＳ１において、制御装置２０は、センサ１０ａ，１０ｂ・・・１０ｄから受光信号を取得する。ステップＳ２において、制御装置２０は、各センサ１０の受光信号を同じ座標系に変換して、比較・評価をする。ステップＳ３において、制御装置２０は、各センサ１０が同一の物体を検出しているか否かを判断する。同一の物体であるか否かは、その受光信号の強度に基づいて抽出されたエッジの位置、エッジの連続性を求め、同一物体であると推測されるグループ化された像の大きさ、形状、距離などに基づいて判断できる。 The object detection control process of the present embodiment will be described with reference to the flowchart of FIG. 7.
In step S1, the control device 20 acquires a light receiving signal from the sensors 10a, 10b ... 10d. In step S2, the control device 20 converts the received signal of each sensor 10 into the same coordinate system for comparison and evaluation. In step S3, the control device 20 determines whether or not each sensor 10 detects the same object. Whether or not they are the same object is determined by determining the position of the extracted edge and the continuity of the edge based on the intensity of the received light signal, and the size and shape of the grouped images presumed to be the same object. , Can be judged based on distance, etc.

同一物体であると判断された場合には、ステップＳ４に進む。ステップＳ４において、制御装置２０は、同一物体についての各センサの検出結果が共通するか否かを判断する。同一物体についての各センサの検出結果が共通する場合には、いずれの検出結果を用いても物体を正確に検出できるので、ステップＳ７に進み、複数のセンサ１０の受光信号を合成し、結果をステップＳ８で出力する。制御装置２０は、車載装置２００の車両コントローラ２１０に検出結果を出力する。 If it is determined that they are the same object, the process proceeds to step S4. In step S4, the control device 20 determines whether or not the detection results of the sensors for the same object are common. If the detection results of each sensor for the same object are common, the object can be detected accurately regardless of which detection result is used. Therefore, the process proceeds to step S7, the received light signals of the plurality of sensors 10 are combined, and the result is obtained. Output in step S8. The control device 20 outputs the detection result to the vehicle controller 210 of the vehicle-mounted device 200.

ステップＳ４において、各センサの検出結果が共通しない場合には、ステップＳ５に進む。ステップＳ５において、制御装置２０は、検出領域の座標に対応づけられた重みづけ情報の評価係数を算出する。制御装置２０は、第１受光信号の強度の代表値が第２受光信号の強度の代表値よりも大きい場合には、第２重みづけ情報の評価係数よりも大きい正の値を第１重みづけ情報の評価係数として算出する。第２受光信号の強度の代表値が第１受光信号の強度の代表値よりも大きい場合には、第１重みづけ情報の重みづけの値よりも大きい正の値の第２重みづけ情報の評価係数を算出する。 If the detection results of the sensors are not common in step S4, the process proceeds to step S5. In step S5, the control device 20 calculates the evaluation coefficient of the weighting information associated with the coordinates of the detection area. When the representative value of the strength of the first light receiving signal is larger than the representative value of the strength of the second light receiving signal, the control device 20 first weights a positive value larger than the evaluation coefficient of the second weighting information. Calculated as an evaluation coefficient of information. When the representative value of the intensity of the second received light signal is larger than the representative value of the intensity of the first received light signal, the evaluation of the second weighted information having a positive value larger than the weighted value of the first light-received information. Calculate the coefficient.

ステップＳ６において、制御装置２０は、算出した評価係数に基づいて、各センサ１０の受光信号を評価係数に基づいて、変換受光信号に変換する。ステップＳ７において、制御装置２０は、複数の変換受光信号を合成した合成受光信号を得る。制御装置２０は、合成受光信号に基づいて、物体を検出する。検出結果をステップＳ８で出力する。制御装置２０は、車載装置２００の車両コントローラ２１０に検出結果を出力する。 In step S6, the control device 20 converts the light receiving signal of each sensor 10 into a converted light receiving signal based on the evaluation coefficient based on the calculated evaluation coefficient. In step S7, the control device 20 obtains a combined light-receiving signal obtained by synthesizing a plurality of converted light-receiving signals. The control device 20 detects an object based on the combined light receiving signal. The detection result is output in step S8. The control device 20 outputs the detection result to the vehicle controller 210 of the vehicle-mounted device 200.

本実施形態では、物体検出装置１００の検出結果を、車両の走行制御に利用する。このため、物体検出装置１００は、車載装置２００の車両コントローラに検出結果を送出する。
以下、車載装置２００の各構成について説明する。
本実施形態の車載装置２００は、車両コントローラ２１０、ナビゲーション装置２２０、障害物検出装置２３０、車線逸脱防止装置２４０、及び出力装置２５０を備える。車載装置２００を構成する各装置は、相互に情報の授受を行うためにＣＡＮ（Controller Area Network）その他の車載ＬＡＮによって接続されている。車載装置２００は、車載ＬＡＮ又は無線通信回線を介して物体検出装置１００と情報の授受を行うことができる。車載装置が備える車両コントローラ２１０は、検出装置２６０、駆動装置２７０、操舵装置２８０と連携して動作する。 In the present embodiment, the detection result of the object detection device 100 is used for traveling control of the vehicle. Therefore, the object detection device 100 sends the detection result to the vehicle controller of the vehicle-mounted device 200.
Hereinafter, each configuration of the in-vehicle device 200 will be described.
The vehicle-mounted device 200 of the present embodiment includes a vehicle controller 210, a navigation device 220, an obstacle detection device 230, a lane departure prevention device 240, and an output device 250. Each device constituting the in-vehicle device 200 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other. The in-vehicle device 200 can exchange information with the object detection device 100 via an in-vehicle LAN or a wireless communication line. The vehicle controller 210 included in the in-vehicle device operates in cooperation with the detection device 260, the drive device 270, and the steering device 280.

本実施形態の車両コントローラ２１０は、エンジンコントロールユニット（Engine Control Unit, ECU)などの車載コンピュータであり、検出された物体との接近を避けた経路上を車両が走行できるように、その運転を電子的に制御する。 The vehicle controller 210 of the present embodiment is an in-vehicle computer such as an engine control unit (ECU), and its operation is electronic so that the vehicle can travel on a route avoiding approach to a detected object. Control.

検出装置２６０は、舵転舵、操舵量、操舵速度、操舵加速度などの情報を検出する舵角センサ、車両の速度及び／又は加速度を検出する車速センサを含み、検出結果を車両コントローラ２１０に出力する。 The detection device 260 includes a steering angle sensor that detects information such as steering, steering amount, steering speed, and steering acceleration, and a vehicle speed sensor that detects vehicle speed and / or acceleration, and outputs the detection result to the vehicle controller 210. do.

本実施形態の駆動装置２７０は、自車両Ｖ１の駆動機構を備える。駆動機構には、上述した駆動源である電動モータ及び／又は内燃機関、これら駆動源からの出力を駆動輪に伝達するドライブシャフトや自動変速機を含む動力伝達装置、及び車輪を制動する制動装置が含まれる。駆動装置２７０は、アクセル操作及びブレーキ操作による入力信号、車両コントローラ２１０から取得した制御信号に基づいてこれら駆動機構の各制御信号を生成し、車両の加減速を含む運転制御を実行する。駆動装置２７０に制御情報を送出することにより、車両の加減速を含む運転制御を自動的に行うことができる。なお、ハイブリッド自動車の場合には、車両の運転状態（走行状態）に応じた電動モータと内燃機関とのそれぞれに出力するトルク配分も駆動装置２７０に送出される。 The drive device 270 of the present embodiment includes a drive mechanism of the own vehicle V1. The drive mechanism includes an electric motor and / or an internal combustion engine which are the above-mentioned drive sources, a power transmission device including a drive shaft and an automatic transmission for transmitting the output from these drive sources to the drive wheels, and a braking device for braking the wheels. Is included. The drive device 270 generates each control signal of these drive mechanisms based on the input signal by the accelerator operation and the brake operation and the control signal acquired from the vehicle controller 210, and executes the operation control including the acceleration / deceleration of the vehicle. By transmitting control information to the drive device 270, driving control including acceleration / deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution to be output to each of the electric motor and the internal combustion engine according to the driving state (driving state) of the vehicle is also sent to the drive device 270.

本実施形態の操舵装置２８０は、ステアリングアクチュエータを備える。ステアリングアクチュエータは、ステアリングのコラムシャフトに取り付けられるモータ等を含む。操舵装置２８０は、車両コントローラ２１０から取得した制御信号、舵角センサ２６１から取得したステアリング操作量に基づいて車両の移動方向の変更制御を実行する。車両コントローラ２１０は、操舵量を含む制御情報を操舵装置２８０に送出することにより、移動方向の変更制御を実行する。また、運転支援システム１は、車両の各輪の制動量をコントロールすることにより車両の移動方向の変更制御を実行してもよい。この場合、車両コントローラ２１０は、各輪の制動量を含む制御情報を制動装置２７１へ送出することにより、車両の移動方向の変更制御を実行する。なお、駆動装置２７０の制御、操舵装置２８０の制御は、完全に自動で行われてもよいし、ドライバの駆動操作（進行操作）を支援する態様で行われてもよい。駆動装置２７０の制御及び操舵装置２８０の制御は、ドライバの介入操作により中断／中止させることができる。車両コントローラ２１０は、所定の運転計画に従って自車両の運転を制御する。 The steering device 280 of the present embodiment includes a steering actuator. The steering actuator includes a motor or the like attached to the column shaft of the steering. The steering device 280 executes change control of the moving direction of the vehicle based on the control signal acquired from the vehicle controller 210 and the steering operation amount acquired from the steering angle sensor 261. The vehicle controller 210 executes control for changing the moving direction by transmitting control information including the steering amount to the steering device 280. Further, the driving support system 1 may execute the change control of the moving direction of the vehicle by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 210 executes control for changing the moving direction of the vehicle by transmitting control information including the braking amount of each wheel to the braking device 271. The control of the drive device 270 and the control of the steering device 280 may be performed completely automatically, or may be performed in a mode of supporting the drive operation (progress operation) of the driver. The control of the drive device 270 and the control of the steering device 280 can be interrupted / stopped by the intervention operation of the driver. The vehicle controller 210 controls the operation of the own vehicle according to a predetermined operation plan.

本実施形態の車載装置２００は、ナビゲーション装置２２０を備える。ナビゲーション装置２２０は、位置検出装置２２１を備える。本実施形態の位置検出装置２２１は、グローバル・ポジショニング・システム（Global Positioning System, GPS）を備え、走行中の車両の走行位置（緯度・経度）を検出する。算出した経路は、自車両の運転支援に用いるために、車両コントローラ２１０へ送出される。 The vehicle-mounted device 200 of the present embodiment includes a navigation device 220. The navigation device 220 includes a position detecting device 221. The position detection device 221 of the present embodiment includes a Global Positioning System (GPS) and detects a traveling position (latitude / longitude) of a traveling vehicle. The calculated route is sent to the vehicle controller 210 for use in driving support of the own vehicle.

障害物検出装置２３０は、自車両の周囲の状況を検出する。自車両の障害物検出装置２３０は、自車両の周囲に存在する障害物を含む障害物の存在及びその存在位置を物体検出装置１００の検出結果を用いて検出する。併せて、車載カメラによる検出結果を利用してもよい。障害物検出装置２３０は、パターンマッチング技術などを用いて、検出結果に含まれる障害物が、車両、歩行者などの移動体であるか、標識などの静止物であるか否かを識別する。 The obstacle detection device 230 detects the situation around the own vehicle. The obstacle detection device 230 of the own vehicle detects the existence of obstacles including obstacles existing around the own vehicle and the position of the obstacles by using the detection result of the object detection device 100. At the same time, the detection result by the in-vehicle camera may be used. The obstacle detection device 230 uses a pattern matching technique or the like to identify whether the obstacle included in the detection result is a moving object such as a vehicle or a pedestrian, or a stationary object such as a sign.

車線逸脱防止装置２４０は、カメラの撮像画像から自車両が走行する経路を検出する。車線逸脱防止装置２４０は、物体検出装置１００が検出した物体との接近を避けつつ、経路の車線のレーンマーカの位置と自車両の位置とが所定の関係を維持するように、自車両の動きを制御する車線逸脱防止機能（レーンキープサポート機能）を備える。本実施形態の運転支援システム１は車線の中央を自車両が走行するように、自車両の動きを制御する。 The lane departure prevention device 240 detects the route on which the own vehicle travels from the image captured by the camera. The lane departure prevention device 240 moves the own vehicle so that the position of the lane marker in the lane of the route and the position of the own vehicle maintain a predetermined relationship while avoiding the approach to the object detected by the object detection device 100. It is equipped with a lane departure prevention function (lane keep support function) to be controlled. The driving support system 1 of the present embodiment controls the movement of the own vehicle so that the own vehicle travels in the center of the lane.

出力装置２５０は、ディスプレイ、スピーカを備える。出力装置２５０は、物体検出の結果、運転支援の内容、その運転支援に基づく運転制御に関する情報を出力する。 The output device 250 includes a display and a speaker. As a result of object detection, the output device 250 outputs information on the content of driving support and driving control based on the driving support.

本発明の実施形態の運転支援システム１は、以上のように構成され動作するので、以下の効果を奏する。 Since the driving support system 1 of the embodiment of the present invention is configured and operates as described above, it has the following effects.

［１］本実施形態の物体検出方法は、第１センサ１０ａが出力した、第１検出領域ＳＰ１の第１座標に対応づけられた第１受光信号を、第１検出領域ＳＰ１の第１座標に対応づけられた第１重みづけ情報に基づいて第１変換受光信号に変換し、第２センサ１０ｂが出力した、第２検出領域ＳＰ２の第２座標に対応づけられた第２受光信号を、第２検出領域の第２座標に対応づけられた第２重みづけ情報に基づいて第２変換受光信号に変換し、第１変換受光信号と第２変換受光信号とを合成した合成受光信号に基づいて、物体を検出する。これにより、広い検出範囲を確保しつつ、物体の検出精度を向上させることができる。まだ、相対的に移動する物体の移動軌跡が不連続となることも防止できる。 [1] In the object detection method of the present embodiment, the first light receiving signal associated with the first coordinate of the first detection area SP1 output by the first sensor 10a is converted to the first coordinate of the first detection area SP1. The second light-receiving signal associated with the second coordinate of the second detection region SP2, which is converted into the first converted light-receiving signal based on the associated first weighting information and output by the second sensor 10b, is the second light-receiving signal. 2 Based on the combined light-receiving signal that is converted into the second converted light-receiving signal based on the second weighting information associated with the second coordinate of the detection region, and the first-converted light-receiving signal and the second-converted light-receiving signal are combined. , Detects an object. This makes it possible to improve the detection accuracy of the object while ensuring a wide detection range. It is still possible to prevent the movement trajectories of relatively moving objects from becoming discontinuous.

［２］本実施形態の物体検出方法では、第１重みづけ情報の評価係数を、第１検出領域に対する画角の中央を第１基準軸とし、第１基準軸に対して仰俯角及び／又は方位角が小さいほど大きい正の値を設定し、第２重みづけ情報の評価係数は、第２検出領域に対する画角の中央を第２基準軸とし、第２基準軸に対して仰俯角及び／又は方位角が小さいほど大きい正の値を設定する。
これにより、検出領域の中央部における精度の高い検出結果の評価を高く算出し、検出領域の端部における精度の低い検出結果の評価を低く算出することにより、複数のセンサ１０から得た受光信号から精度の高い一の検出結果を得ることができる。 [2] In the object detection method of the present embodiment, the evaluation coefficient of the first weighting information is set to the center of the angle of view with respect to the first detection region as the first reference axis, and the elevation / depression angle and / or with respect to the first reference axis. The smaller the azimuth, the larger the positive value is set, and the evaluation coefficient of the second weighting information is the elevation / depression angle and / with respect to the second reference axis, with the center of the angle of view with respect to the second detection area as the second reference axis. Or, the smaller the azimuth, the larger the positive value is set.
As a result, the evaluation of the highly accurate detection result in the central portion of the detection region is calculated high, and the evaluation of the low accuracy detection result in the end portion of the detection region is calculated low, so that the received light signals obtained from the plurality of sensors 10 are obtained. A highly accurate detection result can be obtained from.

［３］本実施形態の物体検出方法では、第１受光信号の強度の代表値が第２受光信号の強度の代表値よりも大きい場合には、第１重みづけ情報の評価係数が、第２重みづけ情報の評価係数よりも大きい正の値を設定し、第２受光信号の強度の代表値が第１受光信号の強度の代表値よりも大きい場合には、第２重みづけ情報の評価係数が、第１重みづけ情報の重みづけの値よりも大きい正の値を設定する。
これにより、受光信号の強度が高いほど、受光信号の信頼度を高く評価するので、物体の検出精度を向上させることができる。受光信号の強度が低いと、検出精度が低くなる傾向があるため、強度の高い受光信号の信頼を高くすることにより、物体の検出精度を向上させることができる。 [3] In the object detection method of the present embodiment, when the representative value of the intensity of the first light receiving signal is larger than the representative value of the intensity of the second light receiving signal, the evaluation coefficient of the first weighting information is the second. If a positive value larger than the evaluation coefficient of the weighting information is set and the representative value of the intensity of the second light receiving signal is larger than the representative value of the intensity of the first light receiving signal, the evaluation coefficient of the second light receiving information is set. However, a positive value larger than the weighting value of the first weighting information is set.
As a result, the higher the intensity of the received light signal, the higher the reliability of the received light signal is evaluated, so that the detection accuracy of the object can be improved. When the intensity of the received light signal is low, the detection accuracy tends to be low. Therefore, by increasing the reliability of the received light signal having high intensity, the detection accuracy of the object can be improved.

［４］本実施形態の物体検出装置によれば、上記の作用効果を得ることができる。 [4] According to the object detection device of the present embodiment, the above-mentioned effects can be obtained.

なお、以上説明した実施形態は、本発明の理解を容易にするために記載されたものであって、本発明を限定するために記載されたものではない。したがって、上記の実施形態に開示された各要素は、本発明の技術的範囲に属する全ての設計変更や均等物をも含む趣旨である。 It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

１…運転支援システム
１００…物体検出装置
１０（１０ａ，１０ｂ，１０ｃ，１０ｄ，１０ｅを含む）…センサ
１１（１１ａ，１１ｂ…を含む）…広角レンズ
１２（１２ａ，１２ｂ…を含む）…受光部
１３（１３ａ，１３ｂ…を含む）…通信部
１０ａ…第１センサ
１１a…第１広角レンズ
１２a…第１受光部
１３a…第１通信部
１０ｂ…第２センサ
１１b…第２広角レンズ
１２b…第２受光部
１３ｂ…第２通信部
２０…制御装置
２１…座標変換部
２２…合成部
２３…測定部
２００…車載装置
２１０…車両コントローラ
２２０…ナビゲーション装置
２３０…障害物検出装置
２４０…車線逸脱防止装置
２５０…出力装置
２６０…検出装置
２７０…駆動装置
２８０…操舵装置 1 ... Driving support system 100 ... Object detection device 10 (including 10a, 10b, 10c, 10d, 10e) ... Sensor 11 (including 11a, 11b ...) ... Wide-angle lens 12 (including 12a, 12b ...) ... Light receiving unit 13 (including 13a, 13b ...) ... Communication unit 10a ... First sensor 11a ... First wide-angle lens 12a ... First light receiving unit 13a ... First communication unit 10b ... Second sensor 11b ... Second wide-angle lens 12b ... Second Light receiving unit 13b ... Second communication unit 20 ... Control device 21 ... Coordinate conversion unit 22 ... Synthesis unit 23 ... Measurement unit 200 ... In-vehicle device 210 ... Vehicle controller 220 ... Navigation device 230 ... Obstacle detection device 240 ... Lane deviation prevention device 250 ... Output device 260 ... Detection device 270 ... Drive device 280 ... Steering device

Claims

It is an object detection method that detects an object based on a light receiving signal corresponding to the reflected light output by a plurality of sensors that receive the reflected light from an object existing in a predetermined detection area through a wide-angle lens. hand,
The reflected light from the object existing in the first detection region set in the first sensor is transmitted through the first wide-angle lens to the first reference axis set in the center of the angle of view with respect to the first detection region. Light is received by using the first light receiving elements provided in an array on the first light receiving surfaces that intersect vertically .
A first light receiving signal to which the address information of the first light receiving element based on the first coordinates parallel to the first light receiving surface is attached is acquired from the first sensor as a detection result.
The smaller the elevation / depression angle and / or the azimuth with respect to the first reference axis, the larger the positive value is associated with the first coordinate.
With reference to the calculated first evaluation coefficient,
The acquired as a detection result, the first coordinates of the first light receiving signal, and conversion based on the first evaluation coefficient associated with the said first coordinate of said first detection area,
The reflected light from the object existing in the second detection region set in the second sensor is transmitted through the second wide-angle lens to the second reference axis set in the center of the angle of view with respect to the second detection region. Light is received by using a second light receiving element provided in an array on the second light receiving surface that intersects vertically.
A second light receiving signal to which the address information of the second light receiving element based on the second coordinates parallel to the second light receiving surface is attached is acquired from the second sensor as a detection result.
The smaller the elevation / depression angle and / or the azimuth with respect to the second reference axis, the larger the positive value, and the second evaluation coefficient associated with the second coordinate was calculated.
With reference to the calculated second evaluation coefficient,
The second coordinate of the second light receiving signal acquired as the detection result is converted based on the second evaluation coefficient associated with the second coordinate of the second detection region.
An object detection method for synthesizing the converted first coordinate and the converted second coordinate to detect the coordinates of the object, which is the final detection result.

The representative value of the intensity of the first light receiving signal acquired from the first sensor is compared with the representative value of the intensity of the second received light signal acquired from the second sensor.
In the calculation process of the first evaluation coefficient,
When the representative value of the strength of the first light receiving signal is larger than the representative value of the strength of the second light receiving signal, the first evaluation coefficient is calculated to be a positive value larger than the second evaluation coefficient. And
In the calculation process of the second evaluation coefficient,
When the representative value of the strength of the second light receiving signal is larger than the representative value of the strength of the first light receiving signal, the second evaluation coefficient is calculated to be a positive value larger than the first evaluation coefficient. to, the object detection method according to claim 1.

A sensor that receives reflected light from an object existing in a predetermined detection area through a wide-angle lens, and a sensor.
An object detection device including a control device for detecting the object based on a light receiving signal corresponding to the reflected light output by the plurality of sensors.
The sensor has a first sensor and a second sensor.
Wherein the first sensor, the reflected light from the object present in the first detection area set on the first sensor, via a first wide-angle lens, is set at the center of the field angle with respect to the first detection area The light is received by using the first light receiving element provided in an array on the first light receiving surface that intersects the first reference axis perpendicularly.
The second sensor, the light reflected from an object present in the second detection area set on the second sensor via a second wide-angle lens, is set at the center of the field angle with respect to the second detection area The light is received by using the second light receiving element provided in an array on the second light receiving surface that intersects the second reference axis perpendicularly.
The control device is
The first light receiving signal to which the address information of the first light receiving element based on the first coordinates parallel to the first light receiving surface , which is output from the first sensor, is attached is acquired from the first sensor as a detection result. ,
The smaller the elevation / depression angle and / or the azimuth with respect to the first reference axis, the larger the positive value, and the first evaluation coefficient associated with the first coordinate is calculated.
With reference to the calculated first evaluation coefficient,
The acquired as a detection result, the first coordinates of the first light receiving signal, and conversion based on the first evaluation coefficient associated with the said first coordinate of said first detection area,
A second light receiving signal to which the address information of the second light receiving element based on the second coordinates parallel to the second light receiving surface , which is output from the second sensor, is attached is acquired from the second sensor as a detection result.
The smaller the elevation / depression angle and / or the azimuth with respect to the second reference axis, the larger the positive value, and the second evaluation coefficient associated with the second coordinate is calculated.
With reference to the calculated second evaluation coefficient,
The second coordinate of the second light receiving signal acquired as the detection result is converted based on the second evaluation coefficient associated with the second coordinate of the second detection region.
An object detection device that synthesizes the converted first coordinates and the converted second coordinates and detects the coordinates of the object, which is the final detection result.