JP7073673B2 - Object detection device - Google Patents

Description

The present invention relates to an object detection device and an object detection method.

Conventionally, an object detection device using a laser sensor unit has been used in various places such as a roadway and a railroad crossing. For example, on a roadway, the presence or absence of a vehicle is detected by an object detection device, and the traffic jam situation is grasped from the time-series change of the measurement result. At railroad crossings, the presence or absence of obstacles in the railroad crossing is detected by an object detection device, and the safety of train running is confirmed. In such an object detection device, the reflected light of the measurement laser light emitted from the laser sensor unit is received to detect the reflection position (measurement point) of the measurement laser light, and this measurement point is a preset detection target. An object is detected based on whether or not it is located in an area (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-140790

By the way, in the above-mentioned object detection device, when a plurality of measurement points are continuously arranged in a close area in a detection target area, it is considered that these the plurality of measurement points are one object. It is estimated and the approximate size of the object is obtained. However, when a vehicle or the like is measured in close proximity, or when snowflakes or fallen leaves are flying in the detection target area, a plurality of measurement points obtained by reflecting the laser beam on different objects or the like are combined into one. There is a risk of recognizing it as an object and recognizing that a large object exists in the detection target area. Therefore, it is desired that the object detection device can detect the size of the object more accurately.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to improve the detection accuracy of the size of an object in an object detection device and an object detection method.

The present invention adopts the following configuration as a means for solving the above problems.

The first invention comprises a laser sensor unit that emits a laser beam for measurement and can change the emission direction, receives the reflected light of the laser beam and outputs it as an electric signal, and an output signal of the laser sensor unit. It is an object detection device including a signal processing unit that detects an object based on the above, and the signal processing unit extracts measurement points in an area located in a preset detection target area and uses them as measurement points in the area. A configuration is adopted in which the size of the object indicated by the measurement points in the area is specified based on the measurement points outside the area that are adjacent to each other and located outside the detection target area.

In the second invention, in the first invention, the signal processing unit has a horizontal width of an object indicated by the measurement point in the area based on the measurement point outside the area adjacent to the side of the measurement point in the area. Adopt the configuration of finding the dimensions.

In the third aspect of the invention, in the first or second invention, the signal processing unit searches for measurement points adjacent to the measurement points in the area within a preset number range, and the search range is set to the above. If the out-of-area measurement point does not exist, the configuration of ending the search for the out-of-area measurement point for the in-area measurement point is adopted.

In the fourth aspect of the invention, in any of the first to third inventions, the signal processing unit has an out-of-area measurement point adjacent to the in-area measurement point at least in either the lateral or upward direction. In this case, the end position of the object indicated by the measurement point in the area in the direction in which the measurement point outside the area is adjacent to the measurement point in the area is defined based on the measurement point outside the area, and the measurement point in the area is lowered below. When there is an out-of-area measurement point adjacent to the area, the end position of the object indicated by the in-area measurement point in the direction in which the out-of-area measurement point is adjacent to the in-area measurement point is determined based on the out-of-area measurement point. Adopt a configuration that does not specify.

A fifth invention is an object detection method using a laser sensor unit that can emit a laser beam for measurement and change the emission direction, and also receives the reflected light of the laser beam and outputs it as an electric signal. The measurement points in the area located in the preset detection target area are extracted, and the measurement points in the area are set based on the measurement points outside the area that are adjacent to the measurement points in the area and located outside the detection target area. Adopt a configuration that defines the size of the object to be shown.

According to the present invention, not only the measurement points in the detection target area (measurement points in the area) used in the conventional object detection device and the object detection method, but also the measurement points outside the detection target area (measurement points outside the area). ) Is also used to specify the size of the object indicated by the measurement point in the area. The object indicated by each of the two in-area measurement points located so as to sandwich the out-of-area measurement point may be another object. According to the present invention, by using such an out-of-area measurement point, the size of the object is defined more accurately, so that the detection accuracy of the size of the object can be improved. Therefore, according to the present invention, for example, by recognizing a plurality of approaching vehicles and pedestrians as separate objects, the number of objects existing in the area can be calculated more accurately. In addition, snowflakes, raindrops, leaves, etc. can be more accurately recognized as small objects that do not become obstacles, and false detection can be prevented more reliably.

It is a block diagram which shows the schematic structure of the object detection apparatus in one Embodiment of this invention. It is a flowchart for demonstrating the object detection method by the object detection apparatus in one Embodiment of this invention. It is a flowchart which shows the process which the search unit performs with respect to the measurement point in one area in the scan search process by the object detection apparatus in one Embodiment of this invention. It is a flowchart which shows the process which the search unit performs with respect to the measurement point in one area in the swing search process by the object detection apparatus in one Embodiment of this invention. It is a flowchart which shows the process which the search unit performs on one object in the deletion process by the object detection apparatus in one Embodiment of this invention. It is a schematic diagram for demonstrating the operation of the object detection apparatus and the object detection method in one Embodiment of this invention.

Hereinafter, an embodiment of the object detection device and the object detection method according to the present invention will be described with reference to the drawings. In the following drawings, the scale of each member is appropriately changed in order to make each member recognizable.

FIG. 1 is a block diagram showing a schematic configuration of the object detection device 1 of the present embodiment. As shown in this figure, the object detection device 1 of the present embodiment includes a laser sensor unit 2, a signal processing unit 3, and a unit control unit 4.

The laser sensor unit 2 emits a laser beam for measurement and can change the emission direction, and also receives the reflected light of the laser beam and outputs it as an electric signal. The structure of the laser sensor unit 2 is not particularly limited, but for example, a light source that emits laser light, a scanning mechanism such as a polygon mirror that horizontally scans the laser light emitted from the light source, and each polygon mirror. It is provided with a swing mechanism that swings the laser beam in the vertical direction by inclining it, and a light receiving unit that receives the reflected light of the laser beam, converts it into an electric signal, and outputs it. In order to obtain measurement data of one frame, such a laser sensor unit 2 directs laser light from one end in the left-right direction (hereinafter, scanning direction) to the other end under the control of the unit control unit 4. The scanning operation of continuously scanning is performed each time the swing angle (vertical angle) is changed stepwise.

The signal processing unit 3 extracts the position (measurement point) where the laser beam is reflected based on the output signal of the laser sensor unit 2, and the detection target object is located in the detection target area set in advance based on the measurement point. Outputs the result of whether or not it is. As shown in FIG. 1, such a signal processing unit 3 includes an extraction unit 3a, a search unit 3b, a grouping unit 3c, a conversion unit 3d, a noise deletion unit 3e, an object synthesis unit 3f, a determination unit 3g, and an object information addition unit. It has functional units such as a unit 3h and an output unit 3i.

In the object detection device 1 of the present embodiment, a part of the space that can be measured by the laser beam for measurement is set as a detection target area, and whether the detection target object exists in this detection target area. Whether or not it is output as a detection result. The extraction unit 3a extracts the measurement points (hereinafter, referred to as in-area measurement points) located in the detection target area from the plurality of measurement points obtained by changing the emission direction of the laser beam.

The search unit 3b searches for measurement points located outside the detection target area (hereinafter referred to as out-of-area measurement points) that are adjacent to the in-area measurement points in the scan direction or the swing direction. If, as a result of the search, there is an out-of-area measurement point adjacent to the in-area measurement point in the scanning direction, the search unit 3b includes the in-area measurement point based on the out-of-area measurement point. Limit the size of the assumed object area in the scanning direction. The "object assumption area" referred to here means an area in which it is presumed that an object (that is, an object that reflects laser light) that caused the measurement point in the area to be obtained exists. The object assumption area based on the measurement points in one area is an area having a size in the scan direction, the swing direction, and the depth direction orthogonal to these, and the size is predetermined according to the resolution of the object detection device 1 and the like. It is set. The resolution of the object detection device 1 decreases as the distance from the laser sensor unit 2 increases. Therefore, for example, when the distance from the laser sensor unit 2 to the measurement point in the area is small, the size of the object assumed area in the scanning direction (that is, the estimated shape of the object) is reduced, and the laser sensor unit 2 is in the area. The larger the distance to the measurement point, the larger the size of the assumed object area in the scanning direction. In the object detection device 1 of the present embodiment, when there is no measurement point outside the area adjacent to the measurement point in the area in the scanning direction, the area concerned is determined according to the distance from the laser sensor unit 2 to the measurement point in the area. The size of the assumed object area with respect to the internal measurement point is uniquely set. On the other hand, when there is an out-of-area measurement point adjacent to the in-area measurement point in the scan direction, the search unit 3b limits the size of the object assumed area to the position of the out-of-area measurement point in the scan direction. Further, as a result of the search, when the measurement point outside the area adjacent to the measurement point in the area exists, the search unit 3b determines that the object indicated by the measurement point in the area is floating.

The grouping unit 3c groups the measurement points in the area where the assumed object areas based on the measurement points in the area overlap each other. In addition, the grouping unit 3c also measures the measurement points in a single area where the object assumption area based on another measurement point in the area and the object assumption area based on itself do not overlap. Let the points be one group. The conversion unit 3d converts the measurement points in the area into an object. At this time, the conversion unit 3d sets one group set by the grouping unit 3c as one object, and the space occupied by the object assumption area is the space where the object exists.

The noise removing unit 3e has a width in the scanning direction of the object in which the number of measurement points in the area included in the object converted by the conversion unit 3d is equal to or less than a preset threshold value (hereinafter referred to as a constituent measurement point number threshold value). Is equal to or less than a preset threshold value (width threshold value), or when it is determined that the object is floating, the object is deleted as a noise component (that is, the object is not the object to be detected).

The object synthesizing unit 3f synthesizes the previously generated object and the later generated object. In the object detection device 1 of the present embodiment, an object is generated for each scan operation (operation of continuously scanning the laser beam from one end of one frame to the other end). When the objects obtained by different scanning operations overlap each other, the object synthesizing unit 3f synthesizes these objects into one object.

The determination unit 3g determines whether or not the synthesis of the object is completed for one frame. The object information adding unit 3h assigns object information such as an ID number and a size to the object synthesized by the object synthesizing unit 3f as related information. The output unit 3i outputs the detection result, that is, the detection target object located in the detection target area and the related information to the outside.

The unit control unit 4 controls the laser sensor unit 2. For example, the unit control unit 4 exchanges data with the signal processing unit 3 as necessary, and controls the laser sensor unit 2 based on the data. The signal processing unit 3 and the unit control unit 4 are embodied by, for example, a computer having a CPU (Central Processing Unit) for performing arithmetic processing, a memory for storing data and software, and the like.

Next, the operation (object detection method) of the object detection device 1 of the present embodiment configured as described above will be described with reference to the flowcharts of FIGS. 2 to 5. In the following description, it is assumed that the laser sensor unit 2 repeatedly performs a scan operation while performing a stepwise swing operation under the control of the unit control unit 4.

First, the unit control unit 4 moves the laser beam emitted from the laser sensor unit 2 by one scan. During this time, the signal processing unit 3 performs a measurement step of acquiring measurement points for one scan based on the signal input from the laser sensor unit 2 (step S1). Since the laser sensor unit 2 outputs a signal represented by polar coordinates, the signal processing unit 3 converts the polar coordinates into orthogonal coordinates.

Subsequently, the signal processing unit 3 performs an extraction step of extracting the measurement points in the area from the measurement points acquired in step S1 by the extraction unit 3a (step S2). Here, the extraction unit 3a determines whether or not the coordinates of the measurement points acquired in step S1 are located within the preset detection target area. Then, the extraction unit 3a extracts the measurement points whose coordinates are located in the detection target area as the measurement points in the area, assigns numbers in order in the scanning direction, and stores the measurement points.

Subsequently, the signal processing unit 3 performs a scan search step (step S3) and a swing search step (step S4) by the search unit 3b. In the scan search step, the search unit 3b assumes an object based on the measurement points in the area when there are measurement points outside the area adjacent to the measurement points in the area extracted in step S2. Limit the width of the area in the scanning direction.

FIG. 3 is a flowchart showing a process performed by the search unit 3b for one measurement point in the area in the scan search step (step S3). As shown in this figure, the search unit 3b first sets the N value to "0" (step S3a), and then sets the N value to "N + 1" (step S3b). Subsequently, the search unit 3b determines whether or not the N value is smaller than the scan search upper limit (step S3c). Here, the "scan search upper limit" is set to a value at which the continuous number of measurement points in the area adjacent to the scan direction should be reliably determined to be the object to be detected. In the present embodiment, the scan search step (step S3) is performed to remove an object having a small width dimension in the scan direction, such as a snowflake, as a noise component. Therefore, by setting the upper limit of the scan search, it is possible to prevent the scan search process from being unnecessarily continued for the measurement points in the area obtained by the object having a size that should not be deleted as a noise component. Can be done. That is, in the present embodiment, the signal processing unit 3 searches for out-of-area measurement points adjacent to the in-area measurement points within a preset number range, and when the out-of-area measurement points do not exist in the search range. Ends the search for out-of-area measurement points for the targeted in-area measurement points.

When the N value is smaller than the scan search upper limit in step S3c, the search unit 3b determines whether or not the measurement points adjacent to N in the plus scan direction are out-of-area measurement points (step S3d). Then, when the search unit 3b determines that the measurement points adjacent to N are the measurement points outside the area, or when it is determined in step S3c that the N value is not smaller than the upper limit of the scan search, the search unit 3b uses the measurement points in the area as a reference. The X distance (magnitude in the plus scan direction) in the plus scan direction of the assumed object region is calculated (step S3e). For example, when the measurement points N adjacent to the measurement points in the target area are measurement points outside the area, the search unit 3b may perform a plus scan direction (X direction) according to the resolution from the measurement points in the target area. ) Is defined as the above X distance to the position extended linearly. That is, the search unit 3b defines the size (end position) of the object assumed area (that is, the object indicated by the measurement point in the area) in the plus scan direction based on the measurement points outside the area.

Further, when the search unit 3b determines in step S3c that the N value is not smaller than the scan search upper limit, the search unit 3b sets the X distance in the plus scan direction of the object assumed area to a constant value according to the resolution and the scan search upper limit. Set to.

If the search unit 3b determines in step S3d that the measurement points adjacent to N in the plus scan direction are not out-of-area measurement points, the search unit 3b returns to step S3b again and increases the number of N values by one.

When the X distance in the plus scan direction of the assumed object area is calculated in step S3e, the search proceeds in the minus scan direction. The search unit 3b sets the N value to "0" (step S3f), and then sets the N value to "N + 1" (step S3g). Subsequently, the search unit 3b determines whether or not the N value is smaller than the scan search upper limit (step S3h).

When the N value is smaller than the scan search upper limit in step S3h, the search unit 3b determines whether or not the measurement points adjacent to N in the minus scan direction are out-of-area measurement points (step S3i). Then, when the search unit 3b determines that the measurement points adjacent to N are the measurement points outside the area, or when it is determined in step S3h that the N value is not smaller than the upper limit of the scan search, the search unit 3b uses the measurement points in the area as a reference. The X distance (magnitude in the minus scan direction) in the minus scan direction of the assumed object area is calculated (step S3j). For example, when the measurement points N adjacent to the measurement points in the target area are measurement points outside the area, the search unit 3b may perform a negative scan direction (X direction) according to the resolution from the measurement points in the target area. ) Is defined as the above X distance to the position extended linearly. That is, the search unit 3b defines the size (end position) of the object assumed area (that is, the object indicated by the measurement point in the area) in the minus scan direction based on the measurement points outside the area.

Further, when the search unit 3b determines in step S3h that the N value is not smaller than the scan search upper limit, the search unit 3b sets the X distance in the minus scan direction of the object assumed area to a constant value according to the resolution and the scan search upper limit. Set to.

If the search unit 3b determines in step S3i that the measurement points adjacent to N in the minus scan direction are not out-of-area measurement points, the search unit 3b returns to step S3g again and increases the number of N values by one.

In the swing search step, when the search unit 3b has a measurement point outside the area adjacent to the measurement points in the area extracted in step S2, the search unit 3b is an object assumption area based on the measurement points in the area. The ascent judgment flag is set for.

FIG. 4 is a flowchart showing a process performed by the search unit 3b for one measurement point in the area in the swing search step (step S4). As shown in this figure, the search unit 3b first sets the N value to "0" (step S4a), and then sets the N value to "N + 1" (step S4b). Subsequently, the search unit 3b determines whether or not the N value is smaller than the swing search upper limit (step S4c). Here, the "swing search upper limit" is set to a value at which the continuous number of measurement points in the area adjacent to the lower side should be reliably determined to be the object to be detected. In the present embodiment, the swing search step (step S4) is performed to remove a small floating object such as a snowflake as a noise component. Therefore, by setting the upper limit of the swing search, the area obtained by a floating object (or a part of the object placed on the ground that overhangs in the horizontal direction) of a size that should not be deleted as a noise component is included. It is possible to prevent the swing search process from being unnecessarily continued for the measurement point.

When the N value is smaller than the swing search upper limit in step S4c, the search unit 3b determines whether or not the measurement points adjacent to N in the minus swing direction (downward) are adjacent measurement points outside the area. (Step S4d). Further, in step S4d, it is determined whether or not the measurement points adjacent to N in the minus swing direction (downward) are the measurement points outside the distant area (step S4e). Then, when the search unit 3b determines that the measurement points adjacent to N are the measurement points outside the area, or when it is determined in step S4c that the N value is not smaller than the swing search upper limit, the swing search step (step S4). The ascent determination flag is set for the measurement points in the area targeted by (step S4f).

In this embodiment, when an out-of-area measurement point is found in the minus swing direction, only the ascent determination flag is set, and the lower end position of the object is not specified by using the out-of-area measurement point. This is because it is not necessary to accurately know the size of the object in the downward direction in view of the usage status of the object detection device 1 such as the detection of obstacles at railroad crossings and the detection of vehicles on roads. As described above, by not defining the lower end position of the object by using the measurement point outside the area, it is possible to reduce the processing load in the signal processing unit 3.

Further, the search unit 3b determines in step S4c that the measurement points adjacent to N in the minus swing direction are not adjacent measurement points outside the area, and in step S4d, the measurement points adjacent to N in the minus swing direction are outside the distant area. If it is determined that the measurement point is not the measurement point, the process returns to step S4b and the number of N values is increased by one.

Returning to FIG. 2, when the swing search step (step S4) is completed, the signal processing unit 3 performs the grouping step (step S5) by the grouping unit 3c. The grouping unit 3c groups the measurement points in the area where the assumed object areas based on the measurement points in the area overlap each other. In addition, the grouping unit 3c also measures the measurement points in a single area where the object assumption area based on another measurement point in the area and the object assumption area based on itself do not overlap. Let the points be one group.

Subsequently, the signal processing unit 3 performs a conversion step by the conversion unit 3d (step S6). The conversion unit 3d converts the measurement points in the area into an object. In the conversion unit 3d, one group set by the grouping unit 3c is regarded as one object, and the space occupied by the object assumption area is regarded as the space in which the object exists.

Subsequently, the signal processing unit 3 performs a deletion step by the noise deletion unit 3e (step S7). FIG. 5 is a flowchart showing a process performed by the noise deleting unit 3e on one of the objects converted in step S6 in the deletion step (step S7). As shown in this figure, the noise removing unit 3e determines whether or not the measurement points in the area constituting the object are equal to or less than the preset number of constituent points threshold value (step S7a).

When the noise deleting unit 3e determines in step S7a that the measurement points in the area constituting the object are not equal to or less than the threshold number of constituent points, the noise deleting unit 3e does not delete the target object but deletes the object (step S7). ) Is finished. On the other hand, when the noise removing unit 3e determines in step S7a that the measurement points in the area constituting the object are equal to or less than the threshold number of constituent points, the X width (width dimension in the scanning direction) of the object is set in advance. It is determined whether or not it is equal to or less than the width threshold value (step S7b). Further, when the noise removing unit 3e determines in step S7b that the X width of the object is not equal to or less than the width threshold value, the noise removing unit 3e determines whether or not the levitation determination flag is set for the measurement points in the area constituting the object. (Step S7c). In the noise removing unit 3e, for example, when there are a plurality of measurement points in the area constituting the object, the levitation determination flag is set for all the measurement points in the area constituting the object. In step S7c, it is determined that the ascent determination flag is set for the measurement points in the area constituting the object.

Then, when the noise removing unit 3e determines in step S7b that the X width of the object is equal to or less than the width threshold value, or in step S7c, a levitation determination flag is set for the measurement points in the area constituting the object. If it is determined, the object is deleted as a noise component (that is, an object that is not the object to be detected). The noise removing unit 3e determines in step S7b that the X width of the object is not equal to or less than the width threshold value, and further determines in step S7c that the levitation determination flag is not set for the measurement points in the area constituting the object. In that case, the deletion step (step S7) for the target object is completed without deleting the target object.

Returning to FIG. 2, when the deletion step (step S5) is completed, the signal processing unit 3 performs the object synthesis step (step S8) by the object synthesis unit 3f. When the object generated by this scanning operation and the object generated by another scanning operation overlap each other, the object synthesizing unit 3f synthesizes these objects into one object.

Subsequently, the signal processing unit 3 determines whether or not all the synthesis of the objects for one frame is completed by the determination unit 3g (step S9). When it is determined by the determination unit 3g that the synthesis of the object for one frame is not completed, the emission direction of the laser beam for measurement is changed to the minus swing direction, and the signal processing unit 3 again performs step S1. Return to.

When it is determined in step S9 that all the synthesis of the objects for one frame is completed, the signal processing unit 3 has an ID number and a size with respect to the objects synthesized by the object information addition unit 3h. The object information such as the above is added as related information (step S10), and the detection result, that is, the detected object located in the detection target area and the related information thereof are output to the outside by the output unit 3i (step S11).

According to the object detection device 1 and the object detection method of the present embodiment as described above, not only the measurement points (measurement points in the area) in the detection target area used in the conventional object detection device and the object detection method but also the measurement points in the detection target area. , The size of the object indicated by the measurement point in the area is also specified by using the measurement point outside the detection target area (measurement point outside the area). For example, as shown in FIG. 6, it is preferable that the objects (object 1 and object 2) indicated by each of the two measurement points in the area located so as to sandwich the measurement points outside the area can be detected as different objects. .. Here, according to the object detection device 1 and the object detection method of the present embodiment, the size of the object is defined more accurately by using the measurement points outside the area, so that the detection accuracy of the size of the object is improved. It is possible to detect the object 1 and the object 2 as different objects. Therefore, according to the object detection device 1 and the object detection method of the present embodiment, for example, snowflakes, raindrops, leaves, etc. can be more accurately recognized as small objects that do not become obstacles, and false detection is possible. Can be prevented more reliably.

Further, in the object detection device 1 of the present embodiment, the signal processing unit 3 determines the horizontal width dimension of the object indicated by the in-area measurement point based on the out-of-area measurement point adjacent to the side of the in-area measurement point. I'm looking for it. Therefore, according to the object detection device 1 of the present embodiment, it is possible to accurately obtain the horizontal width dimension of the object.

Further, in the object detection device 1 of the present embodiment, the signal processing unit 3 searches for measurement points outside the area adjacent to the measurement points in the area within a preset number range, and measures outside the area in the search range. If the point does not exist, the search for the measurement point outside the area with respect to the measurement point in the area is completed. Therefore, it is possible to prevent the scan search process from being unnecessarily continued for the measurement points in the area obtained by the object having a size that should not be deleted as a noise component, and the processing load of the signal processing unit 3 is increased. Can be reduced.

Further, in the object detection device 1 of the present embodiment, when there is an out-of-area measurement point on the side of the in-area measurement point, the horizontal end position of the object is defined based on the out-of-area measurement point. is doing. On the other hand, in the object detection device 1 of the present embodiment, when the measurement point outside the area exists below the measurement point in the area, only the levitation determination flag is set and the position of the lower end of the object is set. Is not specified based on the measurement points outside the area. As described above, since it is not necessary to accurately know the size of the object in the downward direction, the processing load in the signal processing unit 3 is reduced by not defining the lower end position of the object by using the measurement point outside the area. It becomes possible.

Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiment. The various shapes and combinations of the constituent members shown in the above-described embodiment are examples, and can be variously changed based on design requirements and the like without departing from the spirit of the present invention.

For example, a configuration that defines the horizontal width dimension of an object based on an out-of-area measurement point has been described. However, the present invention is not limited to this. For example, when an out-of-area measurement point exists above the in-area measurement point, it is also possible to specify the upper end position of the object by using the out-of-area measurement point. Further, since the object detection device 1 is generally arranged above the detection target area, it is possible to detect the shape of the object in the depth direction. Therefore, for example, when an out-of-area measurement point exists above the in-area measurement point, it is possible to specify the end position in the depth direction of the object by using the out-of-area measurement point.

Further, in the above embodiment, the configuration for removing the noise component has been described. However, the present invention is not limited to this. For example, it can be applied to an object detection device that accurately obtains only the shape of an object.

1 …… Object detection device 2 …… Laser sensor unit 3 …… Signal processing unit 3a …… Extraction unit 3b …… Search unit 3c …… Grouping unit 3d …… Conversion unit 3e …… Noise deletion unit 3f …… Object synthesis Unit 3g …… Judgment unit 3h …… Object information addition unit 3i …… Output unit 4 …… Unit control unit

Claims (1)

A laser sensor unit that emits a laser beam for measurement and can change the emission direction, receives the reflected light of the laser beam and outputs it as an electric signal, and detects an object based on the output signal of the laser sensor unit. An object detection device equipped with a signal processing unit to perform
The signal processing unit extracts the measurement points in the area located in the preset detection target area, and based on the measurement points outside the area adjacent to the measurement points in the area and located outside the detection target area, the signal processing unit extracts the measurement points in the area. The size of the object indicated by the measurement point in the area is specified.
When the signal processing unit has an out-of-area measurement point adjacent to the in-area measurement point in at least one of the lateral and upper directions, the direction in which the out-of-area measurement point is adjacent to the in-area measurement point. The end position of the object indicated by the measurement point in the area in the above area is defined based on the measurement point outside the area, and when the measurement point outside the area adjacent to the measurement point in the area exists below, the measurement point in the area is defined. An object detection device characterized in that the end position of an object indicated by the in-area measurement point in a direction adjacent to the out-of-area measurement point is not specified based on the out-of-area measurement point.

Images