JP7273084B2 - Obstacle detection device, obstacle detection method and program - Google Patents

Description

The present invention relates to an obstacle detection device, an obstacle detection method, and a program.

2. Description of the Related Art Conventionally, collection vehicles are known for collecting regulatory materials such as rubber cones (color cones (registered trademark)) installed on roads. In some cases, the regulated materials are arranged over a relatively long distance. material is recovered. A sensor for detecting an obstacle is provided at the rear of such a collection vehicle, and when an obstacle is detected in a range in which the collection vehicle moves backward, an alarm sound is emitted.

As such a technique, Patent Document 1 discloses a technique in which a rear radar monitors the area behind the vehicle and generates an alarm signal when an approaching vehicle is detected. It is disclosed to reduce unnecessary alarms by limiting when

JP-A-60-63480

The regulating material placed on the road is often installed at the boundary between the vehicle travelable area and the regulated area. For this reason, the sensor mounted on the recovery vehicle or the like described above may erroneously detect the regulated material as an obstacle existing within the detection range. In this case, the warning sound is actually emitted even though there is no expected obstacle (an object other than the regulated material), and there is a problem that the reliability of the warning is lowered.

SUMMARY OF THE INVENTION It is an object of the present invention to prevent erroneous detection of an obstacle by an obstacle detection device mounted on a vehicle.

In order to achieve the above object, the present invention provides an obstacle detection device mounted on a vehicle, wherein a plurality of ranges with different detection widths, which are ranges in the width direction of the vehicle, are detected in response to a user's operation. A range setting unit for setting a detection range, and an alarm unit for outputting an alarm to an output unit when the obstacle is detected in the detection range set by the range setting unit.

According to another aspect of the present invention, there is provided an obstacle detection device mounted on a vehicle, wherein the obstacle is detected in a range outside the detection range of the obstacle and at a predetermined distance from the detection range in the width direction of the vehicle. When the regulated material is installed within the determination range, the detection width, which is the range in the width direction in the detection range, is narrower than when the regulated material is not installed within the determination range. and an alarm unit for causing an output unit to output an alarm when the obstacle is detected in the detection range set by the range setting unit.

Another aspect of the present invention is an obstacle detection method executed by an obstacle detection device mounted on a vehicle, wherein a plurality of obstacle detection widths, which are ranges in the width direction of the vehicle, are different in accordance with a user's operation. as an obstacle detection range, and an output step of outputting an alarm when the obstacle is detected in the detection range set in the range setting step.

An obstacle detection method that is mounted on a vehicle and executed by an obstacle detection device that detects an obstacle, the obstacle detection method comprising: When the regulated material is installed within the determination range, which is the range of distance, the detection width, which is the range in the width direction in the detection range, is greater than when the regulated material is not installed within the determination range. and an output step of causing an output unit to output an alarm when the obstacle is detected in the detection range set in the range setting step.

A range setting unit that sets a plurality of ranges with different detection widths, which are ranges in the width direction of the vehicle, as an obstacle detection range in a computer mounted on the vehicle according to a user operation, and the range setting unit sets the obstacle detection range. a program for functioning as an alarm unit that outputs an alarm to an output unit when the obstacle is detected in the detected detection range.

When the computer mounted on the vehicle is installed within the judgment range which is the range outside the detection range of the obstacle and a predetermined distance from the detection range in the width direction of the vehicle. a range setting unit that narrows a detection width, which is a range in the width direction in the detection range, compared to a case where the regulating material is not installed within the determination range; A program for functioning as an alarm unit that outputs an alarm to an output unit when the obstacle is detected in the detection range.

According to the configuration of the present invention described above, it is possible to prevent an erroneous determination of an obstacle in the detection range by making the detection range of the obstacle different.

It is a figure which shows the structure of the inspection obstacle detection apparatus which concerns on 1st Embodiment. It is a figure which shows an example of a distance image. FIG. 4 is an explanatory diagram of a detection range; 8 is a flowchart showing detection range setting processing; It is a figure which shows an example of a detection range image. It is a flow chart which shows obstacle detection processing. It is a figure which shows the structure of the obstacle detection apparatus which concerns on 2nd Embodiment. 9 is a flowchart showing detection range setting processing according to the second embodiment; FIG. 10 is a diagram showing another example of a detection range image;

Here, embodiments of the present invention will be described according to the following order.
(1) First embodiment:
(2) Second embodiment:
(3) Modification:

(1) First embodiment:
FIG. 1 is a diagram showing the configuration of an obstacle detection device 10 according to the first embodiment. The obstacle detection device 10 includes a control section 11 , a recording medium 12 , an operation section 13 , a display section 14 , a speaker 15 and a distance image sensor 16 . The obstacle detection device 10 is mounted, for example, on a vehicle such as a collection vehicle that collects regulation materials such as rubber cones. When collecting the regulated material, the collecting vehicle travels backward on the road on which the regulated material is installed. While the recovery vehicle is moving backward, the worker collects the regulated materials installed on the side of the road. The obstacle detection device 10 detects the presence or absence of an obstacle on the road surface ahead of the recovery vehicle while the recovery vehicle is moving backward, and outputs an alarm when an obstacle is detected. The distance image sensor 16 is installed, for example, behind the loading platform of the vehicle and acquires a distance image behind the vehicle. The control unit 11, recording medium 12, operation unit 13, display unit 14, and speaker 15 are installed near the driver's seat.

The control unit 11 is a computer including a CPU, RAM, ROM, and the like. The control unit 11 performs processes such as obstacle detection by executing various programs stored in the recording medium 12 or ROM. The recording medium 12 stores various programs and various information. The operation unit 13 is a button or the like (not shown), and receives user operations. The display unit 14 displays various information. Speaker 15 outputs an alarm sound.

The distance image sensor 16 has a light projecting section 161 and a light receiving section 162, and captures a distance image showing the distance between the distance image sensor 16 and an object. The light projecting section 161 has a plurality of LEDs. The light receiving section 162 has a plurality of light receiving elements arranged two-dimensionally. The distance to the object can be obtained by converting the time from the light projection timing of the light projection unit 161 until the light receiving element receives the projected light into a distance. Since each light-receiving element arranged two-dimensionally receives the light corresponding to the projected area, a two-dimensional distance image is obtained from the light-receiving result of each light-receiving element arranged two-dimensionally. Note that the distance image sensor 16 may be, for example, a Time-of-flight camera. Here, the distance image sensor 16 is an example of an optical sensor.

FIG. 2 is a diagram showing an example of a distance image 20 obtained by the distance image sensor 16. As shown in FIG. The distance image sensor 16 is capable of photographing the road surface up to a predetermined distance behind the vehicle within the photographing range, and in the width direction of the road, centering on the center of the vehicle and wider than the width of the vehicle. In addition, it is assumed that the shooting direction has been adjusted. It should be noted that the imaging direction of the distance image sensor 16 may be adjusted so as to obtain a distance image including a detection range 200, which will be described later.

As shown in FIG. 2, the control unit 11 of the present embodiment sets an obstacle detection range 200 in the distance image, and when an object is detected within the detection range 200, the obstacle is detected. judge. That is, the detection range 200, which is a target range for obstacle detection in the range image, is an area where the recovery vehicle is scheduled to travel.

The detection range 200 is a range of a certain distance in the running direction of the vehicle on the road and a range corresponding to the width of the vehicle. However, as shown in FIG. 2, when the regulating material A such as a rubber cone is installed on the road, the installation position is outside the detection range 200 but at the very edge of the boundary line of the detection range 200. often. Therefore, due to an error in the detection position, it may be erroneously determined that the regulating material A exists within the detection range 200 even though it does not actually exist within the detection range 200 . In particular, when a rubber cone using a high-brightness reflective material is installed as the regulating material A, the light emitted from the light projecting section 161 is diffusely reflected by the high-brightness reflective material. Therefore, as shown in FIG. 2, due to diffuse reflection, an area wider than the actual regulating material A may be erroneously detected as an object, as indicated by the dotted line circle B. In FIG. In this case, it is erroneously determined that an object exists within the detection range 200 .

The control unit 11 of the present embodiment includes a sensor control unit 111, a distance calculation unit 112, an object detection unit 113, and a range setting unit 114 as a functional configuration for performing processing for preventing such erroneous determination. , an obstacle detection unit 115 and an alarm unit 116 . These functions are realized by the CPU of the control unit 11 reading out the obstacle detection program 110 stored in the ROM or the like and executing it. That is, hereinafter, the processing described as being performed by the sensor control unit 111, the distance calculation unit 112, the object detection unit 113, the range setting unit 114, the obstacle detection unit 115, and the alarm unit 116 is performed by the control unit 11 (CPU). This is the process to be executed.

The sensor control unit 111 performs processing related to distance measurement, such as control of light projection timing of the light projection unit 161 of the distance image sensor 16 . The distance calculation unit 112 calculates the distance from the detection result of the distance image sensor 16, that is, the time from the timing of light projection by the light projection unit 161 of the distance image sensor 16 to the timing of light reception by the light reception unit 162. Generate a range image.

The object detection unit 113 detects objects based on the distance image. In this embodiment, the object detection unit 113 determines that the area where the distance continuously changes is the road surface, and detects the area as an object when a distance closer than the road surface is detected. The object detection unit 113 may also detect an object by using a line where the distance is discontinuous in the distance image as a boundary line.

When the operation unit 13 receives a detection range setting instruction according to a user operation, the range setting unit 114 sets the detection range according to the setting instruction. In this embodiment, the range setting unit 114 is capable of setting three detection ranges: a normal range, a right limited range, and a left limited range.

FIG. 3 is a diagram showing a detection range. FIG. 3A is a diagram showing a normal range 210. FIG. FIG. 3B is a diagram showing the right restricted range 220. As shown in FIG. FIG. 3B is a diagram showing the left restricted range 230. As shown in FIG. Here, the right and left sides of the forward direction of the vehicle C are respectively referred to as the right and left sides of the detection range (the normal range 210, the right side restricted range 220, and the left side restricted range 230). Further, of the respective detection ranges (normal range 210, right side restricted range 220, and left side restricted range 230), ranges in the width direction y of vehicle C are referred to as detection widths W1, W2, and W3, respectively. A position corresponding to the center of the vehicle in the width direction y among the detection widths W1, W2, and W3 is referred to as a reference point P. The reference point P is a point that coincides with the center of the detection width W1 of the normal range 210 . Among the detection widths W1, W2, and W3, the widths on the right side are referred to as right widths R1, R2, and R3, respectively. Among the detection widths W1, W2, and W3, widths on the left side are referred to as left widths L1, L2, and L3, respectively. Here, the right widths R1, R2 and R3 are ranges from the reference point P to the right ends 211, 221 and 231 of the detection ranges (the normal range 210, the right restricted range 220 and the left restricted range 230), respectively. The left widths L1, L2 and L3 are ranges from the reference point P to the left ends 212, 222 and 232 of the detection ranges (the normal range 210, the right restricted range 220 and the left restricted range 230), respectively.

The normal range 210, the right restricted range 220, and the left restricted range 230 are ranges with different detection widths W1, W2, and W3. More specifically, the detection width W1 of the normal range 210 is longer than the detection width W2 of the right restricted range 220 and the detection width W3 of the left restricted range 230 . Also, the detection widths W2 and W3 of the right restricted range 220 and the left restricted range 230 have the same length, but different positions.

As shown in FIG. 3A, the detection width W1 of the normal range 210 is set to the same length and position as the width of the vehicle C. As shown in FIG. The length and position of the detection width W1 may be set in advance based on the width and position of the vehicle C, and the length and position different from the width of the vehicle C may be set. In this embodiment, both the right width R1 and the left width L1 of the normal range 210 are set to 1 m, and the detection width W1 is 2 m (1 m×2).

As shown in FIG. 3B, the right width R2 of the right restricted range 220 is narrower than the right width R1 of the normal range 210. As shown in FIG. That is, the right end 221 of the right restricted range 220 is positioned closer to the reference point P than the right end 211 of the normal range 210 . For example, the length of the right width R2 of the right restricted range 220 is set 20 cm shorter than the length of the right width R1 of the normal range 210 . Note that the left width L2 of the right restricted range 220 is equal to the left width L1 of the normal range 210 .

Assume that the regulation material A is installed on the right side of the vehicle C as shown in FIG. 3(B). In this case, by setting the right width R2 to a range narrower than the right width R1 of the normal range 210, as in the right restricted range 220, the distance between the restricted material A and the right restricted range 220 is reduced to that of the restricted material A. It can be longer than the distance between normal ranges 210 . Therefore, it is possible to prevent the regulation material A from being erroneously determined as an obstacle.

Also, as shown in FIG. 3C, the left width L3 of the left restricted range 230 is narrower than the left width L1 of the normal range 210 . That is, the left end 232 of the left restricted range 230 is located closer to the reference point P than the left end 212 of the normal range 210 . For example, the length of the left width L3 of the left restricted range 230 is set 20 cm shorter than the length of the left width L1 of the normal range 210 . Note that the right width R3 of the left restricted range 230 is equal to the right width R1 of the normal range 210 .

Assume that the regulation material A is installed on the left side of the vehicle C as shown in FIG. 3(C). In this case, by setting the left width L3 to be narrower than the left width L1 of the normal range 210, as in the left restricted range 230, the distance between the regulated material A and the left restricted range 230 is reduced to that of the regulated material A. It can be longer than the distance between normal ranges 210 . Therefore, it is possible to prevent the regulation material A from being erroneously determined as an obstacle. In this way, the range setting unit 114 can set a plurality of ranges with different detection widths, more specifically, a plurality of ranges with different lengths of at least one of the right width and the left width, as the detection range.

It is assumed that the normal range 210, the right restricted range 220, and the left restricted range 230 have the same range in the traveling direction x. Here, the traveling direction x is the direction in which the vehicle (recovery vehicle) travels (including forward and backward) on the road.

It is assumed that the positions and sizes of the right restricted range 220 and the left restricted range 230 are set in advance. The right width R2 of the right restricted range 220 and the left width L3 of the left restricted range 230 are set to lengths that do not include the error range in which it is determined that the regulating material A exists within the detection range. As another example, the right width R2 in the right restricted range 220 and the left width L3 in the left restricted range 230 are lengths that do not include a range in which it can be determined that an object exists due to the high-intensity reflective material. may be set to Note that the normal range 210, the right restricted range 220, and the left restricted range 230 are examples of the first range, the second range, and the third range, respectively.

The operation unit 13 shown in FIG. 1 includes a switch for switching between the normal range 210, the right restricted range 220, and the left restricted range 230. FIG. This switch shall be located near the driver's seat. Each time the switch is operated by the user, the range setting unit 114 switches the setting of the detection range in order of the normal range 210, the right restricted range 220, and the left restricted range 230. FIG. Since the switch is arranged near the driver's seat in this way, the driver can set the detection range while sitting in the seat. The range setting unit 114 sets a plurality of different ranges, that is, the normal range 210, the right restricted range 220, and the left restricted range 230, as the obstacle detection range according to the user's switch operation. Further, when the detection range is set, the range setting unit 114 causes the display unit 14 to display a range image showing the set detection range.

The obstacle detection unit 115 shown in FIG. 1 refers to the detection result of the object detection unit 113 and the detection range of the range setting unit 114, and if an object is detected within the detection range, the obstacle is detected. I judge that. The alarm unit 116 controls the speaker 15 to emit an alarm sound when an obstacle is detected. Speaker 15 is an example of an output unit.

FIG. 4 is a flowchart showing detection range setting processing. In step S100, the range setting unit 114 determines whether or not the state of the switch for switching the setting of the detection range has changed. It is assumed that the detection range is set to the normal range 210 in the initial state. The state of the switch changes according to the user's operation. Range setting unit 114 waits until the state of the switch changes (N in step S100), and when the state of the switch changes (Y in step S100), the process proceeds to step S102. In step S<b>102 , the range setting unit 114 updates the detection range according to the setting instruction received in response to the user's operation on the switch. The detection range is stored in a storage unit such as the recording medium 12, for example, and the range setting unit 114 updates the detection range set in the storage unit according to the setting instruction. For example, the setting of the detection range is updated from the normal range 210 to the right restricted range 220 .

Next, in step S104, the range setting unit 114 causes the display unit 14 to display a detection range image indicating the detection range. FIG. 5 is a diagram showing a display example of the detection range image 30. As shown in FIG. In the detection range image 30 shown in FIG. 5 , “normal,” “left,” and “right” icons indicating a normal range 210, a left restricted range 230, and a right restricted range 220 are displayed in order from the left side of the page. . An icon corresponding to the currently set detection range is displayed in a color different from that of other icons. In the example of FIG. 5, the "left" icon is displayed in a different color from the other icons, corresponding to the fact that the left restricted range 230 is set. After the process of step S104, range setting unit 114 advances the process to step S100 to continue detecting the switch state change.

FIG. 6 is a flowchart showing obstacle detection processing. The obstacle detection process is started, for example, when a start instruction is input by a user's operation. The obstacle detection process is continuously executed while the collection vehicle is moving backward to collect the regulated material. In step S200, the sensor control unit 111 causes the distance image sensor 16 to start photographing, and the distance calculation unit 112 acquires a distance image. Next, in step S202, the object detection unit 113 detects an object in the distance image.

Next, in step S204, the obstacle detection unit 115 refers to the storage unit, and the detection range set in the storage unit at the time of processing in step S204 is the normal range 210, the right limited range 220, and the left limited range. 230. For example, when the normal range 210 is set by the user operation, the normal range 210 is specified because the normal range 210 is set in the storage unit. Further, for example, when the right restricted range 220 or the left restricted range 230 is set by the user operation, the right restricted range 220 or the left restricted range 230 is specified respectively.

Next, in step S206, the obstacle detection unit 115 determines whether the object detected in step S202 exists within the detection range specified in step S204 or outside the detection range. do. Next, in step S208, the obstacle detection unit 115 determines whether or not an obstacle has been detected. Specifically, the obstacle detection unit 115 determines that an obstacle has been detected when there is an object positioned within the detection range. The obstacle detection unit 115 determines that no obstacle has been detected when there is no object positioned within the detection range. The obstacle detection unit 115 determines that no obstacle has been detected even when no object is detected in the distance image.

If an obstacle is detected (Y in step S208), obstacle detection unit 115 advances the process to step S210. If no obstacle is detected (N in step S208), obstacle detection unit 115 advances the process to step S212. In step S210, the alarm unit 116 outputs an alarm. In this embodiment, the speaker 15 outputs an alarm sound. Note that the output form of the warning is not limited to the embodiment. As another example, the obstacle detection device 10 may include a lamp as an output unit, and the alarm unit 116 may light or blink the lamp. As another example, the warning unit 116 may display warning information indicating that an obstacle exists on the display unit 14 as an output unit. Also, the alarm unit 116 may perform multiple outputs such as display and audio output.

Next, in step S<b>212 , the control unit 11 confirms whether or not an instruction to end the obstacle detection process has been received from the user via the operation unit 13 . If the control unit 11 does not receive the end instruction (N in step S212), the process proceeds to step S200, and the subsequent processes are repeated. In this way, the control unit 11 acquires a distance image every time a certain period of time elapses and detects obstacles. On the other hand, when receiving the end instruction (Y in step S212), the control unit 11 ends the obstacle detection process.

As described above, the obstacle detection device 10 of the present embodiment can set a plurality of different ranges as the obstacle detection range according to the user's operation. As a result, for example, when the regulating material is installed close to the range in which the vehicle is scheduled to travel, the detection range can be set so as to exclude the range close to the regulating material from the detection range. Therefore, it is possible to prevent the regulated material from being erroneously determined as an obstacle in the detection range. In this way, the obstacle detection device 10 can set a plurality of different ranges as the detection range of the obstacle, so that erroneous determination of the obstacle in the detection range can be prevented.

(2) Second embodiment:
FIG. 7 mainly explains differences of the obstacle detection device 100 according to the second embodiment from the obstacle detection device 10 according to the first embodiment. The obstacle detection device 100 according to the second embodiment further includes an imaging device 17 in addition to the configuration of the obstacle detection device 100 according to the first embodiment. Further, the control unit 18 includes an imaging device control unit 117 and a restricting material detection unit 118 as functional configurations in addition to the functional configuration described in the first embodiment. The functional configuration of the control unit 18 is realized by the CPU reading out an obstacle detection program 180 stored in a ROM or the like and executing it.

The image capturing device 17 captures an area including the normal range 210 under the control of the image capturing device control section 117 . The regulating material detection unit 118 detects the regulating material A within a determination range based on the normal range 210 based on the captured image obtained by the imaging device 17 . Here, the determination range is provided on both sides of the normal range 210 . One of the determination ranges is a range outside the normal range 210 and extending from the right end 211 of the normal range 210 to a predetermined distance along the width direction y of the vehicle. The other determination range is outside the normal range 210 and is a range from the left end 212 of the normal range 210 to a predetermined distance along the width direction y. Note that the predetermined distance is, for example, 50 cm. In this embodiment, the feature amount of the regulating material is set in a storage unit such as the recording medium 12, and the regulating material detection unit 118 compares the captured image with the feature amount stored in the storage unit. By doing so, the restricted material is detected. Range setting section 114 sets the detection range based on the detection result of regulating material detection section 118 . This processing will be described with reference to FIG.

FIG. 8 is a flowchart showing detection range setting processing according to the second embodiment. The detection range setting process of the present embodiment is executed when an instruction to set the detection range is received in response to a user operation input to the operation unit 13 .

First, in step S300, the imaging device control section 117 causes the imaging device 17 to perform imaging, and the regulating material detection section 118 acquires the captured image. Next, in step S302, the restricted material detection unit 118 determines whether or not the restricted material is detected within the determination range. If the restricted material is not detected (N in step S302), the restricted material detection unit 118 advances the process to step S304. In step S304, the range setting unit 114 sets the normal range 210 as the detection range in the storage unit, and then advances the process to step S310.

In step S302, when the regulated material is detected in the determination range on the right side of the normal range 210 (it is on the right side in step S302), the process proceeds to step S306. In step S306, range setting unit 114 sets right limit range 220 as the detection range in the storage unit, and then proceeds to step S310. In step S302, when the regulated material is detected in the determination range on the left side of the normal range 210 (it is on the left side in step S302), the process proceeds to step S308. In step S308, range setting unit 114 sets left limit range 230 as the detection range in the storage unit, and then proceeds to step S310.

In step S310, the range setting unit 114 determines whether or not the detection range has been changed in the process executed immediately before (step S304, step S306, or step S308). In step S304, step S306 or step S308, if the detection range already stored in the storage unit is updated to a different detection range, it is determined that the detection range has been changed. If the detection range has not been changed (N in step S310), the control section 18 terminates the detection range setting process.

If the detection range has been changed (Y in step S310), range setting unit 114 advances the process to step S312. In step S312, the range setting unit 114 updates the display of the detection range image indicating the detection range according to the new setting of the detection range. For example, when the normal range 210 is changed to the right restricted range 220, the range setting unit 114 changes the icon shown in a different color from the other icons from the "normal" icon to the "right" icon. This completes the detection range setting process.

Other configurations and processes of the obstacle detection device 100 according to the second embodiment are the same as those of the obstacle detection device 10 according to the first embodiment.

As described above, the obstacle detection device 100 according to the second embodiment prevents erroneous determination of a regulated material as an obstacle in the detection range, similar to the obstacle detection device 10 according to the first embodiment. be able to. Furthermore, user operation for setting the detection range can be eliminated. That is, operability can be improved.

(3) Modification:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted. For example, the obstacle detection device 10 may be realized by multiple devices. For example, the obstacle detection device 10 may include a detection device that detects obstacles and an audio output device that outputs an alarm sound. Also, part of the configuration of the above-described embodiments may be omitted, and the order of processing may be changed or omitted.

As a first modification, the positions at which the respective parts of the obstacle detection device 10 are installed are not limited to those of the embodiment. For example, the operation unit 13 may be provided on a bed on which a worker who collects the regulated material rides, and the worker may perform a user operation for setting the detection range. As another example, in addition to the display section 14 provided on the driver's seat, a display section may be provided on the loading platform. In this case, the detection range is also displayed on the display section of the loading platform. Thereby, not only the driver but also the worker can confirm the detection range.

As a second modification, the obstacle detection device 10 does not have to include the distance image sensor 16 . In this case, the obstacle detection device 10 may acquire a distance image obtained by an optical sensor such as the distance image sensor 16 from the sensor via wired or wireless communication.

As a third modified example, the vehicle on which the obstacle detection device 10 is mounted is not limited to the embodiment as long as it is a vehicle that requires detection of obstacles. Other examples include vehicles used when installing rubber cones and self-propelled sign vehicles.

As a fourth modification, the detection range for obstacle detection by the obstacle detection device 10 is not limited to the rear of the vehicle. As another example, when the vehicle moves forward, the detection range may be in front of the vehicle.

As a fifth modification, the number of ranges that can be set in the obstacle detection device 10 is not limited to three. As another example, when a regulation member using a high-brightness reflective material is installed, the control unit 11 is more sensitive than when a regulation member not using a high-brightness reflective material is installed. , it may be possible to set a narrow detection range on the installation side. In this case, as the detection range, in addition to the normal range, two ranges with different right widths can be set as the right side restricted range, and two ranges with different left widths can be set as the left side restricted range. may be

As a sixth modification, the detection range image is not limited to the button display as described in the embodiment. As another example, as shown in FIG. 9, the detection range image 40 may include an image of the detection range. A detection range image 40 shown in FIG. 9 is an image showing the left restricted range 230 . In this way, the control unit 11 may visually indicate the detection range 42 corresponding to the left restricted range 230 and the range 41 excluded from the normal range 210 in the left restricted range. As a result, the driver or the like can easily visually recognize the set detection range.

A seventh modification will be described. In this embodiment, object detection is performed in the distance image, and the presence or absence of an obstacle is determined based on whether the detected object exists within the detection range. However, the processing for obstacle detection is not limited to the embodiment. As another example, the obstacle detection device 10 may acquire the distance image within the detection range by operating only the light receiving elements corresponding to the detection range in the distance image. In this case, when an object is detected in the distance image, the obstacle detection device 10 determines that it is an obstacle. The light receiving element corresponding to the detection range can be specified by creating a correspondence table between the position of the light receiving element and the position in the distance image corresponding to the light receiving element, and referring to the correspondence table. By referring to this correspondence table, the position of the light receiving element to be turned on when each detection range is set is set in the obstacle detection device 10 before the obstacle detection device 10 is shipped.

An eighth modified example will be described. In the present embodiment, the right width R1 and the left width L1 of the normal range 210 are the same length, but these lengths may be different. Moreover, the right width R2 of the right restricted range 220 need only be shorter than the right width R1 of the normal range 210 and does not have to be equal to the left width L2 of the left restricted range 230 .

A ninth modification will be described. As described in the second embodiment, when referring to whether or not the regulated material is installed within the determination range, the control unit 18 determines whether the regulated material is installed within the determination range. The detection width of the detection range may be made narrower than when the regulating material is not installed within the range. As a result, it is possible to prevent the regulated material from being erroneously detected as an obstacle in the detection range.

Furthermore, when the regulating material is installed in the range on the right side of the normal range 210 in the determination range, the control unit 18 reduces the width on the right side of the detection width compared to when the regulating material is not installed. It may be narrowed, and the processing for this purpose is not limited to the embodiment. In addition, when the regulating material is installed in the range on the left side of the normal range 210 in the determination range, the control unit 18 increases the width of the left side of the detection width compared to the case where the regulating material is not installed. can be narrowed, and the processing for this purpose is not limited to the embodiment.

The method of differentiating the detection range as in the present invention can also be applied as a program or method. In addition, it can be changed as appropriate, such as a part of which is software and a part of which is hardware. Furthermore, the invention is established as a recording medium for a program for controlling an apparatus. Of course, the recording medium for the software may be a magnetic recording medium, a semiconductor memory, or any other recording medium that will be developed in the future.

DESCRIPTION OF SYMBOLS 10, 100... Obstacle detection apparatus, 11... Control part, 12... Recording medium, 13... Operation part, 14... Display part, 15... Speaker, 16... Distance image sensor, 17... Imaging device, 110... Obstacle detection program , 111... sensor control unit, 112... distance calculation unit, 113... object detection unit, 114... range setting unit, 115... obstacle detection unit, 116... alarm unit, 117... imaging device control unit, 118... regulating material detection unit , 161 ... light emitting section, 162 ... light receiving section

Claims (6)

An obstacle detection device mounted on a vehicle,
a range setting unit configured to set, as an obstacle detection range, one of a plurality of ranges having different detection widths, which are ranges in the width direction of the vehicle, according to a user operation;
an alarm unit that outputs an alarm to an output unit when the obstacle is detected in the detection range set by the range setting unit;
A display unit that displays a range image showing the detection range set by the range setting unit,
In the range image, when displaying the range image of the range with the detection width narrower than the preset first range, the display unit displays the range with the narrow detection width and the first range. and the narrow range of the detection width are visibly displayed. The obstacle detection device according to claim 1, further comprising an optical sensor that detects the obstacle. The range setting unit includes the first range and a second range in which the width on the right side of the detection width in the forward direction of the vehicle is narrower than the width on the right side of the first range. and a third range in which the width of the left side of the detection width in the forward direction is narrower than the width of the left side of the first range. 3. The obstacle detection device according to 2. 4. The obstacle detection device according to any one of claims 1 to 3, further comprising an operation unit installed in a driver's seat of the vehicle and receiving the user's operation for setting the detection range. An obstacle detection method executed by an obstacle detection device mounted on a vehicle,
a range setting step of setting one of a plurality of ranges having different detection widths, which are ranges in the width direction of the vehicle, as an obstacle detection range in accordance with a user operation;
an output step of outputting an alarm when the obstacle is detected in the detection range set in the range setting step;
a display step of displaying a range image showing the detection range set in the range setting step;
In the displaying step, in the range image, when displaying the range image of the range with the detection width narrower than the preset first range, the range with the narrow detection width and the first range are displayed. and the narrow range of the detection width are visibly displayed. A computer installed in a vehicle
a range setting unit that sets one of a plurality of ranges having different detection widths, which are ranges in the width direction of the vehicle, as an obstacle detection range in accordance with a user operation;
an alarm unit for outputting an alarm to an output unit when the obstacle is detected in the detection range set by the range setting unit; and a range image showing the detection range set by the range setting unit on a display unit. Function as a display processing unit to display,
The display processing unit, in the range image, when displaying the range image of the range with the detection width narrower than the preset first range, displays the range with the narrow detection width and the first range. A program for visually displaying on the display unit a range that does not overlap with the range and the narrow range of the detection width .

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