JPH0933642A - Vehicle circumference detecting device - Google Patents
Vehicle circumference detecting deviceInfo
- Publication number
- JPH0933642A JPH0933642A JP7184102A JP18410295A JPH0933642A JP H0933642 A JPH0933642 A JP H0933642A JP 7184102 A JP7184102 A JP 7184102A JP 18410295 A JP18410295 A JP 18410295A JP H0933642 A JPH0933642 A JP H0933642A
- Authority
- JP
- Japan
- Prior art keywords
- target
- point
- vehicle
- distance measurement
- prediction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
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- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、障害物までの距離と方
向を測定した結果を使って、路側に設置されているリフ
レクタや看板等の静止物標と車両等の移動物標とを識別
する車両周辺検知装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention discriminates stationary targets such as reflectors and signboards installed on the road side from moving targets such as vehicles by using the results of measuring distances and directions to obstacles. The present invention relates to a vehicle surroundings detection device.
【０００２】[0002]
【従来の技術】図１２は例えば、特開平６−２２２１４
３号公報に記載された従来のスキャンレーザレーダによ
る先行車両認識方法を利用した車両周辺検知装置を示す
構成図である。図１２において、１は現在の物標までの
距離と方向を測定するスキャンレーザレーダからなる距
離測定手段、２は測定した極座標による距離と方向をＸ
Ｙ座標へ変換する座標変換手段、３は車速センサ、４は
車速センサ３のデータから自車両の速度を算出する車速
算出手段である。なお、３及び４で車速測定手段５を構
成している。６は次回の測距時点における静止物標の予
測位置を算出する予測位置算出手段、７は予測位置算出
手段６が算出した予測位置に基づいて予測範囲を設定す
る予測範囲設定手段、８は検知した物標が静止物標か移
動物標かを判定する静止物標判定手段である。2. Description of the Related Art FIG. 12 shows, for example, JP-A-6-22214.
It is a block diagram which shows the vehicle periphery detection apparatus using the prior vehicle recognition method by the conventional scan laser radar described in the 3rd publication. In FIG. 12, reference numeral 1 is a distance measuring means composed of a scan laser radar for measuring the distance and direction to the current target, and 2 is the measured distance and direction in polar coordinates.
Coordinate conversion means for converting to Y coordinates, 3 is a vehicle speed sensor, and 4 is a vehicle speed calculation means for calculating the speed of the own vehicle from the data of the vehicle speed sensor 3. The vehicle speed measuring means 5 is composed of 3 and 4. 6 is a predicted position calculation means for calculating the predicted position of the stationary target at the time of the next distance measurement, 7 is a prediction range setting means for setting a prediction range based on the predicted position calculated by the predicted position calculation means 6, and 8 is detection The target object determination means determines whether the target object is a stationary target or a moving target.
【０００３】次に動作について説明する。図１３は従来
の車両周辺検知装置の動作の流れを示すフローチャート
である。以下、図１２及び図１３に基づいて説明する。
装置が動作を開始すると、まずステップＳ1で処理に必
要なメモリ内容、フラグ、カウンタ等を初期化する。ス
テップＳ2では、距離測定手段１で計測した距離と方向
のデータを入力する。図１４は距離測定手段１の検知領
域と検知領域の分割方法を示す説明図である。距離測定
手段１は角度２０゜の検知領域を持ち、この検知領域を
４０等分した０．５度の角度領域に対して左端から右端
まで順次方向を変えてスキャンする。検知領域の左端の
角度領域を方向１として順次右端の角度領域を方向４０
とした各方向に対して、赤外レーザパルス光を発光して
から物標からの反射光を受光するまでに要した往復時間
から物体までの距離を測定する。スキャン周期を０．５
秒とすれば、距離測定手段１は０．５秒毎に４０方向に
対する物標までの距離を繰り返し出力する。Next, the operation will be described. FIG. 13 is a flowchart showing a flow of operations of the conventional vehicle periphery detection device. Hereinafter, description will be given with reference to FIGS. 12 and 13.
When the device starts operating, first, in step S 1 , memory contents, flags, counters, etc. necessary for processing are initialized. In step S 2, enter the distance and direction of the data measured by the distance measuring unit 1. FIG. 14 is an explanatory diagram showing a detection area of the distance measuring means 1 and a method of dividing the detection area. The distance measuring means 1 has a detection area with an angle of 20 °, and scans the detection area divided into 40 equal parts by changing the direction sequentially from the left end to the right end with respect to an angle area of 0.5 °. The angle region at the left end of the detection region is set as the direction 1, and the angle region at the right end is sequentially set as the direction 40.
In each direction, the distance to the object is measured from the round-trip time required from the emission of the infrared laser pulse light to the reception of the reflected light from the target. Scan cycle is 0.5
In seconds, the distance measuring unit 1 repeatedly outputs the distance to the target in 40 directions every 0.5 seconds.
【０００４】距離測定手段１の構成及び動作については
例えば、特開平６−２２２１４３号公報に次のように記
載されている。半導体レーザ等からなる投光器により前
方にレーザ光が投射され、フォトトランジスタ等の受光
素子からなる受光器により前方の先行車両等の対象物か
らの反射光が受光され、演算回路により、レーザ光を照
射してから反射光を受光するまでの時間及び光速に基づ
き自車から対象物までの距離が算出される。このとき、
スキャニング手段により投光器からのレーザ光が走査さ
れて水平方向に所定の角度で広がる測距範囲内に所定の
操作角度、例えば１゜ごとにレーザ光が照射され、この
測距範囲内に対象物が存在すればこの対象物からの反射
光が受光器により受光され、走査角度毎の距離が演算回
路により算出される。The structure and operation of the distance measuring means 1 are described, for example, in JP-A-6-222143 as follows. Laser light is projected forward by a projector such as a semiconductor laser, and light reflected by an object such as a preceding vehicle ahead is received by a light receiver including a light receiving element such as a phototransistor, and laser light is emitted by an arithmetic circuit. After that, the distance from the vehicle to the object is calculated based on the time from the reception of the reflected light and the speed of light. At this time,
The laser light from the light projector is scanned by the scanning means, and the laser beam is emitted at a predetermined operation angle, for example, every 1 ° within a range that spreads horizontally at a predetermined angle. If present, the reflected light from the object is received by the light receiver, and the distance for each scanning angle is calculated by the arithmetic circuit.
【０００５】図１４に示すように距離測定手段１で測定
したデータは、距離と方向の極座標で表されるデータで
ある。ステップＳ3では、座標変換手段２は極座標で表
された距離と方向のデータをＸＹ座標上の位置に変換す
る。検知領域中の任意の方向をｎ、方向ｎに対する物体
までの距離をＬ［ｍ］とすると、ＸＹ座標上の位置
（ｘ，ｙ）は、式（１）及び式（２）のように表され
る。 ｘ＝Ｌ×ｓｉｎ｛０．５゜×（ｎ−２０）−０．２５゜｝・・・・・（１） ｙ＝Ｌ×ｃｏｓ｛０．５゜×（ｎ−２０）−０．２５゜｝・・・・・（２） ステップＳ4では、車速算出手段４は車速センサ３が出
力する駆動軸の回転数に比例した車速パルスを入力す
る。ステップＳ5では、車速算出手段４は距離算出手段
１のスキャン周期０．５秒毎の車速パルスの数をカウン
トし、０．５秒当たりの車速パルス数から車速を算出す
る。ＪＩＳ規格によれば、駆動軸が６３７ｒｐｍの時に
時速６０ｋｍであるので、駆動軸の１回転当たりの車速
パルス数が８パルスとすれば、０．５秒当たりの車速パ
ルス数Ｐの場合における車速Ｖ（ｋｍ／ｈ）は式（３）
により計算できる。 Ｖ＝６０×Ｐ×２／（６３７×８）・・・・・（３） ステップＳ6では、静止物標判定手段８は、予測範囲設
定手段７が設定した予測範囲と現在の測距時点における
検出点の位置を全検出点に渡って比較する。As shown in FIG. 14, the data measured by the distance measuring means 1 is data represented by polar coordinates of distance and direction. In step S 3 , the coordinate conversion means 2 converts the distance and direction data represented by polar coordinates into positions on the XY coordinates. If an arbitrary direction in the detection area is n and the distance to the object with respect to the direction n is L [m], the position (x, y) on the XY coordinates is expressed by Equation (1) and Equation (2). To be done. x = L × sin {0.5 ° × (n−20) −0.25 °} (1) y = L × cos {0.5 ° × (n−20) −0.25 °} (2) In step S 4 , the vehicle speed calculation means 4 inputs a vehicle speed pulse output from the vehicle speed sensor 3 in proportion to the rotation speed of the drive shaft. In step S 5 , the vehicle speed calculation means 4 counts the number of vehicle speed pulses for every 0.5 seconds of the scanning cycle of the distance calculation means 1, and calculates the vehicle speed from the number of vehicle speed pulses per 0.5 seconds. According to the JIS standard, the speed is 60 km per hour when the drive shaft is 637 rpm, so if the number of vehicle speed pulses per rotation of the drive shaft is 8 pulses, the vehicle speed V when the vehicle speed pulse number P per 0.5 seconds is V (Km / h) is equation (3)
Can be calculated by V = 60 × P × 2 / (637 × 8) (3) In step S 6 , the stationary target determination unit 8 determines the prediction range set by the prediction range setting unit 7 and the current distance measurement time point. The positions of the detection points at are compared across all the detection points.
【０００６】図１５は予測範囲設定手段７が設定した予
測範囲を示す説明図である。図１５において、９は予測
位置算出手段６が算出した予測位置、１０は予測範囲設
定手段７が予測位置に基づいて設定した予測範囲であ
る。静止物標判定手段８は予測範囲内に検出点が存在す
るか否かを調べ、予測範囲内に存在する検出点の場合は
ステップＳ7へ進む。ステップＳ7において、静止物標判
定手段８は分岐条件に該当する全ての検出点が予測と一
致するので静止物標と判定する。いずれの予測範囲にも
入らない検出点の場合はステップＳ8へ進む。ステップ
Ｓ8において、静止物標判定手段８は分岐条件に該当す
る全ての検出点が予測と一致しないので移動物標と判定
する。FIG. 15 is an explanatory diagram showing the prediction range set by the prediction range setting means 7. In FIG. 15, 9 is a predicted position calculated by the predicted position calculating means 6, and 10 is a predicted range set by the predicted range setting means 7 based on the predicted position. The stationary target determination means 8 checks whether or not there is a detection point within the prediction range, and if the detection point is within the prediction range, the process proceeds to step S 7 . In step S 7 , the stationary target determination unit 8 determines that the target is a stationary target because all the detection points corresponding to the branching condition match the prediction. If the detection point does not fall within any of the prediction ranges, the process proceeds to step S 8 . In step S 8 , the stationary target determination unit 8 determines that the target is a moving target because all the detection points corresponding to the branching condition do not match the prediction.
【０００７】ステップＳ9において、予測位置算出手段
６は現在の測距時点における検出点の位置と現在の自車
両の車速から次回の測距時点における検出点の予測位置
を算出する。現在の測距時点における検出点の位置を
（ｘ1，ｙ1）、次回の測距時点における検出点の予測位
置を（ｘ2，ｙ2）、現在の車速をＶ（ｋｍ／ｈ）、距離
測定手段１のスキャン周期を０．５秒とすると、自車両
が直進している場合、０．５秒の間に進む距離ΔＬ
（ｍ）は式（４）により計算できる。 ΔＬ＝Ｖ×１０００ｍ／３６００秒×０．５・・・・・（４） 従って、自車両が直進しているので、次回の測距時点に
おける予測位置はＸ軸方向には変化せず、Ｙ軸方向にΔ
Ｌだけ接近するため式（５）及び式（６）のようにな
る。 ｘ2＝ｘ1 ・・・・・（５） ｙ2＝ｙ1−ΔＬ・・・・・（６） ステップＳ10において、予測範囲設定手段７はステップ
Ｓ9で算出した予測位置（ｘ2，ｙ2）に基づいて予測範
囲を設定する。図１５に示すように予測位置（ｘ2，
ｙ2）を中心としてｘ方向とｙ方向に幅２ΔＷの正方形
の範囲を予測範囲とする。幅ΔＷは距離測定手段１の測
定距離のばらつき等の大きさに基づいて事前に決定して
おく。この処理を全ての検出点に対して行い、設定した
全予測範囲を記憶する。その後、ステップＳ2へ戻り同
様の処理手順を繰り返す。In step S 9 , the predicted position calculating means 6 calculates the predicted position of the detection point at the next distance measurement time from the position of the detection point at the current distance measurement time and the current vehicle speed of the host vehicle. The position of the detection point at the current distance measurement point is (x 1 , y 1 ), the predicted position of the detection point at the next distance measurement point is (x 2 , y 2 ), the current vehicle speed is V (km / h), Assuming that the scanning cycle of the distance measuring means 1 is 0.5 seconds, if the host vehicle is traveling straight, the distance ΔL that advances in 0.5 seconds.
(M) can be calculated by the equation (4). ΔL = V × 1000 m / 3600 sec × 0.5 (4) Therefore, since the host vehicle is traveling straight, the predicted position at the time of the next distance measurement does not change in the X-axis direction, and Y Δ in the axial direction
Since L is approached, equations (5) and (6) are obtained. In x 2 = x 1 ····· (5 ) y 2 = y 1 -ΔL ····· (6) Step S 10, the expected range setting means 7 predicted position calculated in step S 9 (x 2 , Y 2 ) to set the prediction range. As shown in FIG. 15, the predicted position (x 2 ,
The range of a square having a width of 2ΔW in the x direction and the y direction centering on y 2 ) is set as the prediction range. The width ΔW is determined in advance on the basis of the magnitude of variation in the measured distance of the distance measuring means 1. This process is performed for all detection points, and the set total prediction range is stored. Then, the process returns to step S 2 and the same processing procedure is repeated.
【０００８】[0008]
【発明が解決しようとする課題】従来の車両周辺検知装
置は以上のように、自車両が直進していることを前提に
して次回の測距時点における予測位置を算出し、この予
測位置と測定された検出点の位置とを比較することで静
止物標と移動物標とを識別するように構成していた。し
たがって、曲線路の走行時では直進を前提に算出した予
測位置よりも自車両の旋回に伴う角度変化に起因する角
度のずれが生じる。例えば、１００ｋｍ／ｈの速度で半
径３００ｍの曲線路を走行中にスキャン周期０．５秒間
に自車両の旋回に伴って生ずる角度変化Δθは、（３６
０゜／２π）×（１０００００ｍ／３６００秒）×０．
５秒／３００ｍより約２．６５度となる。この角度変化
により生ずる直進状態における予測位置と実際の位置の
ずれは、Ｘ軸方向で（１０００００ｍ／３６００秒）×
０．５秒×ｓｉｎ（２．６５゜）＝約０．６４ｍ、Ｙ軸
方向で（１０００００ｍ／３６００秒）×０．５秒×
｛１−ｃｏｓ（２．６５゜）｝＝約０．０１５ｍとな
る。従って、Ｙ軸方向の位置ずれは僅かであるが、Ｘ軸
方向の位置ずれは車幅の半分程度にも達する。このよう
に、実際の検出点の位置と予測位置が一致せず、路側の
リフレクタ等の静止物標と車両等の移動物標とを正しく
識別できないという問題点があった。As described above, the conventional vehicle periphery detection device calculates the predicted position at the next distance measurement on the premise that the host vehicle is traveling straight ahead, and measures the predicted position and the measured position. The stationary target and the moving target are discriminated by comparing the positions of the detected points. Therefore, when the vehicle travels on a curved road, an angle deviation occurs due to an angle change caused by the turning of the host vehicle, rather than a predicted position calculated on the assumption that the vehicle is going straight. For example, the angle change Δθ that accompanies turning of the host vehicle during a scan cycle of 0.5 seconds while traveling on a curved road having a radius of 300 m at a speed of 100 km / h is (36
0 ° / 2π) × (100000m / 3600 seconds) × 0.
It becomes approximately 2.65 degrees from 5 seconds / 300 m. The deviation between the predicted position and the actual position in the straight traveling state caused by this angle change is (100,000 m / 3600 seconds) × in the X-axis direction.
0.5 sec x sin (2.65 °) = about 0.64 m, (100000 m / 3600 sec) in the Y-axis direction x 0.5 sec x
{1-cos (2.65 °)} = about 0.015 m. Therefore, the displacement in the Y-axis direction is slight, but the displacement in the X-axis direction reaches about half of the vehicle width. As described above, there is a problem in that the actual position of the detection point does not match the predicted position, and the stationary target such as a roadside reflector and the moving target such as a vehicle cannot be correctly identified.
【０００９】この発明は上記のような問題点を解決する
ためになされたもので、曲線路を走行時にも路側のリフ
レクタ等の静止物標と車両等の移動物標を正しく識別で
きる車両周辺検知装置を提供することを目的とする。The present invention has been made in order to solve the above-mentioned problems, and it is possible to correctly detect a stationary target such as a reflector on the road side and a moving target such as a vehicle even when traveling on a curved road. The purpose is to provide a device.
【００１０】[0010]
【課題を解決するための手段】請求項１の発明に係る車
両周辺検知装置は、自車両を基点とした検知領域を所定
の角度で分割して分割検知領域を設定し、各分割検知領
域内で自車両の外部に存在する物標を検知して現在及び
次回の測距時点における物標までの距離を所定の測距時
間間隔で測定する距離測定手段と、測定した現在の測距
時点における物標の位置を第１の検出点とし、次回の測
距時点における物標の位置を第２の検出点としてそれぞ
れ２次元座標上に配置する座標変換手段と、自車両の速
度を測定する速度測定手段と、自車両の旋回に伴う角度
変化を測定する角度変化測定手段と、２次元座標上に配
置した第１の検出点に対応した物標が静止物標であると
仮定して、自車両の速度と角度変化と測距時間間隔とに
基づいて次回の測距時点における２次元座標上の予測点
を算出する予測位置算出手段と、予測点を基準とした予
測範囲を物標について設定する予測範囲設定手段と、第
２の検出点と予測範囲とを比較し、予測範囲内に存在す
る第２の検出点に対応した物標を静止物標と判定する静
止物標判定手段とを備えたものである。According to a first aspect of the present invention, there is provided a vehicle surroundings detection device which divides a detection area having a host vehicle as a base point at a predetermined angle to set a division detection area, and sets the divided detection area in each divided detection area. The distance measuring means that detects a target existing outside the vehicle and measures the distance to the target at the time of the next and the next distance measurement at a predetermined distance measurement time interval, and the measured distance at the time of the current distance measurement. The position of the target is used as the first detection point, and the position of the target at the time of the next distance measurement is used as the second detection point. The coordinate conversion means is arranged on each of the two-dimensional coordinates, and the speed for measuring the speed of the host vehicle. Assuming that the measuring means, the angle change measuring means for measuring the angle change accompanying the turning of the host vehicle, and the target corresponding to the first detection point arranged on the two-dimensional coordinates are stationary targets, Next measurement based on vehicle speed, angle change and distance measurement time interval The predicted position calculation means for calculating the predicted point on the two-dimensional coordinates at the time point, the predicted range setting means for setting the predicted range based on the predicted point for the target, and the second detection point and the predicted range are compared. A stationary target determination unit that determines a target corresponding to the second detection point existing in the prediction range as a stationary target.
【００１１】請求項２の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両の旋回に伴う角度変化を測定する
角度変化測定手段と、２次元座標上に配置した第１の検
出点に対応した物標が静止物標であると仮定して、自車
両の速度と角度変化と測距時間間隔とに基づいて次回の
測距時点における２次元座標上の予測点を算出する予測
位置算出手段と、第２の検出点を基準とした予測範囲を
物標について設定する予測範囲設定手段と、予測点と予
測範囲とを比較し、予測範囲内に存在する予測点に対応
した物標を静止物標と判定する静止物標判定手段とを備
えたものである。According to another aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a host vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area outside the own vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. Change measuring means for measuring the change in angle due to turning of the vehicle, and the speed and angle change of the host vehicle assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target. 2 at the time of the next distance measurement based on the distance measurement time interval and The predicted position calculation means for calculating the predicted point on the original coordinates, the predicted range setting means for setting the predicted range based on the second detection point for the target, the predicted point and the predicted range are compared, and the predicted range A target object determination unit that determines a target object corresponding to a prediction point existing therein as a stationary target object is provided.
【００１２】請求項３の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、２次元座標上に配置した第１の検出点に対
応した物標が静止物標であると仮定して、自車両の速度
とハンドルの舵角と測距時間間隔とに基づいて次回の測
距時点における２次元座標上の予測点を算出する予測位
置算出手段と、予測点を基準とした予測範囲を物標につ
いて設定する予測範囲設定手段と、第２の検出点と予測
範囲とを比較し、予測範囲内に存在する第２の検出点に
対応した物標を静止物標と判定する静止物標判定手段と
を備えたものである。According to a third aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area outside the vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. The steering angle measuring means for measuring the steering angle of the steering wheel, and the steering speed of the steering wheel of the host vehicle assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target. Secondary at the time of the next distance measurement based on the angle and distance measurement time interval Within the prediction range, the predicted position calculation means for calculating the prediction point on the coordinates, the prediction range setting means for setting the prediction range based on the prediction point for the target, and the second detection point and the prediction range are compared. And a stationary target determination unit that determines a target corresponding to the second detection point existing in 1) as a stationary target.
【００１３】請求項４の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、２次元座標上に配置した第１の検出点に対
応した物標が静止物標であると仮定して、自車両の速度
とハンドルの舵角と測距時間間隔とに基づいて次回の測
距時点における２次元座標上の予測点を算出する予測位
置算出手段と、第２の検出点を基準とした予測範囲を物
標について設定する予測範囲設定手段と、予測点と予測
範囲とを比較し、予測範囲内に存在する予測点に対応し
た物標を静止物標と判定する静止物標判定手段とを備え
たものである。According to a fourth aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area to the outside of the vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. The steering angle measuring means for measuring the steering angle of the steering wheel, and the steering speed of the steering wheel of the host vehicle assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target. Secondary at the time of the next distance measurement based on the angle and distance measurement time interval The predicted position calculation means for calculating the predicted point on the coordinates, the predicted range setting means for setting the predicted range based on the second detection point for the target, the predicted point and the predicted range are compared, and within the predicted range And a stationary target determining means for determining a target corresponding to the prediction point existing in 1. as a stationary target.
【００１４】請求項５の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、自車両の速度とハンドルの舵角に対応して
単位時間当たりに自車両の旋回に伴って生じる角度変化
を記憶した角度変化記憶手段と、２次元座標上に配置し
た第１の検出点に対応した物標が静止物標であると仮定
して、ハンドルの舵角に対応した角度変化と自車両の速
度と測距時間間隔とに基づいて次回の測距時点における
２次元座標上の予測点を算出する予測位置算出手段と、
予測点を基準とした予測範囲を物標について設定する予
測範囲設定手段と、第２の検出点と予測範囲とを比較
し、予測範囲内に存在する第２の検出点に対応した物標
を静止物標と判定する静止物標判定手段とを備えたもの
である。According to a fifth aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area outside the own vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. A rudder angle measuring means for measuring the rudder angle of the steering wheel, and an angle change storage means for memorizing an angular change that accompanies turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, Pair with the first detection point placed on the two-dimensional coordinates Assuming that the target is a stationary target, the predicted point on the two-dimensional coordinate at the next distance measurement time is based on the angle change corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval. A predicted position calculating means for calculating
A prediction range setting means for setting a prediction range based on the prediction point for the target and the second detection point and the prediction range are compared, and a target corresponding to the second detection point existing in the prediction range is determined. A stationary target determination means for determining a stationary target is provided.
【００１５】請求項６の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、自車両の速度とハンドルの舵角に対応して
単位時間当たりに自車両の旋回に伴って生じる角度変化
を記憶した角度変化記憶手段と、２次元座標上に配置し
た第１の検出点に対応した物標が静止物標であると仮定
して、ハンドルの舵角に対応した角度変化と自車両の速
度と測距時間間隔とに基づいて次回の測距時点における
２次元座標上の予測点を算出する予測位置算出手段と、
第２の検出点を基準とした予測範囲を物標について設定
する予測範囲設定手段と、予測点と予測範囲とを比較
し、予測範囲内に存在する予測点に対応した物標を静止
物標と判定する静止物標判定手段とを備えたものであ
る。According to a sixth aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a host vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area to the outside of the own vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. A rudder angle measuring means for measuring the rudder angle of the steering wheel, and an angle change storage means for memorizing an angular change that accompanies turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, Pair with the first detection point placed on the two-dimensional coordinates Assuming that the target is a stationary target, the predicted point on the two-dimensional coordinate at the next distance measurement time is based on the angle change corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval. A predicted position calculating means for calculating
Prediction range setting means for setting a prediction range based on the second detection point for the target and the prediction point and the prediction range are compared, and the target corresponding to the prediction point existing in the prediction range is set as the stationary target. And a stationary target object determining means.
【００１６】請求項７の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、自車両の速度とハンドルの舵角に対応して
単位時間当たりに自車両の旋回に伴って生じる静止物標
の２次元座標上の位置変化量を記憶した位置変化量記憶
手段と、２次元座標上に配置した第１の検出点に対応し
た物標が静止物標であると仮定して、ハンドルの舵角に
対応した位置変化量と自車両の速度と測距時間間隔とに
基づいて次回の測距時点における２次元座標上の予測点
を算出する予測位置算出手段と、予測点を基準とした予
測範囲を物標について設定する予測範囲設定手段と、第
２の検出点と予測範囲とを比較し、予測範囲内に存在す
る第２の検出点に対応した物標を静止物標と判定する静
止物標判定手段とを備えたものである。According to a seventh aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a host vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area outside the own vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. Angle measuring means for measuring the steering angle of the steering wheel of the vehicle, and the position change on the two-dimensional coordinates of the stationary target that occurs with the turning of the vehicle per unit time corresponding to the speed of the vehicle and the steering angle of the steering wheel. Position change amount storage means for storing the amount and two-dimensional coordinates Assuming that the target corresponding to the first detection point located at is a stationary target, based on the position change amount corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval, A predictive position calculating means for calculating a predictive point on the two-dimensional coordinate at the time of distance measurement, a predictive range setting means for setting a predictive range based on the predictive point for the target, and a second detection point and a predictive range. The stationary target determination means for comparing and determining the target corresponding to the second detection point existing in the prediction range as a stationary target is provided.
【００１７】請求項８の発明に係る車両周辺検知装置
は、自車両を基点とした検知領域を所定の角度で分割し
て分割検知領域を設定し、各分割検知領域内で自車両の
外部に存在する物標を検知して現在及び次回の測距時点
における物標までの距離を所定の測距時間間隔で測定す
る距離測定手段と、測定した現在の測距時点における物
標の位置を第１の検出点とし、次回の測距時点における
物標の位置を第２の検出点としてそれぞれ２次元座標上
に配置する座標変換手段と、自車両の速度を測定する速
度測定手段と、自車両のハンドルの舵角を測定する舵角
測定手段と、自車両の速度とハンドルの舵角に対応して
単位時間当たりに自車両の旋回に伴って生じる静止物標
の２次元座標上の位置変化量を記憶した位置変化量記憶
手段と、２次元座標上に配置した第１の検出点に対応し
た物標が静止物標であると仮定して、ハンドルの舵角に
対応した位置変化量と自車両の速度と測距時間間隔とに
基づいて次回の測距時点における２次元座標上の予測点
を算出する予測位置算出手段と、第２の検出点を基準と
した予測範囲を物標について設定する予測範囲設定手段
と、予測点と予測範囲とを比較し、予測範囲内に存在す
る予測点に対応した物標を静止物標と判定する静止物標
判定手段とを備えたものである。According to another aspect of the present invention, there is provided a vehicle periphery detection device, which divides a detection area having a host vehicle as a base point at a predetermined angle to set a division detection area, and sets the division detection area outside the own vehicle. The distance measuring means for detecting the existing target and measuring the distance to the target at the current and next distance measuring times at a predetermined distance measuring time, and the measured position of the target at the current distance measuring time Coordinate conversion means for arranging the position of the target at the time of the next distance measurement as the second detection point on each of the two-dimensional coordinates, a speed measurement means for measuring the speed of the own vehicle, and the own vehicle. Angle measuring means for measuring the steering angle of the steering wheel of the vehicle, and the position change on the two-dimensional coordinates of the stationary target that occurs with the turning of the vehicle per unit time corresponding to the speed of the vehicle and the steering angle of the steering wheel. Position change amount storage means for storing the amount and two-dimensional coordinates Assuming that the target corresponding to the first detection point located at is a stationary target, based on the position change amount corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval, A predictive position calculating means for calculating a predictive point on the two-dimensional coordinates at the time of distance measurement, a predictive range setting means for setting a predictive range based on the second detection point for the target, and a predictive point and a predictive range. A stationary target determination unit that compares the target and determines that the target corresponding to the prediction point existing in the prediction range is a stationary target is provided.
【００１８】請求項９の発明に係る車両周辺検知装置
は、請求項１〜請求項８のいずれかに記載の車両周辺検
知装置において、静止物標判定手段は予測範囲内に存在
する現在の測距時点における物標を静止物標の候補と
し、所定の測定時間間隔後の次回の測距時点においても
静止物標の候補と判定されたときに物標を静止物標とす
るものである。According to a ninth aspect of the present invention, there is provided a vehicle surroundings detecting apparatus according to any one of the first to eighth aspects, wherein the stationary target object judging means is presently within the prediction range. The target at the time of the distance is set as the candidate of the stationary target, and the target is set as the stationary target when it is determined as the candidate of the stationary target at the time of the next distance measurement after the predetermined measurement time interval.
【００１９】[0019]
【作用】請求項１の発明においては、２次元座標上に配
置した第１の検出点に対応した物標が静止物標であると
仮定して、自車両の速度と自車両の旋回に伴う角度変化
と測距時間間隔とに基づいて次回の測距時点における予
測点を算出し、予測点を基準として設定した予測範囲内
に第２の検出点が存在すれば、第２の検出点に対応した
物標を静止物標と判定する。According to the first aspect of the present invention, it is assumed that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, and the speed of the own vehicle and the turning of the own vehicle are accompanied. A prediction point at the next distance measurement time is calculated based on the angle change and the distance measurement time interval, and if the second detection point exists within the prediction range set with the prediction point as a reference, the second detection point is set. The corresponding target is determined to be a stationary target.
【００２０】請求項２の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度と自車両の旋回に伴う角度
変化と測距時間間隔とに基づいて次回の測距時点におけ
る予測点を算出し、第２の検出点を基準として設定した
予測範囲内に予測点が存在すれば、予測点に対応した物
標を静止物標と判定する。According to the second aspect of the present invention, it is assumed that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, and the speed of the own vehicle and the turning of the own vehicle are accompanied. The predicted point at the next distance measurement time is calculated based on the angle change and the distance measurement time interval, and if the predicted point exists within the prediction range set with the second detection point as a reference, the object corresponding to the predicted point is obtained. The target is determined to be a stationary target.
【００２１】請求項３の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度とハンドルの舵角と測距時
間間隔とに基づいて次回の測距時点における予測点を算
出し、予測点を基準として設定した予測範囲内に第２の
検出点が存在すれば、第２の検出点に対応した物標を静
止物標と判定する。In the third aspect of the invention, assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the speed of the host vehicle and the steering angle of the steering wheel are measured. The predicted point at the time of the next distance measurement is calculated based on the distance time interval, and if the second detection point exists within the prediction range set with the predicted point as a reference, the target corresponding to the second detection point. Is determined as a stationary target.
【００２２】請求項４の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度とハンドルの舵角と測距時
間間隔とに基づいて次回の測距時点における予測点を算
出し、第２の検出点を基準として設定した予測範囲内に
予測点が存在すれば、予測点に対応した物標を静止物標
と判定する。According to the invention of claim 4, assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the speed of the host vehicle and the steering angle of the steering wheel are measured. The prediction point at the next distance measurement time is calculated based on the distance time interval, and if the prediction point exists within the prediction range set with the second detection point as a reference, the target corresponding to the prediction point is set as a stationary object. Judge as the mark.
【００２３】請求項５の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の車速とハンドルの舵角に対応し
た角度変化と自車両の速度と測距時間間隔とに基づいて
次回の測距時点における予測点を算出し、予測点を基準
として設定した予測範囲内に第２の検出点が存在すれ
ば、第２の検出点に対応した物標を静止物標と判定す
る。According to the fifth aspect of the invention, assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target, the target speed and the steering angle of the steering wheel correspond to each other. The predicted point at the next distance measurement time is calculated based on the angle change, the speed of the own vehicle, and the distance measurement time interval, and if the second detected point exists within the predicted range set with the predicted point as a reference, The target corresponding to the second detection point is determined as a stationary target.
【００２４】請求項６の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度とハンドルの舵角に対応し
た角度変化と自車両の速度と測距時間間隔とに基づいて
次回の測距時点における予測点を算出し、第２の検出点
を基準として設定した予測範囲内に予測点が存在すれ
ば、予測点に対応した物標を静止物標と判定する。According to the sixth aspect of the invention, it is assumed that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target, and the target corresponds to the speed of the host vehicle and the steering angle of the steering wheel. The predicted point at the next distance measurement time is calculated based on the angle change, the speed of the host vehicle, and the distance measurement time interval, and if the predicted point exists within the prediction range set with the second detection point as a reference, The target corresponding to the prediction point is determined as a stationary target.
【００２５】請求項７の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度とハンドルの舵角に対応し
た位置変化と自車両の速度と測距時間間隔とに基づいて
次回の測距時点における予測点を算出し、予測点を基準
として設定した予測範囲内に第２の検出点が存在すれ
ば、第２の検出点に対応した物標を静止物標と判定す
る。According to the invention of claim 7, it is assumed that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, and it corresponds to the speed of the own vehicle and the steering angle of the steering wheel. The predicted point at the next distance measurement time is calculated based on the changed position, the speed of the own vehicle, and the distance measurement time interval, and if the second detected point exists within the predicted range set with the predicted point as a reference, The target corresponding to the second detection point is determined as a stationary target.
【００２６】請求項８の発明においては、２次元座標上
に配置した第１の検出点に対応した物標が静止物標であ
ると仮定して、自車両の速度とハンドルの舵角に対応し
た位置変化と自車両の速度と測距時間間隔とに基づいて
次回の測距時点における予測点を算出し、第２の検出点
を基準として設定した予測範囲内に予測点が存在すれ
ば、予測点に対応した物標を静止物標と判定する。According to the invention of claim 8, it is assumed that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, and it corresponds to the speed of the host vehicle and the steering angle of the steering wheel. The predicted point at the next distance measurement time is calculated based on the changed position, the speed of the host vehicle, and the distance measurement time interval, and if the predicted point exists within the prediction range set with the second detection point as a reference, The target corresponding to the prediction point is determined as a stationary target.
【００２７】請求項９の発明においては、請求項１〜請
求項８のいずれかに記載の車両周辺検知装置において、
予測範囲内に存在する現在の測距時点における物標を静
止物標の候補とし、次回の測距時点においても静止物標
と静止物標判定手段が判定したときに静止物標とする。According to a ninth aspect of the present invention, in the vehicle periphery detection device according to any one of the first to eighth aspects,
The target existing at the time of the current distance measurement existing within the prediction range is set as a candidate for the stationary target, and is set as the stationary target at the time of the next distance measurement when the stationary target is determined by the stationary target determination means.
【００２８】[0028]
実施例１．図１は実施例１の発明による車両周辺検知装
置を示す構成図である。図１において、１〜５、７、８
は従来のものと同様である。１１は車両に積載した角速
度センサで、光ファイバジャイロ等が利用できる。１２
は角度変化算出手段で、角速度センサ１１の信号により
スキャン周期の間に自車両に生じる角度変化を算出す
る。なお、１１及び１２で角度変化測定手段１３を構成
している。１４は予測位置算出手段である。Embodiment 1 FIG. FIG. 1 is a configuration diagram showing a vehicle periphery detection device according to the first embodiment of the invention. In FIG. 1, 1-5, 7, 8
Is the same as the conventional one. Reference numeral 11 is an angular velocity sensor mounted on a vehicle, and an optical fiber gyro or the like can be used. 12
Is an angle change calculation means for calculating the angle change that occurs in the host vehicle during the scan cycle based on the signal from the angular velocity sensor 11. It should be noted that 11 and 12 constitute the angle change measuring means 13. 14 is a predicted position calculation means.
【００２９】図２は実施例１による車両周辺検知装置の
動作の流れを示すフローチャートである。図１及び図２
において、ステップＳ1〜ステップＳ5は従来のもの（図
１３参照）と同様である。即ち、ステップＳ1では、処
理に必要なメモリ内容、フラグ、カウンタ等を初期化す
る。ステップＳ2では、距離測定手段１で計測した距離
と方向のデータを入力する。ステップＳ3では、極座標
で表された距離と方向のデータを座標変換手段２でＸＹ
座標上の位置に変換する。ステップＳ4では、車速セン
サ３が出力する駆動軸の回転数に比例した車速パルスを
入力する。ステップＳ5では、距離測定手段１のスキャ
ン周期、例えば０．５秒ごとの車速パルスの数をカウン
トし、０．５秒当たりの車速パルス数から車速を算出す
る。FIG. 2 is a flow chart showing the flow of operation of the vehicle periphery detection device according to the first embodiment. 1 and 2
In steps S 1 ~ Step S 5 is similar to that of conventional (see FIG. 13). That is, in step S 1 , the memory contents, flags, counters, etc. necessary for the processing are initialized. In step S 2, enter the distance and direction of the data measured by the distance measuring unit 1. In step S 3 , the distance and direction data expressed in polar coordinates are converted into XY by the coordinate conversion means 2.
Convert to a coordinate position. In step S 4 , a vehicle speed pulse proportional to the rotation speed of the drive shaft output from the vehicle speed sensor 3 is input. In step S 5 , the scanning period of the distance measuring means 1, for example, the number of vehicle speed pulses every 0.5 seconds is counted, and the vehicle speed is calculated from the number of vehicle speed pulses per 0.5 seconds.
【００３０】ステップＳ6では、角速度センサ１１から
の角速度データを角度変化算出手段１２へ入力する。ス
テップＳ7では、角度変化算出手段１２は現在の測距時
点から次回の測距時点までのスキャン周期０．５秒間の
旋回に伴って自車両がどの位の角度変化を生じるかを算
出する。角度変化Δθ（ｒａｄ）は、角速度ω（ｒａｄ
／ｓ）とスキャン周期とから式（７）により計算でき
る。 Δθ＝０．５・ω・・・・・（７） ステップＳ8では、静止物体判定手段８は検出点の位置
と前回の測距時点で予め予測範囲設定手段７が設定した
予測範囲を全検出点について比較する。In step S 6 , the angular velocity data from the angular velocity sensor 11 is input to the angle change calculation means 12. In step S 7, the angle change calculation means 12 calculates whether the vehicle with the current distance measuring point in the scan period of 0.5 seconds pivoting until the next distance measurement time arises how much change in the angle. The angular change Δθ (rad) is the angular velocity ω (rad
/ S) and the scan cycle, it can be calculated by the equation (7). In Δθ = 0.5 · ω ····· (7 ) Step S 8, the stationary object determination unit 8 the estimated range of predictable range setting means 7 is set by the distance measuring point position and the previous detection point total Compare the detection points.
【００３１】図３は検出点と予測範囲との位置関係を示
す説明図である。図１及び図３において、１５は扇形状
をした距離測定手段１の検知領域、１６ａ〜１６ｉは現
在の測距時点での検出点、１７ａ〜１７ｉは前回の測距
時点での検出点に基づいて算出した予測点、１８ａ〜１
８ｉは予測点１７ａ〜１７ｉに基づいて予測範囲設定手
段７が設定した予測範囲、１９ａ、１９ｂは路側のガー
ドレール、２０は検知領域１５の中心である。FIG. 3 is an explanatory diagram showing the positional relationship between the detection points and the prediction range. 1 and 3, reference numeral 15 is based on the detection area of the fan-shaped distance measuring means 1, 16a to 16i are detection points at the current distance measurement time, and 17a to 17i are detection points at the last distance measurement time. Predicted points calculated by
8i is a prediction range set by the prediction range setting means 7 based on the prediction points 17a to 17i, 19a and 19b are roadside guardrails, and 20 is the center of the detection region 15.
【００３２】路側のガードレール１９ａ、１９ｂ等に設
置されたリフレクタの場合、現在の測距時点での検出点
１６ａ〜１６ｇは予測範囲１８ａ〜１８ｇ内であるので
ステップＳ9へ進む。そして、検知領域１５の中心２０
付近に存在する車両等の移動物体の場合は、現在の測距
時点での検出点１６ｈ、１６ｉの位置が予測範囲１８
ｈ、１８ｉ外であるのでステップＳ10へ進む。ステップ
Ｓ9において、静止物標判定手段８は、９個の全検出点
１６ａ〜１６ｉのうち現在の測距時点で７個の検出点１
６ａ〜１６ｇについては予測範囲１８ａ〜１８ｇ内にあ
るので、静止物標と判定する。ステップＳ10において、
静止物体判定手段８は、９個の全検出点１６ａ〜１６ｉ
のうち現在の測距時点で２個の検出点１６ｈ、１６ｉに
ついては予測範囲１８ｈ、１８ｉ外にあるので、移動物
標と判定する。ステップＳ11において、予測位置算出手
段１４は、現在の測距時点における検出点１６ａ〜１６
ｉの位置、自車両の車速、自車両の角度変化、距離測定
手段１のスキャン周期を使って次回の測距時点における
予測位置を算出する。The roadside guardrail 19a, the case of the installed reflector 19b or the like, detection points 16a~16g at the current distance measurement point proceeds to step S 9 so within the expected range 18a to 18g. Then, the center 20 of the detection area 15
In the case of a moving object such as a vehicle existing in the vicinity, the positions of the detection points 16h and 16i at the time of the current distance measurement are the prediction range 18
Since it is outside h and 18i, the process proceeds to step S 10 . In step S 9, stationary target determining means 8, 9 of all detection points seven detection point at the current distance measurement point of 16A～16i 1
Since 6a to 16g are within the prediction range 18a to 18g, it is determined to be a stationary target. In step S 10 ,
The stationary object determination means 8 has nine detection points 16a to 16i.
Of these, the two detection points 16h and 16i at the current distance measurement point are outside the prediction ranges 18h and 18i, so that they are determined to be moving targets. In step S 11, the predicted position calculating means 14, the detection point in the current ranging time 16a~16
The predicted position at the next distance measurement time is calculated using the position i, the vehicle speed of the host vehicle, the angle change of the host vehicle, and the scan cycle of the distance measuring means 1.
【００３３】予測位置を算出する方法について説明す
る。図４は旋回時の予測位置の算出方法を示す説明図で
ある。図４において、２１は現在の測距時点における検
出点、２２は直進状態での次回の測距時点における予測
点、２３は自車両の角度変化を考慮した次回の測距時点
における予測点である。直進状態での予測点２２を算出
する方法は、従来と同様に現在の測距時点における検出
点の位置、自車両の車速及び距離測定手段１のスキャン
周期を使って式（６）により行う。そして、直進状態で
の予測点２２を現在の検出点２１を中心として自車両の
角度変化Δθだけ回転させる。ステップＳ7で算出した
角度変化Δθで自車両が進行方向に対して右方向への旋
回を行った場合、距離測定手段１が観測する検出点は図
４に示すように直進状態での予測位置２２から左側に角
度Δθだけずれた予測点２３の位置となる。A method of calculating the predicted position will be described. FIG. 4 is an explanatory diagram showing a method of calculating the predicted position when turning. In FIG. 4, 21 is a detection point at the time of the current distance measurement, 22 is a prediction point at the time of the next distance measurement in a straight traveling state, and 23 is a prediction point at the time of the next distance measurement in consideration of the angle change of the vehicle. . The method of calculating the prediction point 22 in the straight traveling state is performed by the formula (6) using the position of the detection point at the current distance measuring point, the vehicle speed of the own vehicle, and the scan cycle of the distance measuring means 1 as in the conventional case. Then, the prediction point 22 in the straight traveling state is rotated about the current detection point 21 by the angle change Δθ of the host vehicle. When the host vehicle turns to the right with respect to the traveling direction by the angle change Δθ calculated in step S 7 , the detection point observed by the distance measuring means 1 is the predicted position in the straight traveling state as shown in FIG. It is the position of the prediction point 23 which is deviated to the left from 22 by the angle Δθ.
【００３４】現在の測距時点における検出点の位置を
（ｘ1，ｙ1）、角度変化を考慮した次回の測距時点にお
ける予測位置を（ｘ2，ｙ2）、スキャン周期の間に自車
両が進行する距離をΔＬ、スキャン周期の間における自
車両の角度変化をΔθとすると予測点（ｘ2，ｙ2）は式
（８）及び式（９）のように計算できる。 ｘ2＝ｘ1−ΔＬ・ｓｉｎ（Δθ）・・・・・（８） ｙ2＝ｙ1−ΔＬ・ｃｏｓ（Δθ）・・・・・（９） ステップＳ12では、予測範囲設定手段７は、ステップＳ
11で算出した自車両の角度変化を考慮した予測位置（ｘ
2，ｙ2）を中心として従来例と同様の予測範囲を設定す
る。この処理を全検出点に対し行い予測範囲を記憶し、
ステップＳ2へ戻る。以降、同一の処理を繰り返す。The position of the detection point at the current distance measuring point is (x 1 , y 1 ), and the predicted position at the next distance measuring point in consideration of the angle change is (x 2 , y 2 ). Assuming that the distance traveled by the vehicle is ΔL and the angular change of the host vehicle during the scan cycle is Δθ, the prediction point (x 2 , y 2 ) can be calculated as in equations (8) and (9). x 2 = x 1 −ΔL · sin (Δθ) (8) y 2 = y 1 −ΔL · cos (Δθ) (9) In step S 12 , the prediction range setting means 7 is used. Is step S
Predicted position considering angular change of the vehicle calculated in 11 (x
(2 , y 2 ) is set as the center and a prediction range similar to the conventional example is set. This process is performed for all detection points, the prediction range is stored,
Return to step S 2 . After that, the same processing is repeated.
【００３５】この実施例では角速度センサ１１のデータ
からスキャン周期の間に自車両に生じる角度変化を算出
し、直進状態での予測点２２を算出した角度変化分を回
転させることにより予測点２３を算出する。このため、
曲線路を走行時でも正確な予測点２３を算出でき、静止
物標と移動物標とを静止物標判定手段８で精度よく識別
できる。In this embodiment, the angle change occurring in the host vehicle during the scan cycle is calculated from the data of the angular velocity sensor 11, and the predicted point 22 in the straight traveling state is rotated to calculate the predicted angle 23. calculate. For this reason,
An accurate predicted point 23 can be calculated even when traveling on a curved road, and the stationary target and the moving target can be accurately discriminated by the stationary target determination means 8.
【００３６】なお、上記実施例では予測範囲１８ａ〜１
８ｉとして予測位置を中心とした正方形の予測範囲を用
いたが、縦横の比率が異なる長方形の予測範囲や、円形
の予測範囲を用いても良い。In the above embodiment, the prediction ranges 18a-1
Although a square prediction range centered on the predicted position is used as 8i, a rectangular prediction range having a different aspect ratio and a circular prediction range may be used.
【００３７】実施例２．図５は実施例２による車両周辺
検知装置を示す構成図である。図５において、１〜５、
７、８は従来のものと同様である。２４はハンドルの舵
角を測定する舵角センサで、ハンドル軸に合わせて回転
するスリット板と発光素子と受光素子とを組み合わせた
フォトインタラプタ方式のものが広く自動車に利用され
ている。２５は舵角センサ２４の出力からハンドルの舵
角を算出する舵角算出手段である。なお、２４及び２５
で舵角測定手段２６を構成している。２７は角度変化テ
ーブルを記憶した角度変化記憶手段、２８は予測位置算
出手段である。Example 2. FIG. 5 is a configuration diagram showing a vehicle periphery detection device according to the second embodiment. In FIG. 5, 1 to 5,
7 and 8 are the same as the conventional ones. Reference numeral 24 is a rudder angle sensor for measuring the rudder angle of the steering wheel, and a photo interrupter type of a combination of a slit plate rotating according to the steering wheel axis, a light emitting element and a light receiving element is widely used in automobiles. Reference numeral 25 is a rudder angle calculating means for calculating the rudder angle of the steering wheel from the output of the rudder angle sensor 24. 24 and 25
The rudder angle measuring means 26 is constituted by. Reference numeral 27 is an angle change storage means that stores an angle change table, and 28 is a predicted position calculation means.
【００３８】次に動作について説明する。図６は実施例
２による車両周辺検知装置の動作の流れを示すフローチ
ャートである。図６において、ステップＳ1〜ステップ
Ｓ5までの動作は実施例１と同様である。ステップＳ6で
は、舵角算出手段２５は舵角センサ２４が出力する舵角
データを入力する。ステップＳ7では、舵角算出手段２
５は舵角センサ２４の信号からハンドルが中立位置から
左または右へ何度回転しているかを１度刻みで算出す
る。ステップＳ8〜ステップＳ10は実施例１のステップ
Ｓ8〜ステップＳ10と同様の動作である。ステップＳ11
では、予測位置算出手段２８は、現在の測距時点におけ
る検出点の位置、自車両の車速、ハンドルの舵角、距離
測定手段１のスキャン周期を使って次回の測距時点にお
ける検出点の予測点を算出する。Next, the operation will be described. FIG. 6 is a flowchart showing the flow of the operation of the vehicle periphery detection device according to the second embodiment. In FIG. 6, the operation from step S 1 to step S 5 is the same as that in the first embodiment. In step S 6 , the steering angle calculation means 25 inputs the steering angle data output by the steering angle sensor 24. In step S 7 , the steering angle calculation means 2
Reference numeral 5 calculates from the signal of the steering angle sensor 24 how many times the steering wheel is rotating from the neutral position to the left or right in increments of 1 degree. Step S 8 ~ step S 10 is the same operation as steps S 8 ~ step S 10 of the first embodiment. Step S 11
Then, the predicted position calculation means 28 uses the position of the detection point at the current distance measurement point, the vehicle speed of the host vehicle, the steering angle of the steering wheel, and the scan cycle of the distance measurement means 1 to predict the detection point at the next distance measurement point. Calculate the points.
【００３９】予測点を算出する方法について以下説明す
る。まず、予測位置算出手段２８は、従来例と同様の方
法により直進状態での次回の測距時点における予測点を
算出する。次に、自車両の車速とハンドルの舵角に対応
して次回の測距時点までに自車両に生じる角度変化を予
め角度変化記憶手段２７に記憶した角度変化テーブルを
使って角度変化を算出する。図７は車速と舵角に対する
角度変化の定性的特性を示す説明図である。図７におい
て、横軸は自車両の車速、縦軸はスキャン周期０．５秒
間当たりの自車両に生じる角度変化を示す。ハンドルの
舵角が３０度で一定の場合、車速が大きくなるほど０．
５秒間当たりの自車両に生じる角度変化は大きくなる。
また、車速が５０ｋｍ／ｈで一定の場合、ハンドルの舵
角が大きくなるほど１秒間当たりの自車両に生じる角度
変化は大きくなる。この特性は車両毎に異なるので、各
車両毎に車速と舵角を測定し、図７の特性を測定した結
果に基づいて角度変化テーブルを予め決定しておく。最
後に、実施例１と同様の方法により直進状態での予測位
置を算出した角度変化に応じて回転移動して予測点を算
出する。ステップＳ12では、実施例１と同様にステップ
Ｓ11で算出した予測点を中心として予測範囲設定手段７
で従来と同様の予測範囲を設定する。この処理を全検出
点に対して行って予測範囲を記憶し、ステップＳ2へ戻
る。以降、同一の処理を繰り返す。A method of calculating the prediction point will be described below. First, the predicted position calculation means 28 calculates the predicted point at the next distance measurement time in the straight traveling state by the same method as the conventional example. Next, the angle change is calculated according to the vehicle speed of the own vehicle and the steering angle of the steering wheel by using the angle change table in which the angle change occurring in the own vehicle by the next distance measurement is stored in advance in the angle change storage means 27. . FIG. 7 is an explanatory diagram showing qualitative characteristics of angle changes with respect to vehicle speed and steering angle. In FIG. 7, the horizontal axis represents the vehicle speed of the host vehicle, and the vertical axis represents the angle change occurring in the host vehicle per scan cycle of 0.5 seconds. When the steering angle of the steering wheel is constant at 30 degrees, the higher the vehicle speed, the more the vehicle speed becomes.
The angle change that occurs in the host vehicle per 5 seconds becomes large.
Further, when the vehicle speed is constant at 50 km / h, the larger the steering angle of the steering wheel, the greater the angle change that occurs in the host vehicle per second. Since this characteristic varies from vehicle to vehicle, the vehicle speed and the steering angle are measured for each vehicle, and the angle change table is determined in advance based on the result of the characteristic measurement shown in FIG. Finally, by the same method as that of the first embodiment, the predicted position in the straight traveling state is rotationally moved according to the angle change, and the predicted point is calculated. In step S 12 , the prediction range setting means 7 is centered on the prediction point calculated in step S 11 as in the first embodiment.
Set the same prediction range as before. This process is performed for all detection points to store the prediction range, and the process returns to step S 2 . After that, the same processing is repeated.
【００４０】この実施例では自車両の車速とハンドルの
舵角によってスキャン周期の間に自車両に生じる角度変
化を予め記憶した角度変化テーブルを使って角度変化を
算出し、直進状態での予測点を算出した角度変化分を回
転させることにより予測点を算出する。このため曲線路
を走行時でも正確な予測点を算出でき、静止物標と移動
物標とを静止物標判定手段８で精度よく識別できる車両
周辺検知装置が得られる。In this embodiment, the angle change is calculated by using the angle change table in which the angle change that occurs in the own vehicle during the scanning cycle is previously stored according to the vehicle speed of the own vehicle and the steering angle of the steering wheel, and the predicted point in the straight traveling state is calculated. The predicted point is calculated by rotating the calculated angle change. Therefore, an accurate prediction point can be calculated even when traveling on a curved road, and a vehicle periphery detection device in which the stationary target and the moving target can be accurately discriminated by the stationary target determination means 8 can be obtained.
【００４１】実施例３．図８は実施例３による車両周辺
検知装置の構成図である。図８において、１〜５、７、
８、２４〜２７は実施例１のものと同様である。２９は
位置変化量テーブルを記憶した記憶手段で、距離測定手
段１のスキャン周期が既知の場合に、自車両の速度とハ
ンドルの舵角に対応したＸ軸方向の変化量ΔＬ×ｓｉｎ
（Δθ）及びＹ軸方向の変化量ΔＬ×ｃｏｓ（Δθ）を
予め計算した位置変化量テーブルを記憶している。３０
は予測位置算出手段である。Example 3. FIG. 8 is a configuration diagram of a vehicle periphery detection device according to the third embodiment. In FIG. 8, 1 to 5, 7,
8, 24 to 27 are the same as those in the first embodiment. A storage unit 29 stores a position change amount table, and when the scan cycle of the distance measuring unit 1 is known, the change amount ΔL × sin in the X-axis direction corresponding to the speed of the host vehicle and the steering angle of the steering wheel.
A position change amount table in which (Δθ) and a change amount ΔL × cos (Δθ) in the Y-axis direction are calculated in advance is stored. 30
Is a predicted position calculation means.
【００４２】自車両の速度とスキャン周期が与えられて
いれば、スキャン周期の間に自車両が進む距離は実施例
１と同様の方法で一義的に決まる。また、自車両の速度
とハンドルの舵角が与えられていれば、実施例２に示す
角度変化テーブルによりスキャン周期の間に自車両に生
じる角度変化Δθもまた一義的に決まる。従って、現在
の測距時点における検出点の位置と次回の測距時点にお
ける予測点のＸ軸方向の変化量ΔＬ×sin(Δθ)及びＹ
軸方向の変化量ΔＬ×cos(Δθ)もまた一義的に決ま
る。予測位置算出手段３０は、速度測定手段５で算出し
た車速と、舵角測定手段２６で算出したハンドルの舵角
と、位置変化量記憶手段２９の位置変化量テーブルとに
より、Ｘ軸方向及びＹ軸方向の変化量を算出する。そし
て、現在の測距時点における検出点の位置とＸ軸方向及
びＹ軸方向の変化量とから次回の測距時点における予測
点を算出する。予測範囲設定手段７は実施例２のステッ
プＳ12と同様に、予測点を中心として従来例と同様の予
測範囲を設定する。Given the speed of the host vehicle and the scan cycle, the distance traveled by the host vehicle during the scan cycle is uniquely determined by the same method as in the first embodiment. Further, if the speed of the host vehicle and the steering angle of the steering wheel are given, the angle change Δθ that occurs in the host vehicle during the scan cycle is also uniquely determined by the angle change table shown in the second embodiment. Therefore, the amount of change ΔL × sin (Δθ) in the X-axis direction between the position of the detection point at the time of the current distance measurement and the predicted point at the time of the next distance measurement and ΔY
The amount of change ΔL × cos (Δθ) in the axial direction is also uniquely determined. The predicted position calculation means 30 uses the vehicle speed calculated by the speed measurement means 5, the steering angle of the steering wheel calculated by the steering angle measurement means 26, and the position change amount table of the position change amount storage means 29 to determine the X-axis direction and the Y direction. Calculate the amount of change in the axial direction. Then, the predicted point at the next distance measurement time is calculated from the position of the detection point at the current distance measurement time and the amount of change in the X-axis direction and the Y-axis direction. Expected range setting means 7 as in step S 12 of Example 2, to set the same expected range the conventional example around a predicted point.
【００４３】この実施例では自車両の車速とハンドルの
舵角によって決まる検出点の位置から予測点までの位置
変化量を予め記憶した位置変化量テーブルを使って位置
変化量を算出し、検出点の位置と位置変化量により予測
点を算出する。このため曲線路を走行時でも簡単な演算
により精度のよい予測点を算出でき、静止物標と移動物
標とを精度よく識別できる。In this embodiment, the position change amount is calculated using a position change amount table in which the position change amount from the position of the detection point determined by the vehicle speed of the own vehicle and the steering angle of the steering wheel to the predicted point is stored in advance, and the detection point is detected. The predicted point is calculated from the position and the amount of position change. Therefore, even when traveling on a curved road, a highly accurate prediction point can be calculated by a simple calculation, and a stationary target and a moving target can be accurately distinguished.
【００４４】実施例４．図９は実施例４による車両周辺
検知装置を示す構成図である。図１０及び図１１は図９
の車両周辺検知装置の動作の流れを示すフローチャート
である。図９〜図１１に基づいて静止物標判定方法につ
いて説明する。図９において、１〜５は従来のものと同
様であり、７、１１〜１４は実施例１のものと同様であ
る。３１は静止物標判定手段で、ステップＳ8〜ステッ
プＳ12により静止物標判定を行う。Embodiment 4 FIG. FIG. 9 is a configuration diagram showing a vehicle periphery detection device according to the fourth embodiment. 10 and 11 are shown in FIG.
3 is a flowchart showing a flow of operations of the vehicle periphery detection device of FIG. The stationary target object determination method will be described based on FIGS. 9 to 11. In FIG. 9, 1 to 5 are the same as the conventional one, and 7, 11 to 14 are the same as those of the first embodiment. 31 is a stationary target determining means performs the stationary target determination by step S 8 ~ step S 12.
【００４５】図１０及び図１１において、ステップＳ1
〜ステップＳ7は実施例１と同様である。また、ステッ
プＳ13、Ｓ14は実施例１のＳ11、Ｓ12と同様である。静
止物標の判定が開始されると、ステップＳ8において、
静止物標判定手段３１は実施例１と同一の方法により、
現在の測距時点における検出点の位置と、前回の測距時
点で予め予測範囲設定手段７が設定した予測範囲を全検
出点に渡って比較する。予測範囲内の検出点の場合はス
テップＳ9へ進み、予測範囲外の検出点の場合はステッ
プＳ12へ進む。ステップＳ9において、静止物標判定手
段３１は該当検出点が予測範囲内であるので、予測範囲
の設定基準となった前回の検出点に設定されている静止
物標候補フラグを調べる。静止物標候補フラグが静止物
標候補であることを示す１の場合はステップＳ10へ進
み、静止物標候補フラグが静止物標候補でないことを示
す０の場合はステップＳ11へ進む。ステップＳ10におい
て、静止物標判定手段３１は現在の測距時点における検
出点が予測範囲内であり、予測範囲の設定基準となった
前回の測距時点における検出点も静止物標候補であり、
２回連続して予測範囲内に存在しているので、該当検出
点を静止物標と判定する。そして、静止物標判定手段３
１は次回の静止物標判定用に該当検出点の静止物標候補
フラグを静止物標候補であることを示す１に設定する。In FIGS. 10 and 11, step S 1
~ Step S 7 is the same as in Example 1. Further, steps S 13 and S 14 are the same as S 11 and S 12 of the first embodiment. If the determination of stationary target is started, in step S 8,
The stationary target determination means 31 is the same method as in the first embodiment.
The position of the detection point at the time of the current distance measurement is compared with the prediction range previously set by the prediction range setting means 7 at the time of the previous distance measurement over all the detection points. The process proceeds to step S 9 For detection points within the expected range, if the detection point outside the expected range the process proceeds to step S 12. In step S 9 , the stationary target determination means 31 examines the stationary target candidate flag set at the previous detection point that was the reference for setting the prediction range, because the corresponding detection point is within the prediction range. If the stationary target candidate flag is 1 indicating that it is a stationary target candidate, the process proceeds to step S 10 , and if the stationary target candidate flag is 0 indicating that it is not a stationary target candidate, the process proceeds to step S 11 . In step S 10, stationary target judging unit 31 is within the detection point is the expected range at the current distance measurement point, even the detection point in the distance measuring point of the last time was the criteria for setting the prediction range be the stationary target candidates ,
Since it exists within the prediction range two times in a row, the corresponding detection point is determined as a stationary target. And the stationary target determination means 3
1 sets the stationary target candidate flag of the corresponding detection point to 1 indicating the stationary target candidate for the next stationary target determination.
【００４６】ステップＳ11において、静止物標判定手段
３１は現在の測距時点における検出点が予測範囲内であ
るが、予測範囲の設定基準となった前回の測距時点にお
ける検出点が静止物標候補ではなく、２回連続して予測
範囲内に存在している条件を満たしていないので、該当
検出点を静止物標候補と判定する。そして、静止物標判
定手段３１は次回の静止物標判定用に該当検出点の静止
物標候補フラグを静止物標候補であることを示す１に設
定する。ステップＳ12において、該当検出点が予測範囲
外であるので、静止物標判定手段３１は実施例１と同様
に移動物標と判定する。この際、静止物標判定手段３１
は次回の静止物標判定用に該当検出点の静止物標候補フ
ラグを静止物標候補でないことを示す０に設定する。In step S 11 , the stationary object determination means 31 detects that the detection point at the time of the current distance measurement is within the prediction range, but the detection point at the time of the previous distance measurement, which is the reference for setting the prediction range, is the stationary object. Since it is not a target candidate and does not satisfy the condition of existing within the prediction range twice in a row, the corresponding detection point is determined as a stationary target candidate. Then, the stationary target determination means 31 sets the stationary target candidate flag of the corresponding detection point to 1 indicating that the target is a stationary target candidate for the next stationary target determination. In step S 12 , since the corresponding detection point is outside the prediction range, the stationary target determination means 31 determines that it is a moving target, as in the first embodiment. At this time, the stationary target determination means 31
For the next stationary target determination, the stationary target candidate flag of the corresponding detection point is set to 0 indicating that it is not a stationary target candidate.
【００４７】実施例４ではスキャン周期の間に自車両に
生じる角度変化を考慮した予測範囲を設定し、２回の測
距時点に渡って連続して予測範囲内に検出点が存在する
場合に該当する検出点を静止物標と判定する。このため
曲線路を走行時でも静止物標と移動物標の識別結果に対
する信頼度が高い車両周辺検知装置が得られる。In the fourth embodiment, the prediction range is set in consideration of the angle change occurring in the own vehicle during the scan cycle, and when the detection points continuously exist within the prediction range over two distance measuring times. The corresponding detection point is determined as a stationary target. Therefore, it is possible to obtain the vehicle periphery detection device having high reliability with respect to the discrimination result of the stationary target and the moving target even when traveling on a curved road.
【００４８】実施例５．なお、上記実施例４では実施例
１の静止物標判定手段８を静止物標判定手段３１を用い
たものを示したが、実施例２または実施例３の静止物標
判定手段８に代えて上記静止物標判定手段３１を用いて
も良い。Embodiment 5 FIG. In the fourth embodiment, the stationary target object determining means 8 of the first embodiment is shown to use the stationary target object determining means 31, but the stationary target object determining means 8 of the second or third embodiment is replaced. You may use the said stationary target determination means 31.
【００４９】実施例６．また、上記実施例１〜５におい
て、次回の測距時点における２次元座標上の予測点を基
準として設定した予測範囲と、次回の測距時点における
物標の第２の検出点とを比較するものについて説明した
が、次回の測距時点における物標の第２の検出点を基準
として設定した予測範囲と、次回の測距時点における２
次元座標上の予測点とを比較し、予測範囲内に存在する
予測点に対応した物標を静止物標と判定するようにして
も同様の効果が期待できる。Example 6. Further, in the above-described first to fifth embodiments, the prediction range set based on the prediction point on the two-dimensional coordinate at the time of the next distance measurement is compared with the second detection point of the target at the time of the next distance measurement. As described above, the prediction range set based on the second detection point of the target at the time of the next distance measurement and the 2
The same effect can be expected by comparing the prediction point on the dimensional coordinates and determining the target corresponding to the prediction point existing in the prediction range as the stationary target.
【００５０】[0050]
【発明の効果】請求項１の発明によれば、自車両の速度
と曲線路での自車両の旋回に伴う角度変化と測距時間間
隔とを考慮して予測点を算出するので、曲線路を走行中
でも予測点を精度よく算出でき、静止物標の識別の精度
が向上する。According to the first aspect of the present invention, the predicted point is calculated in consideration of the speed of the host vehicle, the angle change accompanying the turning of the host vehicle on the curved road, and the distance measurement time interval. The predicted point can be accurately calculated even while driving, and the accuracy of identifying the stationary target is improved.
【００５１】請求項２の発明によれば、自車両の速度と
曲線路での自車両の旋回に伴う角度変化と測距時間間隔
とを考慮して予測点を算出するので、曲線路を走行中で
も予測点を精度よく算出でき、静止物標の識別の精度が
向上する。According to the second aspect of the present invention, since the predicted point is calculated in consideration of the speed of the host vehicle, the angle change accompanying the turning of the host vehicle on the curved road, and the distance measurement time interval, the vehicle travels on the curved road. Above all, the prediction point can be calculated accurately, and the accuracy of identifying the stationary target is improved.
【００５２】請求項３の発明によれば、自車両の速度と
ハンドルの舵角と測距時間間隔とを考慮して予測点を算
出するので、曲線路を走行中でも予測点を精度よく算出
でき、静止物標の識別の精度が向上する。According to the third aspect of the present invention, the predicted point is calculated in consideration of the speed of the host vehicle, the steering angle of the steering wheel, and the distance measurement time interval. Therefore, the predicted point can be calculated accurately even while traveling on a curved road. The accuracy of identifying the stationary target is improved.
【００５３】請求項４の発明によれば、自車両の速度と
ハンドルの舵角と測距時間間隔とを考慮して予測点を算
出するので、曲線路を走行中でも予測点を精度よく算出
でき、静止物標の識別の精度が向上する。According to the invention of claim 4, the predicted point is calculated in consideration of the speed of the host vehicle, the steering angle of the steering wheel, and the distance measurement time interval. Therefore, the predicted point can be accurately calculated even while traveling on a curved road. The accuracy of identifying the stationary target is improved.
【００５４】請求項５の発明によれば、ハンドルの舵角
及び自車両の車速に対応した角度変化と自車両の速度と
測距時間間隔とを考慮して予測点を算出するので、曲線
路を走行中でも予測点を精度よく算出でき、静止物標の
識別の精度が向上する。According to the invention of claim 5, the predicted point is calculated in consideration of the angle change corresponding to the steering angle of the steering wheel and the vehicle speed of the host vehicle, the speed of the host vehicle, and the distance measurement time interval. The predicted point can be accurately calculated even while driving, and the accuracy of identifying the stationary target is improved.
【００５５】請求項６の発明によれば、ハンドルの舵角
及び自車両の車速に対応した角度変化と自車両の速度と
測距時間間隔とを考慮して予測点を算出するので、曲線
路を走行中でも予測点を精度よく算出でき、静止物標の
識別の精度が向上する。According to the invention of claim 6, the predicted point is calculated in consideration of the steering angle of the steering wheel, the angle change corresponding to the vehicle speed of the host vehicle, the speed of the host vehicle and the distance measurement time interval. The predicted point can be accurately calculated even while driving, and the accuracy of identifying the stationary target is improved.
【００５６】請求項７の発明によれば、ハンドルの舵角
及び自車両の車速に対応した位置変化と自車両の速度と
測距時間間隔とを考慮して予測点を算出するので、曲線
路を走行中でも予測点を精度よく算出でき、静止物標の
識別の精度が向上する。According to the seventh aspect of the invention, the predicted point is calculated in consideration of the position change corresponding to the steering angle of the steering wheel and the vehicle speed of the host vehicle, the speed of the host vehicle, and the distance measurement time interval. The predicted point can be accurately calculated even while driving, and the accuracy of identifying the stationary target is improved.
【００５７】請求項８の発明によれば、ハンドルの舵角
及び自車両の車速に対応した位置変化と自車両の速度と
測距時間間隔とを考慮して予測点を算出するので、曲線
路を走行中でも予測点を精度よく算出でき、静止物標の
識別の精度が向上する。According to the present invention, the predicted point is calculated in consideration of the position change corresponding to the steering angle of the steering wheel and the vehicle speed of the host vehicle, the speed of the host vehicle, and the distance measurement time interval. The predicted point can be accurately calculated even while driving, and the accuracy of identifying the stationary target is improved.
【００５８】請求項９の発明によれば、請求項１〜請求
項８のいずれかに記載の車両周辺検知装置において、現
在の測距時点における物標を静止物標の候補とし、次回
の測距時点においても静止物標の候補と判定されたとき
に静止物標であるとするので、静止物標の識別に対する
信頼度が向上する。According to the ninth aspect of the present invention, in the vehicle periphery detection device according to any of the first to eighth aspects, the target at the time of the current distance measurement is set as a candidate for the stationary target, and the next measurement is performed. Since it is assumed that the target is a stationary target even when it is determined to be a candidate for the stationary target even at the time of distance, the reliability for identifying the stationary target is improved.
【図１】 実施例１の発明を示す構成図である。FIG. 1 is a configuration diagram showing an invention of a first embodiment.
【図２】 実施例１のフローチャートである。FIG. 2 is a flowchart of the first embodiment.
【図３】 実施例１の検出点と予測範囲との位置関係を
示す説明図である。FIG. 3 is an explanatory diagram showing a positional relationship between a detection point and a prediction range according to the first embodiment.
【図４】 実施例１の旋回時の予測位置の算出方法を示
す説明図である。FIG. 4 is an explanatory diagram showing a method of calculating a predicted position when turning according to the first embodiment.
【図５】 実施例２の発明を示す構成図である。FIG. 5 is a configuration diagram showing an invention of a second embodiment.
【図６】 実施例２のフローチャートである。FIG. 6 is a flowchart of a second embodiment.
【図７】 車速と舵角に対する角度変化を示す説明図で
ある。FIG. 7 is an explanatory diagram showing an angle change with respect to a vehicle speed and a steering angle.
【図８】 実施例３の発明を示す構成図である。FIG. 8 is a configuration diagram showing the invention of Example 3;
【図９】 実施例４の発明を示す構成図である。FIG. 9 is a configuration diagram showing the invention of Example 4;
【図１０】 実施例４のフローチャートである。FIG. 10 is a flowchart of a fourth embodiment.
【図１１】 実施例４のフローチャートである。FIG. 11 is a flowchart of a fourth embodiment.
【図１２】 従来の車両周辺検知装置を示す構成図であ
る。FIG. 12 is a configuration diagram showing a conventional vehicle periphery detection device.
【図１３】 従来の車両周辺検知装置の動作の流れを示
すフローチャートである。FIG. 13 is a flowchart showing a flow of operations of a conventional vehicle periphery detection device.
【図１４】 距離測定手段の検知領域と検知領域の分割
方法を示す説明図である。FIG. 14 is an explanatory diagram showing a detection area of the distance measuring means and a method of dividing the detection area.
【図１５】 従来の車両周辺検知装置の予測範囲設定手
段が設定した予測範囲を示す説明図である。FIG. 15 is an explanatory diagram showing a prediction range set by a prediction range setting means of a conventional vehicle periphery detection device.
１ 距離測定手段、２ 座標変換手段、５ 速度測定手
段、７ 予測範囲設定手段、８，３１ 静止物標判定手
段、１３ 角度変化測定手段、６，１４，２８，３０
予測位置算出手段、２７ 角度変化記憶手段、２９ 位
置変化量記憶手段。DESCRIPTION OF SYMBOLS 1 distance measuring means, 2 coordinate converting means, 5 speed measuring means, 7 prediction range setting means, 8, 31 stationary target determining means, 13 angle change measuring means, 6, 14, 28, 30
Predicted position calculation means, 27 angle change storage means, 29 position change amount storage means.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 岡村 茂一 東京都千代田区丸の内二丁目２番３号 三 菱電機株式会社内 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Shigekazu Okamura 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Sanryo Electric Co., Ltd.
Claims (9)
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両の旋回に伴う角度変化を測定する角度変化測定
手段と、上記２次元座標上に配置した上記第１の検出点
に対応した上記物標が静止物標であると仮定して、上記
自車両の速度と角度変化と上記測距時間間隔とに基づい
て次回の測距時点における上記２次元座標上の予測点を
算出する予測位置算出手段と、上記予測点を基準とした
予測範囲を上記物標について設定する予測範囲設定手段
と、上記第２の検出点と上記予測範囲とを比較し、上記
予測範囲内に存在する上記第２の検出点に対応した上記
物標を静止物標と判定する静止物標判定手段とを備えた
車両周辺検知装置。1. A detection area having its own vehicle as a base point is divided at a predetermined angle to set a division detection area, and a target existing outside the own vehicle is detected in each of the division detection areas, and the present detection is performed. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as a second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and accompanying turning of the own vehicle. Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target, the speed and angle change of the host vehicle are measured. And based on the distance measurement time interval above, Prediction position calculating means for calculating the prediction point on the two-dimensional coordinates in the two-dimensional coordinates, prediction range setting means for setting a prediction range based on the prediction point for the target, the second detection point and the prediction range And a stationary object determining unit that determines that the object corresponding to the second detection point existing in the prediction range is a stationary object.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両の旋回に伴う角度変化を測定する角度変化測定
手段と、上記２次元座標上に配置した上記第１の検出点
に対応した上記物標が静止物標であると仮定して、上記
自車両の速度と角度変化と上記測距時間間隔とに基づい
て次回の測距時点における上記２次元座標上の予測点を
算出する予測位置算出手段と、上記第２の検出点を基準
とした予測範囲を上記物標について設定する予測範囲設
定手段と、上記予測点と上記予測範囲とを比較し、上記
予測範囲内に存在する上記予測点に対応した上記物標を
静止物標と判定する静止物標判定手段とを備えた車両周
辺検知装置。2. A detection area based on the host vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the host vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as a second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and accompanying turning of the own vehicle. Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinate is a stationary target, the speed and angle change of the host vehicle are measured. And based on the distance measurement time interval above, Prediction position calculating means for calculating the prediction point on the two-dimensional coordinates, prediction range setting means for setting the prediction range based on the second detection point for the target, the prediction point and the prediction range And a stationary object determining unit that determines that the object corresponding to the prediction point existing in the prediction range is a stationary object.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記２次元座標上に配置した上記第１の検出点に対応し
た上記物標が静止物標であると仮定して、上記自車両の
速度と上記ハンドルの舵角と上記測距時間間隔とに基づ
いて次回の測距時点における上記２次元座標上の予測点
を算出する予測位置算出手段と、上記予測点を基準とし
た予測範囲を上記物標について設定する予測範囲設定手
段と、上記第２の検出点と上記予測範囲とを比較し、上
記予測範囲内に存在する上記第２の検出点に対応した上
記物標を静止物標と判定する静止物標判定手段とを備え
た車両周辺検知装置。3. A detection area based on the host vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the host vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the speed of the host vehicle, the steering angle of the steering wheel, and the distance measurement time interval are A predicted position calculation means for calculating a predicted point on the two-dimensional coordinate at the time of the next distance measurement based on the following, a prediction range setting means for setting a prediction range based on the predicted point for the target, and the second. Vehicle detection with a stationary target determination unit that compares the detection point of the target object with the prediction range and determines the target corresponding to the second detection point existing in the prediction range as a stationary target. apparatus.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記２次元座標上に配置した上記第１の検出点に対応し
た上記物標が静止物標であると仮定して、上記自車両の
速度と上記ハンドルの舵角と上記測距時間間隔とに基づ
いて次回の測距時点における上記２次元座標上の予測点
を算出する予測位置算出手段と、上記第２の検出点を基
準とした予測範囲を上記物標について設定する予測範囲
設定手段と、上記予測点と上記予測範囲とを比較し、上
記予測範囲内に存在する上記予測点に対応した上記物標
を静止物標と判定する静止物標判定手段とを備えた車両
周辺検知装置。4. A detection area based on the host vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the host vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the speed of the host vehicle, the steering angle of the steering wheel, and the distance measurement time interval are A predicted position calculating means for calculating a predicted point on the two-dimensional coordinate at the time of the next distance measurement based on the following; a predicted range setting means for setting a predicted range based on the second detection point for the target; A vehicle periphery detection device comprising: a stationary target determination unit that compares the predicted point with the predicted range and determines the target corresponding to the predicted point existing in the predicted range as a stationary target.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記自車両の速度とハンドルの舵角に対応して単位時間
当たりに上記自車両の旋回に伴って生じる角度変化を記
憶した角度変化記憶手段と、上記２次元座標上に配置し
た上記第１の検出点に対応した上記物標が静止物標であ
ると仮定して、上記ハンドルの舵角に対応した上記角度
変化と上記自車両の速度と上記測距時間間隔とに基づい
て次回の測距時点における上記２次元座標上の予測点を
算出する予測位置算出手段と、上記予測点を基準とした
予測範囲を上記物標について設定する予測範囲設定手段
と、上記第２の検出点と上記予測範囲とを比較し、上記
予測範囲内に存在する上記第２の検出点に対応した上記
物標を静止物標と判定する静止物標判定手段とを備えた
車両周辺検知装置。5. A detection area based on the host vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the host vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
An angle change storage unit that stores an angle change that accompanies the turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, and the first change sensor arranged on the two-dimensional coordinates. Assuming that the target corresponding to the detection point is a stationary target, the next distance measurement is performed based on the angle change corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval. Prediction position calculating means for calculating the prediction point on the two-dimensional coordinates at a time point, prediction range setting means for setting a prediction range with the prediction point as a reference for the target, the second detection point and the prediction A vehicle periphery detection device including a stationary target determination unit that compares the range with a stationary target and determines that the target corresponding to the second detection point existing in the predicted range is a stationary target.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記自車両の速度とハンドルの舵角に対応して単位時間
当たりに上記自車両の旋回に伴って生じる角度変化を記
憶した角度変化記憶手段と、上記２次元座標上に配置し
た上記第１の検出点に対応した上記物標が静止物標であ
ると仮定して、上記ハンドルの舵角に対応した上記角度
変化と上記自車両の速度と上記測距時間間隔とに基づい
て次回の測距時点における上記２次元座標上の予測点を
算出する予測位置算出手段と、上記第２の検出点を基準
とした予測範囲を上記物標について設定する予測範囲設
定手段と、上記予測点と上記予測範囲とを比較し、上記
予測範囲内に存在する上記予測点に対応した上記物標を
静止物標と判定する静止物標判定手段とを備えた車両周
辺検知装置。6. A detection area based on the host vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the host vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
An angle change storage unit that stores an angle change that accompanies the turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, and the first change sensor arranged on the two-dimensional coordinates. Assuming that the target corresponding to the detection point is a stationary target, the next distance measurement is performed based on the angle change corresponding to the steering angle of the steering wheel, the speed of the own vehicle, and the distance measurement time interval. Prediction position calculation means for calculating the prediction point on the two-dimensional coordinates at the time point, prediction range setting means for setting the prediction range with respect to the second detection point for the target, the prediction point and the prediction A vehicle periphery detection device comprising: a stationary target determination unit that compares a range and determines that the target corresponding to the prediction point existing in the prediction range is a stationary target.
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記自車両の速度とハンドルの舵角に対応して単位時間
当たりに上記自車両の旋回に伴って生じる静止物標の上
記２次元座標上の位置変化量を記憶した位置変化量記憶
手段と、上記２次元座標上に配置した上記第１の検出点
に対応した上記物標が静止物標であると仮定して、上記
ハンドルの舵角に対応した上記位置変化量と上記自車両
の速度と上記測距時間間隔とに基づいて次回の測距時点
における上記２次元座標上の予測点を算出する予測位置
算出手段と、上記予測点を基準とした予測範囲を上記物
標について設定する予測範囲設定手段と、上記第２の検
出点と上記予測範囲とを比較し、上記予測範囲内に存在
する上記第２の検出点に対応した上記物標を静止物標と
判定する静止物標判定手段とを備えた車両周辺検知装
置。7. A detection area based on the own vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the own vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
Position change amount storage means for storing the position change amount on the two-dimensional coordinates of the stationary target generated by the turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the position change amount corresponding to the steering angle of the steering wheel and the speed of the host vehicle Prediction position calculating means for calculating a prediction point on the two-dimensional coordinate at the next distance measurement time based on the distance measurement time interval, and a prediction range for setting a prediction range based on the prediction point for the target. Stationary target determination means that compares setting means with the second detection point and the prediction range, and determines the target corresponding to the second detection point existing in the prediction range as a stationary target. A vehicle surroundings detection device comprising:
度で分割して分割検知領域を設定し、上記各分割検知領
域内で上記自車両の外部に存在する物標を検知して現在
及び次回の測距時点における上記物標までの距離を所定
の測距時間間隔で測定する距離測定手段と、測定した現
在の測距時点における上記物標の位置を第１の検出点と
し、次回の測距時点における上記物標の位置を第２の検
出点としてそれぞれ２次元座標上に配置する座標変換手
段と、上記自車両の速度を測定する速度測定手段と、上
記自車両のハンドルの舵角を測定する舵角測定手段と、
上記自車両の速度とハンドルの舵角に対応して単位時間
当たりに上記自車両の旋回に伴って生じる静止物標の上
記２次元座標上の位置変化量を記憶した位置変化量記憶
手段と、上記２次元座標上に配置した上記第１の検出点
に対応した上記物標が静止物標であると仮定して、上記
ハンドルの舵角に対応した上記位置変化量と上記自車両
の速度と上記測距時間間隔とに基づいて次回の測距時点
における上記２次元座標上の予測点を算出する予測位置
算出手段と、上記第２の検出点を基準とした予測範囲を
上記物標について設定する予測範囲設定手段と、上記予
測点と上記予測範囲とを比較し、上記予測範囲内に存在
する上記予測点に対応した上記物標を静止物標と判定す
る静止物標判定手段とを備えた車両周辺検知装置。8. A detection area based on the own vehicle is divided at a predetermined angle to set a division detection area, and a target existing outside the own vehicle is detected in each of the division detection areas to detect the target. And distance measuring means for measuring the distance to the target at the next distance measurement time point at a predetermined distance measurement time interval, and the measured position of the target object at the current distance measurement time point as the first detection point. Coordinate conversion means for arranging the position of the target at the time of distance measurement as the second detection point on the two-dimensional coordinates, speed measurement means for measuring the speed of the own vehicle, and steering of the steering wheel of the own vehicle. Rudder angle measuring means for measuring the angle,
Position change amount storage means for storing the position change amount on the two-dimensional coordinates of the stationary target generated by the turning of the host vehicle per unit time corresponding to the speed of the host vehicle and the steering angle of the steering wheel, Assuming that the target corresponding to the first detection point arranged on the two-dimensional coordinates is a stationary target, the position change amount corresponding to the steering angle of the steering wheel and the speed of the host vehicle Prediction position calculating means for calculating a prediction point on the two-dimensional coordinate at the next distance measurement time based on the distance measurement time interval, and a prediction range based on the second detection point are set for the target. Prediction range setting means for comparing the prediction point and the prediction range, the stationary target determination means for determining the target corresponding to the prediction point existing in the prediction range as a stationary target Vehicle surroundings detection device.
車両周辺検知装置において、静止物標判定手段は予測範
囲内に存在する現在の測距時点における物標を静止物標
の候補とし、所定の測定時間間隔後の次回の測距時点に
おいても静止物標の候補と判定されたときに上記物標を
静止物標とすることを特徴とする車両周辺検知装置。9. The vehicle periphery detection device according to any one of claims 1 to 8, wherein the stationary target object determination means sets the target object at the current distance measurement existing within the prediction range as a stationary target object. A vehicle surroundings detection device, wherein the target is a stationary target when the target is determined to be a candidate for the stationary target even at the next distance measurement time after a predetermined measurement time interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18410295A JP3209392B2 (en) | 1995-07-20 | 1995-07-20 | Vehicle periphery detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18410295A JP3209392B2 (en) | 1995-07-20 | 1995-07-20 | Vehicle periphery detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0933642A true JPH0933642A (en) | 1997-02-07 |
| JP3209392B2 JP3209392B2 (en) | 2001-09-17 |
Family
ID=16147437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18410295A Expired - Fee Related JP3209392B2 (en) | 1995-07-20 | 1995-07-20 | Vehicle periphery detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3209392B2 (en) |
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