JPH11352228A - Rear monitor system for use in vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid making a misjudgment in which even a stationary object is determined as an approaching object and lessen a process burden of an entire system. SOLUTION: This rear monitor system identifies objects present in the rear and sideways of one's vehicle by an object identification means 6, on the basis of positional information on wave reflection points detected by a rear sensor 2 and a side sensor 20. Determining means 7, 8 calculate a relative speed of the identified object to the vehicle, thereby determining whether or not the identified object is approaching from the rear of the vehicle. A stationary object- determining means 6C measures a time difference after the side sensor 20 detects the object sideways of the vehicle, before the rear sensor 2 detects the object. The relative speed of the object is calculated on the basis of the measured time difference. When the object sideways of the vehicle is determined as a stationary object, the determining means 7, 8 eliminate objects at a side further out than the determined stationary object, when calculating the relative speed or eliminate from objects to be determined whether they are approaching objects or not.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular rear monitor system for detecting a moving object behind a host vehicle in a vehicle such as an automobile.

[0002]

2. Description of the Related Art Conventionally, there has been known a vehicular rear monitor system which detects the presence of a moving object approaching from behind a vehicle in a vehicle and alerts a driver. In such a vehicle rear monitor system, position information of an object existing behind the host vehicle is acquired by a rear sensor such as a laser radar or an ultrasonic sensor, and a relative speed of the object with respect to the host vehicle is calculated based on the position information. It has become. Then, it is determined whether or not the object is approaching the own vehicle based on the sign of the relative speed.

In other words, a detection wave such as a laser or an ultrasonic wave is output toward the rear of the host vehicle, and a reflected wave which responds to each detection wave is captured, whereby the position of the wave reflection point behind the host vehicle is detected. Can be detected. Then, the object is identified as a set of a plurality of wave reflection points, and the relative speed of the identified object with respect to the own vehicle is calculated,
If the relative speed is positive, it can be determined that such an object is approaching. If the calculated relative speed is equal to the vehicle speed of the host vehicle and the direction is opposite, the object can be determined to be a stationary object.

[0004] Based on such a determination result, the driver of the host vehicle is informed that an object (usually an automobile) is approaching from behind by a visual display such as an alarm lamp or an alarm buzzer, or an audio display. You can be notified by display.

[0005]

However, the ability of the rear sensor using the above-described wave to detect the position of the wave reflection point is not always constant. For example, a color or material that does not easily reflect the wave is used. When the shape of the reflection surface is unstable or the like, a detection error may occur in the wave reflection point position information depending on the properties of the detected object. For example, as shown in FIG.
In the case of a stationary object having an unstable shape such as an implant, the reflection point may change between the previous detection and the current detection. If the relative speed is calculated based on the wave reflection point position information from such different reflection points, there is a possibility that the object may be determined to be an approaching object in spite of being a stationary object.

As described above, detecting a stationary object as an approaching object provides erroneous information to the driver, lowering the reliability of the entire system,
It will make the driver feel uncomfortable. In addition, for objects determined to be stationary objects, thereafter, it is possible to reduce the burden of calculation processing by excluding from the target of calculation of the relative velocity, or the target of determination of an approaching object. Since objects directly outside the vehicle have little direct influence on the own vehicle, they can be excluded from the calculation target of the relative speed and the like. However, if a stationary object is erroneously determined as an approaching object, such an effect of reducing the processing load cannot be obtained.

Japanese Unexamined Patent Publication No. 5-205198 aims to minimize the risk of erroneous detection by not collecting obstacle detection data from an area where it is not necessary to detect an obstacle. The disclosed technology is disclosed. In this technology, an ultrasonic sensor provided on the side of the host vehicle detects an installed object such as a guardrail present on the side of the host vehicle,
The detection data is not collected outside the installed object. However, the object existing on the side of the own vehicle is not always a stationary object such as a guardrail, and there may be a vehicle running in parallel. Therefore, it is necessary to determine whether the object existing on the side of the own vehicle is a stationary object.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and it is possible to avoid erroneous determination of an approaching object despite being a stationary object, and to reduce the processing load of the entire system. It is an object of the present invention to provide a rear monitor system for a vehicle, which is made possible.

[0009]

Therefore, in the vehicle rear monitor system of the present invention, a plurality of detection waves are output from the rear of the host vehicle to different regions by the rear sensor, and each detection wave is output. The position of the wave reflection point behind the host vehicle is detected by capturing the reflected wave that responds to the vehicle, and the side sensor outputs the detection wave from the side of the host vehicle to generate the reflected wave that responds to the detection wave. Thus, the position of the wave reflection point on the side of the own vehicle is detected. Then, based on the wave reflection point position information detected by the rear sensor and the side sensor, the object identifying means identifies an object existing behind the vehicle and on the side of the vehicle, and the determining means identifies the object. The relative speed of the object identified by the means with respect to the own vehicle is calculated, and it is determined whether or not the identified object is an approaching object from behind the own vehicle.

At this time, the stationary object discriminating means measures a time difference from when the side sensor detects the object located on the side of the own vehicle to when the rear sensor detects the object, and based on the measured time difference, the relative speed of the object is determined. To determine whether the object on the side of the host vehicle is a stationary object, and when it is determined that such an object is a stationary object, the determining means is more outward than the determined stopped object. The object located is excluded from the target for calculating the relative speed, or is excluded from the target for determining the approaching object.

This prevents erroneous determination of an approaching object despite being a stationary object, and reduces the processing load on the entire system.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a vehicle rear monitor system according to an embodiment of the present invention; FIG. As shown in FIG. 2, the rear monitor system for a vehicle includes a laser radar 2 as a rear sensor that detects an object existing behind the host vehicle at a predetermined position (for example, above a trunk lid) of a vehicle (automobile) 1. I have it. The laser radar 2 has a predetermined period T (for example, 100 msec /
Of the laser radar 2 from the transmitting part of the laser radar 2 until the laser light is reflected by the object and returns to the receiving part (wave reflection point information). Obtain and detect the position of the wave reflection point. Here, it is assumed that the laser radar 2 rotates right by 180 degrees from the right side of the vehicle to the left side, and acquires data for each rotation angle from 0 degrees to 180 degrees. For example, if θ = 1 degree, 181 data are acquired in one cycle, such as 0 degree, 1 degree, 2 degrees,.

At predetermined positions on both left and right sides of the vehicle 1, there are provided ultrasonic sensors 20 as side sensors for detecting an object present on the side of the vehicle. Here, the ultrasonic sensor 20 is oriented 90 degrees with respect to the traveling direction, that is, oriented right beside, so that the distance between the ultrasonic sensor 20 and the laser radar 2 in the longitudinal direction of the vehicle 1 is X _0. The position of the wave reflection point can be detected from the response time until the emitted ultrasonic wave is reflected back to the object.

FIG. 3 is a diagram showing the detection range of the laser radar 2 and the ultrasonic sensor 20 in the rear monitor system for a vehicle, and the laser radar 2 extends from the right side to the left side of the vehicle behind the host vehicle 1. a range of 180 degrees, a width direction, so as to detect before and after a certain range is limited to a direction both (rear sensor detection area) in a _B. The reason why the limit the detection range of the laser radar 2 is to eliminate the wave reflection point information from an object far no influence on the running of the vehicle 1, the rear sensor detection area A _B out Even if a reflected wave from an object is received, it is not regarded as detection data.

On the other hand, the ultrasonic sensor 20 does not perform detection over a wide range like the laser radar 2,
The detection is performed only in one direction to which the ultrasonic sensor 20 is directed. However, since the ultrasonic wave is not as highly directional as a laser and is transmitted in a certain range (about 15 degrees), the detection range (side sensor detection area) A _R ,
_AL also has a certain extent. Also, the installation position of the ultrasonic sensor 20, the rear sensor detection area A _B and the side sensor detection area A _R, and the A _L is set so as not to interfere.

The detection data acquired by the laser radar 2 and the ultrasonic sensor 20 respectively correspond to the control EC inside the vehicle 1.
The data is input to U10. The instrument panel inside the vehicle 1 is provided with an alarm lamp 11 and an alarm buzzer 12, which are turned on or emit an alarm sound according to the output of the control ECU 10. Control E
The configuration of the CU 10 will be described.
As shown in FIG. 1, a laser radar communication unit 3, a laser radar control unit 4, a data conversion unit 5, an ultrasonic sensor communication unit 21, an input data processing unit 22, an object recognition selection unit (object identification unit) 6, It comprises a relative speed calculation section 7, an alarm determination section 8, and an output processing section 9. The relative speed calculation unit 7 and the alarm determination unit 8 constitute a determination unit.

The laser radar communication unit 3 includes a control ECU 10
Is an interface when communicating with the laser radar 2, and the laser radar control unit 4 has a function of controlling the scan cycle and timing of the laser radar 2,
The laser radar 2 is controlled via the laser radar communication unit 3 so as to acquire data at the above-described predetermined period T and the predetermined rotation angle θ. Then, the detection data acquired by the laser radar 2 is input to the data conversion unit 5 via the laser radar communication unit 3.

The data conversion unit 5 calculates the distance between the vehicle and the detection point (wave reflection point) based on the detection data obtained by the laser radar 2, that is, the response time, and further calculates the distance, the rotation angle, and the like. , The relative position with respect to the host vehicle is calculated, and the positions of the detection points are plotted on a map represented by XY coordinates (hereinafter referred to as an XY map). The detected point information (wave reflection point position information) plotted on the XY map is stored in the object recognition selecting unit 6.
Is input to

On the other hand, the ultrasonic sensor communication unit 21
The interface when the CU 10 communicates with the ultrasonic sensor 20. The detection data acquired by the ultrasonic sensor 20, that is, the response time of the ultrasonic wave between the host vehicle and the detected object is determined by the ultrasonic sensor communication. The data is input to the input data processing unit 22 via the unit 21. Then, the input data processing unit 22
Calculates the distance (wave reflection point position) between the host vehicle and the detection point based on the detection data acquired by the ultrasonic sensor 20. Also, the input data processing unit 22 includes:
An output signal from the wheel speed sensor 13 used for the ABS is also input as vehicle speed information. The distance information of these detection points and the vehicle speed information of the own vehicle are input to the object recognition selecting unit 6.

The object recognition selecting unit 6 recognizes an object present behind the host vehicle based on the detection point information input from the data conversion unit 5 and the input data processing unit 22, and determines a stationary object. A processing target for calculating the relative speed is selected based on the recognition result and the determination result. First, the recognition of an object existing behind the host vehicle will be described.
The group setting of the detection points on the XY map is performed by the group setting unit 6A which is the functional element. The group setting by the group setting unit 6A is X
A detection point group that is continuous among a plurality of detection points plotted on the Y map, that is, a detection point group in which each detection point is obtained as continuous data and the distance between the detection points falls within a certain distance, If they exist, they are considered as belonging to the same group and are grouped.

[0021] For example, as shown in FIG. 4 (a), in the vehicle behind the rear sensor detection area A in _B, and that the detection point p _n ~p _n + ₅ by the laser radar 2 has been acquired. In this case, since the detection points _{pn to pn + 5} are continuous data and the distance between the detection points is also within a certain distance, the same group G _{1 as} shown in FIG. , That is, they are regarded as the same object and are grouped.

[0022] group setting is completed, the object recognition selecting unit 6 is further adapted to identify the shape of the object corresponding to the detection point group G ₁ which is a group set by the shape identifying unit 6B is its functional elements I have. That is, the shape specifying unit 6B, as shown in FIG. 4 (c), sets the minimum window S ₁ of the detection point p _n ~p _n + ₅ belonging to the detection point group G ₁ is enclosed all. Then, the four corners of the coordinate values of the window length L and width W respectively calculated window S ₁ set, it is to identify the shape of the object corresponding to the detection point group G _1. The object recognition selection unit 6
From the shape specified in this manner, the rear sensor detection area A _B
It recognizes objects that exist inside.

Next, a description will be given of the determination of a stationary object.
Since a stationary object is to be moved rearward from forward relative vehicle, always lateral sensor detection area A _R before entering the rear sensor detection area A in _B, and passes through the A _L. Then, the object recognition selecting section 6 uses the stationary object discriminating section (stationary object discriminating means) 6C, which is a functional element, to pass an object present on the side of the own vehicle through the side sensor detection areas A _R , _AL . based on the difference in time into the rear sensor detection area a in _B after, it is adapted to determine whether the object is a stationary object.

Here, a specific example will be described with reference to FIGS.
More specifically, as shown in FIG.
When the object 40 exists on the front right side,
The object 40 relatively approaches the host vehicle 1, and eventually, FIG.
As shown in (b), the side sensor detection area A_RInward
Enter. At this time, in the ultrasonic sensor 20, the detection point p _S
Is detected as reflection point position information. Stationary object discriminator 6
C from the own vehicle 1 based on the detected reflection point position information
Detection point p_SDistance d in the Y direction to₁, And
Start the internal timer.

[0025] Furthermore the vehicle 1 travels forward, the object 40 is moved relatively in the rear, and eventually, as shown in FIG. 5 (c), enters the rear sensor detection area A in _B. At this time, the laser radar 2 first detects the reflection point position information from the detection point p ₀ at the initial rotation angle (that is, 0 degrees). The stationary object determination unit 6C stores the timer value t at the time this reflection point position information is detected, from the vehicle 1 based on the detected reflection point position information to the detection point p ₀ Y-direction distance d ₂ is calculated and compared with the distance d _{1 in} the Y direction detected by the ultrasonic sensor 20.

When the object detected by the ultrasonic sensor 20 and the object detected by the laser radar 2 are the same object, distances d ₁ and d _{1 in} the Y direction calculated based on the respective detected information.
₂ is approximately equal. Therefore, | d ₁ −d ₂ | <d ₀ (d
₀ : threshold value), the stationary object discriminating unit 6C regards the detection point p _S and the detection point p ₀ as being the same side surface of the same object, and performs the laser operation after the ultrasonic sensor 20 detects the object. Time t until radar 2 detects an object and ultrasonic sensor 2
0, the relative speed V _{r of the} object 40 with respect to the own vehicle 1 (V _r = X ₀ / t) is calculated from the distance X ₀ between the laser radars 2.

Next, the stationary object discriminating unit 6C calculates a speed difference between the calculated relative speed _Vr and the vehicle speed V of the host vehicle 1. If the difference | V−V _r | is smaller than a predetermined threshold value V ₀ , the object 40 is determined to be a stationary object. Next, the selection of the processing target of the relative velocity calculation will be described. The object recognition selection unit 6 is determined by the stationary object determination unit 6C from the objects recognized in the processing by the group setting unit 6A and the shape identification unit 6B. The processing target is selected based on the positional relationship with the stationary object. In other words, when a stationary object exists on the side of the own vehicle, the object existing outside the stationary object is prevented from approaching the own vehicle by the stationary object existing between the own vehicle and the own vehicle. There is no direct effect on Therefore, such an object is excluded from the processing of the relative speed.

[0028] For example, as shown in FIG. 6, the object 31 is detected in the rear sensor detection area A in _B, also intended to stationary object 40 is detected on the right side of the vehicle 1. In this case, the object recognition selecting unit 6
Non-detection area of the right outer side than (in the figure, indicated by hatching) A _N
Set, the object present in the non-detection area A _N are excluded from the relative speed of the processing target. Therefore, here, only the object 32 is selected as a relative speed processing target.

In the relative speed calculating section 7, the object recognition selecting section 6
The relative speed of the processing target selected in (1) is calculated as follows. First, it is determined in the relative speed calculation unit 7, whether selected been processed is present in the warning area A _C of the vehicle rear. The warning area A _C, the own vehicle means a range to be aware of when such a lane change, in advance a range in the XY map is set when the moving object backward is approaching the subject vehicle ing. If part of the detection points belonging to an object to be processed is located within the alarm area A _C determines that the object has entered the warning area A _C. Then, for each object that has entered the warning area A _C, calculates a relative speed with respect to the vehicle.

The relative speed is calculated based on the amount of movement of the object on the XY map. That is, since the position of the detection point of the XY map is updated every scan cycle T of the laser radar 2, the position of the object in the previous cycle is compared with the position of the object in the current cycle, and the movement of the object during the cycle T is performed. The amount is determined and used as the relative speed. Note that the identity between the object in the previous cycle and the object in the current cycle is determined based on the correspondence between the width W and the length L of the object calculated by the shape specifying unit 6B.

[0031] In the case of FIG. 6, if any of the detection points belonging to the object 32 enters within the alarm area A _C, object 32
Is determined to have entered the alarm area, and X
The relative speed is calculated by calculating the moving amount of the object 32 on the Y map. The alarm determining means 8, based on the size of the relative speed of the object present in the calculated alarm area A _C at a relative speed calculation unit 7, so that it is determined whether or not issue a warning. In other words, when the relative speed is greater than 0, it is determined that the object is approaching the own vehicle, and when the relative speed is 0 or less, the object is determined to be running parallel to or away from the own vehicle. judge. When it is determined that the vehicle is approaching the vehicle, an alarm signal is output to the output processing unit 9.

In the output processing section 9, when an alarm signal from the alarm judging means 8 is inputted, an alarm sound is generated from an alarm buzzer 12 and an alarm lamp 11 provided in the instrument panel is turned on. . Alarm buzzer 12
Generates an alarm sound only for the first few seconds, and thereafter, only the alarm lamp 11 is turned on. FIG.
As shown in the figure, the warning lamp 11 is provided so that it can be grasped from which side of the vehicle the moving object is approaching.
LED lamps 1 on each of the left and right sides of symbol 15 showing the vehicle
1L and 11R are provided. The approach direction of the moving object is determined by referring to the Y coordinate value of the detection point group corresponding to the moving object on the XY map.

[0033] In the case shown in FIG. 6, when the object 32 approaches the vehicle 1 in the alarm area A _C, left LED lamp 11L is lit with the alarm buzzer 12 emits an alarm sound, an object from the left rear to the driver Alerts you that you are approaching. Since the vehicle rear monitor system according to one embodiment of the present invention is configured as described above, for example, a moving object approaching from behind the host vehicle in a control flow as shown in FIGS. 8, 9, and 10. Is to be detected.

First, as shown in FIG. 8, when starting the control, all the data such as the positions of the detection points on the XY map are initialized (step S100). This process is performed only for the first time, and thereafter, the processes of steps S200 to S700 are repeated. In step S200, control after step S300 is performed for a fixed period T (here, 10
0 msec), a timer (not shown) is counted, and when the timer value reaches 100 msec, the process proceeds to step S300. The timer value is 1
Cleared at the same time as counting 00msec,
The counting up to 0 msec is started.

In step S200, a fixed period (10
(0 msec) After the elapse of T, the laser radar control unit 4 rotates the laser radar 2 from 0 degree to 180 degrees, and acquires data on the object existing behind at every predetermined rotation angle θ (step S300). Further, data on an object existing on the side of the own vehicle is acquired by the ultrasonic sensor 20 (step S400).

Then, based on the detection data obtained by the laser radar 2 and the ultrasonic sensor 20, it is determined whether or not an alarm is issued for an object existing behind or on the side (step S500). The determination in step S500 is performed as shown in FIG. First, the data conversion unit 5 calculates the relative position of the detection point with respect to the own vehicle based on the distance between the own vehicle and the detection point obtained from each detection data acquired by the laser radar 2 and the rotation angle θ of the laser radar 2. Then, the position of the detection point is plotted on the XY map (step S510).

In the input data processing unit 22,
The detection data acquired by the ultrasonic sensor 20 is filtered, and the distance between the vehicle and the detection point, which is obtained from the effective detection data, is calculated (step S520). Then, in the object recognition selecting unit 6, first, when there are continuous detection points among a plurality of detection points plotted on the XY map by the group setting unit 6A, they are regarded as belonging to the same group and grouped. I do. When the group setting is completed for all the detection points on the XY map,
The shape specification unit 6B sets a minimum window in which all the detection points belonging to the detection point group are included, and specifies the shape of the object corresponding to the detection point group (step S530).

When the group setting and the shape specification have been completed for all the detected points and the object existing behind the host vehicle has been recognized, next, an object for calculating the relative speed is selected from the recognized objects (step S540). ). This selection process
This is performed as shown in FIG. First, in the stationary object determining unit 6C, when the ultrasonic sensor 20 detects the reflection point position information in the current control cycle (step S541),
If the ultrasonic sensor 20 has not detected the reflection point position information in the previous control cycle (step S54)
2) Start the internal timer and calculate the distance from the vehicle to the reflection point (step S543).

On the other hand, when an object is detected by the laser radar 2 (step S544), the shape specifying unit 6B determines whether the detected object is the same as the object detected by the laser radar 2 in the previous control cycle. A determination is made based on the shape (step S545). If an object different from the object detected in the previous control cycle is detected, it is calculated whether or not it is the same object as the object detected by the ultrasonic sensor 20. The determination is made based on the distance between the own vehicle and the reflection point (step S546).

The above determination is based on the rear sensor detection area A _C
(Step S5)
54). If it is determined in step S546 that the objects are the same, the timer is stopped (step S547),
The time from when the object is detected by the ultrasonic sensor 20 to when the object is detected by the laser radar 2 is measured to calculate the relative speed of the detected object with respect to the own vehicle (step S54).
8). Calculated object relative velocity and compared with the speed of the vehicle, if the difference is smaller than the threshold value V ₀ (step S5
49), the detected object is determined to be a stationary object (step S550).

[0041] Then, when the detected object is determined to be a stationary object, the object recognition sorting section 6, another object present in the rear sensor detection area A _C (step S
551), discriminated outward from stationary objects, i.e., present in the non-detection area A _N whether determined (step S55
2) The objects existing in the non-detection area A _N are excluded from the processing target (step S552),
Select the relative speed calculation target.

Referring again to FIG. 9, when an object to be processed is selected, the relative speed calculating means 7 first determines whether or not the selected object has entered the alarm area (step S1). S560). Then, for the object that has entered the warning area, the position in the previous cycle is compared with the position in the current cycle, and the amount of movement during the cycle T is calculated to calculate the relative speed with respect to the own vehicle (step S570).

If the calculated relative speed is greater than 0, the alarm determination section 8 determines that the selected object is approaching the vehicle and issues an alarm (step S580). Referring again to FIG. 8, when it is determined that an alarm is to be issued, the alarm lamp 11 provided in the instrument panel is turned on (step S600), and at the same time, an alarm sound is generated from the alarm buzzer 12 (step S7).
00).

As described above, according to the rear monitor system for a vehicle, an object that moves from front to rear relative to the host vehicle is detected by the ultrasonic sensor 20,
Since the relative speed can be calculated based on the time difference between the detection times detected by the laser radar 2, accurate detection can be performed without being affected by the shape or color of the detected object as in a conventional vehicle rear monitor system. There is an advantage that it is possible to determine whether the object is a stationary object or not, and to avoid erroneously determining the stationary object as a moving object.

Further, since the objects existing outside the stationary object are excluded from the calculation of the relative speed later, the load of the calculation processing of the whole system can be reduced and the vehicle can be directly controlled by the own vehicle. Since the approach determination can be performed by focusing only on the affected objects, there is an advantage that more accurate determination can be performed. Further, the rear monitor system for a vehicle can be configured by simply adding a side sensor such as an ultrasonic sensor to a conventional rear monitor system for a vehicle having a rear sensor such as a laser radar, thereby increasing costs. There is also an advantage that the above-mentioned effect can be obtained without performing the above.

It should be noted that the present invention is not limited to the above-described embodiment, but can be implemented in various modifications without departing from the spirit of the present invention. And any other device that can detect the position of the wave reflection point on the side of the vehicle by capturing the reflected wave that responds to the detection wave, and other than the ultrasonic sensor as in the present embodiment. Various detection means such as a laser radar can be used for the device, and the number of the devices installed is not limited to one on the left and right as in the present embodiment, and a plurality of devices can be installed. Similarly, as the rear sensor, various detecting means such as an ultrasonic sensor can be used in addition to the laser radar as in the present embodiment.

Further, in addition to excluding the stationary object from the calculation of the relative speed, the stationary object may be excluded from the judgment of the approaching object.

[0048]

As described above in detail, according to the vehicle rear monitor system of the present invention, a rear sensor for detecting an object existing behind the host vehicle and a side sensor for detecting an object existing on the side of the host vehicle. Since it has a direction sensor, for an object that moves from front to rear relative to the host vehicle,
First, it is detected by the side sensor, then it is detected by the rear sensor, and the relative speed to the host vehicle can be calculated based on the time difference of the detection time. It is possible to determine whether the object is a stationary object or not, and it is possible to avoid erroneous determination of a stationary object as a moving object.

In particular, objects existing outside the stationary object are excluded from the calculation of the relative velocity later, or
Alternatively, since the approaching object is excluded from the determination target, the burden of the calculation processing of the entire system can be reduced, and the approach determination can be performed by narrowing down only the objects directly affecting the own vehicle. There is also an advantage that more accurate determination can be made.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a configuration of a vehicle rear monitor system as one embodiment of the present invention.

FIG. 2 is a diagram showing an example of an arrangement on a vehicle of a vehicle rear monitor system as one embodiment of the present invention and a scan range of a rear sensor.

FIG. 3 is a schematic diagram showing detection ranges of a rear sensor and a side sensor according to the vehicle rear monitor system as one embodiment of the present invention.

FIG. 4 is an explanatory diagram for describing a process of recognizing a rear object according to the vehicle rear monitor system as one embodiment of the present invention, in which recognition processes are performed in the order of (a) to (c).

FIG. 5 is an explanatory diagram for describing a stationary object determination process according to the vehicle rear monitor system as one embodiment of the present invention, in which the determination processes are performed in the order of (a) to (c).

FIG. 6 is an explanatory diagram for describing selection of a processing target according to the vehicular rear monitor system as one embodiment of the present invention.

FIG. 7 is a diagram showing an example of an arrangement of an alarm lamp according to the vehicle rear monitor system as one embodiment of the present invention.

FIG. 8 is a flowchart illustrating an overall flow of an approaching object detection process of the rear monitor system for a vehicle according to an embodiment of the present invention.

FIG. 9 is a flowchart illustrating a flow of a process of determining whether or not the vehicle is an approaching object in the vehicle rear monitor system according to the embodiment of the present invention;

FIG. 10 is a flowchart illustrating a flow of a process of selecting a vehicle rear monitor system according to an embodiment of the present invention.

FIG. 11 is a schematic diagram for explaining a problem with a conventional vehicle rear monitor system.

[Explanation of symbols]

 Reference Signs List 2 laser radar (rear sensor) 6 object recognition selection unit (object identification unit) 6A group setting unit 6B shape specification unit 6C stationary object discrimination unit (stationary object discrimination unit) 7 relative speed calculation unit as discrimination unit 8 as judgment unit Alarm determination unit 10 ECU 11 Alarm lamp 12 Alarm buzzer 20 Ultrasonic sensor (side sensor)

Claims (1)

[Claims] 1. A rear part for detecting a position of a wave reflection point behind a host vehicle by outputting a plurality of detection waves toward different regions from behind the host vehicle and capturing reflected waves responding to the detection waves. A side sensor for detecting a wave reflection point position on the side of the own vehicle by outputting a detection wave from the side of the own vehicle and capturing a reflected wave responding to the detection wave, and the rear sensor; And object identification means for identifying objects behind the host vehicle and on the side of the host vehicle based on the wave reflection point position information detected by the side sensor, and the host vehicle of the object identified by the object identification means A determination means for calculating whether or not the object is an approaching object from behind the host vehicle based on the relative speed. The side sensor detects the moving object A time difference from when the object is detected by the rear sensor to calculate a relative speed of the object based on the measured time difference, and determine whether the object is a stationary object based on the calculated relative speed. When the stationary object determining unit determines that the object is a stationary object, the determining unit determines from the calculation target of the relative velocity for an object located outside the stationary object. A rear monitor system for a vehicle, characterized in that the rear monitor system is excluded or excluded from a determination target of the approaching object.