WO2013024509A1

WO2013024509A1 - Object detection device

Info

Publication number: WO2013024509A1
Application number: PCT/JP2011/004596
Authority: WO
Inventors: 井上　悟; 睦生関谷
Original assignee: 三菱電機株式会社
Priority date: 2011-08-16
Filing date: 2011-08-16
Publication date: 2013-02-21
Also published as: DE112011105533T5; JPWO2013024509A1; JP5710000B2; DE112011105533B4

Abstract

A reflective wave of a transmission signal of an ultrasonic wave from an obstacle (100) is acquired through direct and indirect transceiving; a candidate position for the point of reflection and amplitude data of the reflective wave from the candidate position are mapped in 3D, on the basis of propagation distance data for the transceiving of the ultrasonic wave signal and of amplitude data of the reflective wave, on a detection area of a distance sensor group (Sgn); and a position and shape of the obstacle (100) are determined and displayed on the basis of the 3-D mapping data.

Description

Object detection device

The present invention relates to an object detection device that detects an object using a distance sensor.

The conventional object detection device disclosed in Patent Document 1 is a distance sensor that transmits a reflected wave that is reflected by an obstacle outside the vehicle and is transmitted from a plurality of distance sensors provided in the vehicle. The presence and shape of the obstacle are determined by direct detection.

JP 7-260933 A

In the conventional technique represented by Patent Document 1, circles centering on the position of a distance sensor whose radius is the distance to the obstacle are defined by a plurality of distance sensors, and the intersection of these circles is reflected on the obstacle. It is supposed to be a point.
However, this method requires that the detection areas of each other overlap so that two circles of at least two distance sensors intersect. For this reason, when the installation interval of the distance sensor is too wide, there is a problem that the intersection of two circles cannot be obtained and the position of the obstacle cannot be determined.
Further, when the number of installed distance sensors is increased in order to reduce the distance between the distance sensors, the installation work of the distance sensors to the vehicle becomes complicated and the cost of the entire apparatus increases.
Furthermore, in an obstacle having a surface inclined with respect to the distance sensor, the reflected wave does not return in the direction of the distance sensor that is the transmission source of the ultrasonic signal, and thus there is a problem that the reflected wave cannot be directly detected by the distance sensor. there were.

The present invention has been made to solve the above-described problems, and can improve the detection accuracy of obstacles without causing an increase in distance sensors. Furthermore, various shapes of detected obstacles can be obtained. It is an object to obtain an object detection device capable of detecting

The object detection device according to the present invention directly receives a reflected wave from an object of a predetermined signal transmitted individually by each distance sensor in the distance sensor group by the same distance sensor that transmitted the predetermined signal. From a direct wave signal storage unit for storing propagation distance data and reflected wave amplitude data in transmission / reception of a predetermined signal obtained in this manner, and an object of a predetermined signal transmitted individually by each distance sensor in the distance sensor group Propagation distance data and reflected wave amplitude in transmission / reception of a predetermined signal obtained by indirectly receiving the reflected wave of the predetermined signal by any one of the distance sensors other than the distance sensor that transmitted the predetermined signal. An indirect wave signal storage unit for storing data, and propagation distance data and amplitude data stored in the direct wave signal storage unit and the indirect wave signal storage unit, respectively. The distance sensor data mapping unit and the distance sensor data mapping unit that map the candidate position of the reflection point of the object and the amplitude data of the reflected wave from the candidate position on the detection area of the distance sensor group are generated Based on the three-dimensional mapping data indicating the candidate position of the reflection point and the distribution of the amplitude data of the reflected wave from the candidate position, the detection object determination unit for determining the position and shape of the object, and on the detection area of the distance sensor group The display coordinate conversion unit that converts the coordinate system to the display coordinate system of the monitoring range that displays the object at the position and shape determined by the detected object determination unit, and the display coordinate system that is converted by the display coordinate conversion unit. The display part which displays.

According to the present invention, it is possible to improve obstacle detection accuracy without causing an increase in the distance sensor, and it is possible to detect various shapes of the detected obstacle.

It is a block diagram which shows the basic structural example of the object detection apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of arrangement | positioning of a distance sensor group. 1 is a block diagram illustrating a main configuration of an object detection device according to Embodiment 1. FIG. It is a figure which shows arrangement | positioning of a distance sensor, and its effective detection area. 3 is a flowchart illustrating an operation of the object detection device according to the first embodiment. It is a figure which shows an example of direct transmission / reception. It is a figure which shows an example of indirect transmission / reception. It is a figure which shows the threshold value determination of amplitude data, and determination of the maximum amplitude value. It is a figure which shows the example (cylindrical object) of a three-dimensional mapping. It is a figure which shows the example (flat object) of three-dimensional mapping. It is a figure which shows the example (tilted flat object) of the three-dimensional mapping. It is a figure which shows the example (plate-shaped object) of an amplitude addition process. It is a figure which shows the example (inclined flat plate-shaped object) of an amplitude addition process. It is a figure which shows the relationship between a propagation distance and an amplitude correction value. It is a figure which shows the example of identification of distribution of the candidate position of a reflective point. It is a figure which shows the display conversion process of the monitoring range according to the movement of a vehicle.

Hereinafter, in order to describe the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram illustrating a basic configuration example of an object detection device according to Embodiment 1 of the present invention, and illustrates a case where the object detection device is mounted on a vehicle as an example of a moving body. FIG. 2 is a diagram showing an example of the arrangement of distance sensor groups. As shown in FIG. 1, the object detection device 1 according to the first embodiment is a device that detects an obstacle existing around a vehicle using distance sensor groups Sg1,..., Sgn, and includes a processing unit. 2, a notification unit 3, a GPS (Global Positioning System) sensor 4, a wheel speed sensor 5, a steering angle sensor 6, and a camera 7.

Each of the distance sensor groups Sg1,..., Sgn is composed of a plurality of distance sensors arranged along a predetermined direction (such as a horizontal direction or a vertical direction of the vehicle). For example, in the distance sensor groups Sg 1 and Sg 2 shown in FIG. 2, a plurality of distance sensors are disposed along the horizontal direction of the vehicle 8 in the bumper portions at the rear and front of the vehicle 8.
The distance sensor is a sensor that transmits a predetermined signal to the outside of the vehicle and receives a reflected wave reflected by an object such as the obstacle 100. Examples of the predetermined signal include an ultrasonic signal, a laser beam, and a radio wave. In the following description, it is assumed that the distance sensor is an ultrasonic sensor.

The processing unit 2 is a processing unit that calculates the position and shape of an object existing around the vehicle 8 using detection information of the distance sensor groups Sg1,..., Sgn. The functional configuration includes a distance sensor data processing unit 21, a position determination unit 22, a distance sensor data mapping unit 23, a detected object determination unit 24, and a display coordinate conversion unit 25.
The distance sensor data processing unit 21 controls the timing of transmission / reception of ultrasonic signals by the individual distance sensors in the distance sensor groups Sg1,..., Sgn, and reflects the ultrasonic signals reflected by objects existing around the vehicle 8. The reflected distance data and the amplitude data of the reflected wave are detected and stored based on the reflected wave whose amplitude exceeds the threshold.
The position determination unit 22 determines the movement position of the vehicle 8 (own vehicle) and the positions of the distance sensors of the distance sensor groups Sg1, ..., Sgn based on the GPS information, the wheel speed data, or the steering angle.

The distance sensor data mapping unit 23, based on the propagation distance data obtained by the distance sensor data processing unit 21 and the amplitude data of the reflected wave, the candidate position of the reflection point of the object reflecting the ultrasonic signal (transmission signal), and this The amplitude data of the reflected wave (received signal) from the candidate position is mapped onto the detection area of the distance sensor group.
The detected object determination unit 24 determines the position and shape of the object based on the candidate position of the reflection point and the three-dimensional mapping data indicating the distribution of the amplitude data of the reflected wave from the candidate position.
The display coordinate conversion unit 25 displays a display coordinate system (display) in an arbitrary monitoring range in which an object is set in advance at the position and shape determined by the detection object determination unit 24 from the two-dimensional coordinate system on the detection area of the distance sensor group. (Display coordinate system on the screen of the unit 31).

The notification unit 3 detects an object existing around the vehicle 8 such as the obstacle 100 and notifies the degree of danger according to the distance of the object from the vehicle 8. The notification method includes a visual method using the display unit 31 and an auditory method using the audio output unit 32. The sound output unit 32 may emit a warning such as a buzzer.
As a visual notification method, the display unit 31 displays the position and shape of the object in the monitoring range in the display coordinate system converted from the two-dimensional coordinate system on the detection area by the display coordinate conversion unit 25.
Further, the display unit 31 may perform a display indicating the degree of danger when an object approaches within a predetermined distance from the vehicle 8. For example, when an object approaches within a predetermined distance from the vehicle 8, the object is highlighted and distinguished from that. The highlighting only needs to represent the degree of danger due to the approach of the object, and may include displaying the object image itself or its outline in a different color (red or other color representing the danger or emission color). Moreover, you may display by the telop and icon which are not shown in figure.
As an audible notification method, the sound output unit 32 notifies, for example, that an object has approached within a predetermined distance from the vehicle 8 and the distance thereof by sound. Further, an alarm such as a buzzer may be output by changing the volume and frequency stepwise according to the distance to the vehicle 8.

The GPS sensor 4 receives GPS radio waves from GPS satellites and specifies the position of the vehicle 8.
The wheel speed sensor 5 includes a wheel speed sensor L and a wheel speed sensor R provided on the left and right rear wheels of the vehicle 8, respectively, and detects the rotational speed of each wheel (hereinafter referred to as the wheel speed).
The steering angle sensor 6 is a sensor that detects a steering operation angle (hereinafter referred to as a steering angle) by a driver of the vehicle 8.
The camera 7 is a photographing unit that photographs the situation around the vehicle 8, and includes a front camera provided in front of the vehicle 8, a rear camera provided in the rear part, and the like. In addition, the camera 7 captures the surrounding situation of the vehicle 8 using the detection area of the distance sensor group as an imaging target. The display unit 31 superimposes and displays an object image at the position and shape determined by the detected object determination unit 24 on an object such as the obstacle 100 reflected in the image of the detection area captured by the camera 7.

FIG. 3 is a block diagram illustrating a main configuration of the object detection apparatus according to the first embodiment. As shown in FIG. 3, the distance sensor data processing unit 21 is connected to the distance sensors S1 to S4 constituting the distance sensor group Sgn, and controls the timing of transmission / reception of ultrasonic signals by the distance sensors S1 to S4. Stores propagation distance data and amplitude data of reflected waves (reception signals) in transmission / reception of sound wave signals.
As a functional configuration thereof, a transmission unit 211a, a reception unit 211b, a full wave rectification unit 212, a threshold value determination unit 213, a maximum value determination unit 214, a direct wave signal storage unit 215, and an indirect wave signal storage unit 216 are provided.

The transmitter 211a is a component that controls transmission of ultrasonic signals by the distance sensors S1 to S4. For example, the transmission unit 211a transmits ultrasonic pulse signals to the distance sensors S1 to S4 at a predetermined transmission timing, and the distance sensors S1 to S4 transmit ultrasonic signals according to the pulse signals.
The reception unit 211b controls the reception timing by the distance sensors S1 to S4 according to the transmission timing of the transmission unit 211a. For example, the receiving unit 211b is connected to the distance sensors S1 to S4 via the changeover switch, and when any of the distance sensors S1 to S4 transmits an ultrasonic signal, the distance sensor S1 to S4 is used using the changeover switch. The distance sensor that receives the reflected wave of the ultrasonic signal is switched from among them.
Here, the case where the same distance sensor that transmits the ultrasonic signal receives the reflected wave of the ultrasonic signal is referred to as “direct transmission / reception”. A case where a distance sensor other than the distance sensor that transmits the ultrasonic signal among the distance sensors of the distance sensor group receives the reflected wave of the ultrasonic signal is referred to as “indirect transmission / reception”.
The reception unit 211b performs indirect transmission / reception by switching a distance sensor that receives a reflected wave from among the distance sensors in the distance sensor group.
The full-wave rectification unit 212 performs full-wave rectification on the reflected wave amplitude data received by the distance sensors S1 to S4 under the control of the reception unit 211b, that is, converts the data to a positive value when the input signal is a negative value. It is a functional part to do.

The threshold value determination unit 213 transmits amplitude data exceeding the threshold value set according to the propagation distance from when the ultrasonic wave signal is transmitted to when the reflected wave is received from the reflected waves received by the distance sensors S1 to S4. The reflected wave signal is determined and extracted.
The maximum value determination unit 214 determines, for the reflected wave signal extracted by the threshold determination unit 213, a propagation distance from when an ultrasonic signal is transmitted until the reflected wave is received and a maximum amplitude value in a preset time zone. And extract.

The direct wave signal storage unit 215 uses the same distance sensor that transmitted the ultrasonic wave to the reflected wave reflected by the object of the ultrasonic signal that is individually transmitted by each of the distance sensors S1 to S4 in the distance sensor group Sgn. Propagation distance data and reflected wave amplitude data in transmission / reception of ultrasonic signals obtained by direct reception are stored.
The indirect wave signal storage unit 216 transmits the reflected wave reflected by the object from the ultrasonic signals individually transmitted by the individual distance sensors S1 to S4 in the distance sensor group Sgn and the ultrasonic signals in the distance sensor group Sgn. The propagation distance data and the amplitude data of the reflected wave in the transmission / reception of the ultrasonic signal obtained by receiving indirectly by any one distance sensor other than the distance sensor are stored.

The distance sensor data mapping unit 23, based on the data stored in the direct wave signal storage unit 215 and the indirect wave signal storage unit 216, reflects the candidate position of the reflection point in the object to be detected and the amplitude of the reflected wave from this candidate position. Data is mapped onto the detection area of the distance sensor group Sgn. As its functional configuration, a first reflection point candidate position generation unit 231, a second reflection point candidate position generation unit 232, and an addition amplitude value calculation unit 233 are provided.

Based on the propagation distance data and the reflected wave amplitude data stored in the direct wave signal storage unit 215, the first reflection point candidate position generation unit 231 determines the distance from the distance sensor to the object centered on the position of the distance sensor. Assuming that a reflection point exists on the circumference of a circle having a radius as a distance, a three-dimensional mapping is made by mapping the candidate position of the reflection point and the amplitude data of the reflected wave from the candidate position on the detection area of the distance sensor group Sgn. Generate data.
The second reflection point candidate position generation unit 232, based on the propagation distance data stored in the indirect wave signal storage unit 216 and the amplitude data of the reflected wave, the position of the distance sensor that transmitted the ultrasonic signal and the ultrasonic signal Assuming that the reflection point exists on the circumference of an ellipse with the position of the distance sensor that received the reflected wave as two fixed points, the reflection point candidate position and the reflection from the candidate position on the detection area of the distance sensor group Sgn Three-dimensional mapping data obtained by mapping wave amplitude data is generated.
The addition amplitude value calculation unit 233 combines the three-dimensional mapping data generated by the first reflection point candidate position generation unit 231 and the second reflection point candidate position generation unit 232, respectively.

The detected object determination unit 24 is a determination unit that determines the position and shape of an object based on the three-dimensional mapping data calculated by the addition amplitude value calculation unit 233, and includes an identification unit 241 and a position / shape determination unit 242.
The identification unit 241 corrects the amplitude data of the reflected wave in the three-dimensional mapping data according to the propagation distance from when the ultrasonic signal is transmitted until the reflected wave is received, and the reflection point is calculated from the three-dimensional mapping data. Identify the distribution of candidate positions.
The position / shape determining unit 242 distributes the candidate positions of the reflection points obtained based on the degree of concentration of the candidate positions of the reflection points in the distribution identified by the identification unit 241 and the data stored in the direct wave signal storage unit 215. And at least one of the ratio of the distribution of candidate positions of reflection points obtained based on the data stored in the indirect wave signal storage unit 216 and the degree of change in the distance data from the distance sensor to the object The position and shape of the object are determined.

FIG. 4 is a diagram showing the arrangement of distance sensors and their effective detection areas. In the conventional object detection device, distance data to an object is detected based on a signal obtained by so-called direct transmission / reception in which the same distance sensor that has transmitted an ultrasonic signal generally receives the reflected wave signal. In this case, in order to obtain a predetermined detection resolution, as shown in FIG. 4A, it is necessary to narrow the arrangement interval of the distance sensors S1 to S3, and the number of sensors inevitably increases.
The area A1a where the detection areas of the distance sensors S1 to S3 overlap includes an area where the detection areas of the distance sensor S3 do not overlap. In this region, direct transmission / reception is disabled by the distance sensor S3. Similarly, the area A2a where the detection areas of the distance sensors S1 to S3 overlap includes an area where the detection areas of the distance sensor S1 do not overlap. In this area, the distance sensor S1 cannot directly transmit and receive.
On the other hand, in the area A3a where the detection areas of the distance sensors S1 to S3 overlap, the detection areas of the distance sensors S1 to S3 are similarly overlapped, and any of the distance sensors S1 to S3 can directly transmit and receive. Therefore, when detecting by direct transmission / reception, the area Aa including the area A3a becomes an effective detection area.

On the other hand, the object detection device 1 according to the first embodiment performs so-called indirect transmission / reception in which a distance sensor other than the distance sensor that transmits the ultrasonic signal receives the reflected wave in addition to direct transmission / reception. Based on the obtained signal, distance data to the object is detected. In this case, if the direct transmission / reception and the indirect transmission / reception are alternately performed, the arrangement interval of the distance sensors S1 to S3 can be increased as shown in FIG. Thereby, the increase in the number of sensors can be suppressed compared with the case of only direct transmission / reception.
In the area A1b where the detection areas of the distance sensors S1 and S2 overlap, the distance sensors S1 and S2 can directly transmit and receive, and the distance sensors S1 and S2 can also indirectly transmit and receive. Similarly, in the area A2b where the detection areas of the distance sensors S2 and S3 overlap, direct transmission / reception is possible with the distance sensors S2 and S3, and indirect transmission / reception with the distance sensors S2 and S3 is also possible.
On the other hand, in area A3b, the detection area of distance sensor S2 does not overlap with the detection areas of distance sensors S1 and S3, and only direct transmission / reception by distance sensor S2 is possible.
Even with such a distance sensor arrangement, in the present invention, direct transmission / reception and indirect transmission / reception are alternately performed, and thus the area Ab including the areas A1b to A3b becomes the effective detection area.
Therefore, a wider effective detection area can be ensured than in the case of only direct transmission / reception.

Next, the operation will be described.
FIG. 5 is a flowchart showing the operation of the object detection device according to the first embodiment, and the processing from when an ultrasonic signal (transmission signal) is transmitted until the obstacle 100 detected around the vehicle 8 is displayed. Is shown.
First, the transmitting unit 211a transmits ultrasonic pulse signals to the distance sensors S1 to S4 at a predetermined transmission timing, so that the distance sensors S1 to S4 transmit ultrasonic signals according to the pulse signals (step ST1). ).

Next, when the receiving unit 211b does not switch the distance sensor that receives the reflected wave of the ultrasonic signal reflected by the obstacle 100 from the distance sensors of the distance sensor group Sgn (step ST2; NO), direct transmission / reception is performed. Is implemented (step ST3-1).
FIG. 6 is a diagram illustrating an example of direct transmission / reception. For example, the receiving unit 211b directly transmits / receives the default setting of the changeover switch. That is, when the distance sensor that transmitted the ultrasonic signal is the distance sensor S1, the connection between the receiving unit 211b and the distance sensor S1 in the change-over switch is turned on, and the connections of the other distance sensors S2, S3,. ing.
As a result, if the distance sensor that receives the reflected wave is not switched (step ST2; NO), as shown by the arrow in FIG. 6, the distance sensor S1 is selected from the reflected waves of the ultrasonic signal transmitted from the distance sensor S1. The reflected wave signal received at is input to the receiver 211b. The same applies to the other distance sensors S2, S3.
Further, when the distance sensor S1 transmits an ultrasonic signal at time T1 and is reflected by the obstacle 100, and the distance sensor S1 that has transmitted the ultrasonic signal directly receives the reflected wave at time T2, the propagation distance thereof La is obtained by the following formula. That is, the reception unit 211b calculates the propagation distance from the transmission time of the ultrasonic signal and the reception time of the reflected wave. However, V is an ultrasonic wave propagation speed. Note that the distance from the distance sensor S1 to the obstacle 100 is a value half the propagation distance La.
La = (T2-T1) · V

On the other hand, when the distance sensor that receives the reflected wave is switched (step ST2; YES), indirect transmission / reception is performed (step ST3-2).
FIG. 7 is a diagram illustrating an example of indirect transmission / reception. For example, after the distance sensor S1 transmits an ultrasonic signal, the reception unit 211b turns off the connection with the distance sensor S1 and turns on the connection with the distance sensor S2 using the changeover switch. At this time, in the case of the obstacle 100 as shown in FIG. 7A, the reflected wave reflected by the obstacle 100 from the ultrasonic signal transmitted from the distance sensor S1 is received by the distance sensor S2 and is received by the receiver 211b. Entered.
In the case of the obstacle 100 as shown in FIG. 7B, after the distance sensor S1 transmits the ultrasonic signal, the receiving unit 211b turns off the connection with the distance sensor S1 using the changeover switch. The connection with the distance sensor S3 is turned on. At this time, the reflected wave of the ultrasonic signal transmitted from the distance sensor S1 is received by the distance sensor S3 and input to the receiving unit 211b.
Here, when the distance sensor S1 transmits an ultrasonic signal at time T3 and the distance sensor S2 other than the distance sensor S1 that transmitted the ultrasonic signal indirectly receives the reflected wave at time T4, the ultrasonic wave is transmitted. The propagation distance in signal transmission / reception, that is, the propagation distance Lb from when an ultrasonic signal is transmitted to when the reflected wave is received is obtained by the following equation as in the case of direct transmission / reception.
Lb = (T4-T3) · V

The full wave rectification unit 212 receives amplitude data of reflected waves (hereinafter referred to as direct waves) obtained by direct transmission / reception and amplitude data of reflected waves (hereinafter referred to as indirect waves) obtained by indirect transmission / reception. Each amplitude data is input from 211b, and these amplitude data are full-wave rectified.
That is, the receiving unit 211b detects an ultrasonic reflected wave signal of 40 to 60 kHz from the received signal, and the full-wave rectifying unit 212 performs full-wave rectification on the reflected wave signal to convert it into a pulse signal.

Next, the threshold determination unit 213 compares the amplitude data of the reflected wave signal subjected to full-wave rectification with a preset threshold, and determines and extracts a reflected wave signal having an amplitude value exceeding the threshold (step ST4). ). At this time, based on the direct wave and indirect wave propagation distances La and Lb calculated by the receiving unit 211b, the threshold value determination unit 213 has a threshold value (propagation distance is inversely proportional to the propagation distance as shown in FIG. 8A). The amplitude value is determined using a threshold value that becomes smaller as the length increases.
This takes into account that the amplitude value of the ultrasonic wave attenuates according to the propagation distance. For example, even if the linear distance between the distance sensor and the obstacle 100 is short, depending on the shape of the obstacle 100, the ultrasonic signal may be indirectly transmitted / received at a longer propagation distance than the direct transmission / reception. Even in this case, an appropriate analysis can be performed by determining the amplitude with the threshold corresponding to the propagation distance as described above. The threshold is determined in accordance with, for example, a relationship between the propagation distance and the attenuation amount of ultrasonic waves obtained in advance through experiments or the like.

Next, the maximum value determination unit 214 determines and extracts the propagation distance and the maximum amplitude value in a preset time zone in the transmission / reception of ultrasonic signals for the reflected wave extracted by the threshold determination unit 213 (step ST5). . Here, the preset time zone is the time zone when the reflected wave is received. That is, this corresponds to a time period from the time of detection (reception) timing of the reflected wave shown in FIG. 8B to the elapse of a predetermined maximum value detection time width (Δt).
Note that the threshold value indicated by a broken line in FIG. 8B is the threshold value illustrated in FIG. The maximum value detection time width is substantially equal to the transmission time width of the ultrasonic signal. The maximum value determination unit 214 determines and extracts the maximum amplitude value of the reflected wave in the time zone (Δt) as shown in FIG.

As described above, the propagation distance data and the maximum amplitude value (amplitude data) extracted from the data obtained by the direct transmission / reception by the maximum value determination unit 214 are stored in the direct wave signal storage unit 215. Further, the propagation distance data and the maximum amplitude value extracted from the data obtained by direct transmission / reception are stored in the indirect wave signal storage unit 216. In the three-dimensional mapping described later, since it is necessary and sufficient to use the maximum amplitude value in the reception time zone of the reflected wave, only the maximum amplitude value of the reflected wave is stored. Thereby, the data amount which should be memorize | stored in the memory | storage parts 215,216 can be reduced.

Next, based on the propagation distance data and the amplitude data stored in the direct wave signal storage unit 215, the first reflection point candidate position generation unit 231 has a reflection point candidate position and a reflection point candidate position on the detection area of the distance sensor group Sgn. Three-dimensional mapping data is generated by mapping the amplitude data of the reflected wave from this candidate position (step ST6-1).
Here, as shown in FIG. 6, the first reflection point candidate position generation unit 231 obtains a circle whose center is the position of each of the distance sensors S1 to S3 and whose radius is the distance from the distance sensor to the obstacle 100. . In the case of direct transmission / reception, the distance from the distance sensor to the obstacle 100 is obtained by 1/2 of the propagation distance La in transmission / reception of ultrasonic signals.

Further, since the reflection point of the direct wave on the obstacle 100 can be regarded as existing at the intersection of at least two of the circles centered on the positions of the distance sensors S1 to S3, if the intersection coordinates of the two circles are obtained, The candidate position of the reflection point can be calculated.
The first reflection point candidate position generation unit 231 sets a two-dimensional coordinate system (xy plane) for the detection area of the distance sensor group Sgn, and an intersection of two circles centered on the position of the distance sensor, that is, The candidate position of the reflection point is specified by the distance from the distance sensor to the obstacle 100 and the direction of the obstacle 100 as viewed from the distance sensor. Then, three-dimensional mapping data is generated by mapping the reflection point candidate position and the amplitude data (maximum amplitude value) of the reflected wave (direct wave) from the candidate position on the detection area.

On the other hand, the second reflection point candidate position generation unit 232, based on the propagation distance data and the amplitude data stored in the indirect wave signal storage unit 216, sets the reflection point candidate position and the reflection point candidate position on the detection area of the distance sensor group Sgn. Three-dimensional mapping data is generated by mapping the amplitude data of the reflected wave from the candidate position (step ST6-2).
Here, as shown in FIG. 7A, the second reflection point candidate position generation unit 232 receives the position of the distance sensor S1 that transmitted the ultrasonic signal and the distance sensor S2 that received the reflected wave of the ultrasonic signal. An ellipse having two fixed points at the position of is obtained. In the case of indirect transmission / reception, the propagation distance in the transmission / reception of the ultrasonic signal is the propagation distance from the distance sensor that transmits the ultrasonic signal with a point on the circumference of the ellipse as the reflection point to the reflection point of the obstacle 100 and the reflection point. This corresponds to the sum of the propagation distance until the reflected wave reflected by the distance sensor is received by the distance sensor.
Similarly to the first reflection point candidate position generation unit 231, the second reflection point candidate position generation unit 232 sets a two-dimensional coordinate system (xy plane) in the detection area of the distance sensor group Sgn, and performs distance measurement. The candidate position of the reflection point is specified by the distance from the sensor to the object and the orientation of the object viewed from the distance sensor.
Then, three-dimensional mapping data is generated by mapping the candidate position of the reflection point and the amplitude data (maximum amplitude value) of the reflected wave (indirect wave) from the candidate position on the xy plane of the detection area.
For example, by using the propagation distance Lb of the indirect wave, the position of the distance sensor S1 on the transmission side of the ultrasonic signal, and the position of the distance sensor S2 on the reception side of the reflected wave, the candidate position of the reflection point is specified from the following equation. However, Xa is the distance from the midpoint of the line segment connecting the distance sensor S1 on the transmission side of the ultrasonic signal and the distance sensor S2 on the reception side of the reflected wave to the distance sensor S1, and Xb is This is the distance from the point to the distance sensor S2. Y is the vertical distance from the midpoint to the obstacle 100 (the length of the short radius of the ellipse). Za is the propagation distance of the ultrasonic signal (transmitted wave) from the distance sensor S1 to the obstacle 100, and Zb is the propagation distance of the ultrasonic signal (received wave) from the obstacle 100 to the distance sensor S2.
Xa ² + Y ² = Za ²
Xb ² + Y ² = Zb ²
Lb = Za + Zb

9 to 11 are diagrams showing examples of three-dimensional mapping. As shown in FIGS. 9 to 11, the first reflection point candidate position generation unit 231 and the second reflection point candidate position generation unit 232 have x set in the detection area of the distance sensor group (distance sensors S1 to S3). The candidate position of the reflection point is mapped on the -y plane, and three-dimensional mapping is performed by setting the amplitude data of the reflected wave from this candidate position on the z axis.

The example of FIG. 9 shows a case where the candidate positions of the reflection points determined based on the detection information of the distance sensors S1 to S3 are concentrated in a circle on the xy plane. That is, from the three-dimensional mapping data in FIG. 9, it is expected that the obstacle 100 is a cylindrical object whose shape on the plane on which the distance sensor group Sgn (distance sensors S1 to S3) is arranged is circular. The

In the example of FIG. 10, the candidate positions of the reflection points determined based on the detection information of the distance sensors S1 to S3 are linear on the xy plane (a line parallel to the y axis in which the distance sensors S1 to S3 are arranged). The case where it is located in a row is shown. In this case, the obstacle 100 is expected to be a flat plate-like object having a linear shape on the plane on which the distance sensor group Sgn (distance sensors S1 to S3) is disposed.

In the example of FIG. 11, the candidate position of the reflection point determined based on the detection information of the distance sensors S1 to S3 is on the y axis where the distance sensors S1 to S3 are arranged on the xy plane of the detection area. The case where it inclines with respect to is shown. In this case, the obstacle 100 is a flat plate-like object having a linear shape on the plane on which the distance sensor group Sgn (distance sensors S1 to S3) is arranged and inclined with respect to the distance sensors S1 to S3. It is expected that.

Next, the added amplitude value calculation unit 233 synthesizes the three-dimensional mapping data generated by the first reflection point candidate position generation unit 231 and the second reflection point candidate position generation unit 232, respectively (step ST7). The synthesis of the three-dimensional mapping data includes the amplitude data of the direct wave in the three-dimensional mapping data using the result received by direct transmission / reception, and the amplitude data of the indirect wave in the three-dimensional mapping data using the result received by indirect transmission / reception. Is a process of adding.
In this way, when the candidate positions of the reflection points are interpolated and the same candidate position is obtained, the amplitude value of the reflected wave from there can be emphasized. Thereby, the reliability of object detection can be improved.

12 and 13 are diagrams showing an example of the amplitude addition process. The addition amplitude value calculation unit 233 adds the amplitude data of the reflected wave of the three-dimensional mapping data generated by the first reflection point candidate position generation unit 231 and the second reflection point candidate position generation unit 232, respectively.
In the example shown in FIG. 12, the candidate position of the reflection point and the reflected wave from this candidate position on a flat object (a flat plate parallel to the arrangement direction of the plurality of distance sensors S) existing on the detection area of the distance sensor S. The three-dimensional mapping data indicating the amplitude data is added by the result obtained by direct transmission / reception (upper stage) and the result obtained by indirect transmission / reception (lower stage).
In the example shown in FIG. 13, the candidate position of the reflection point on the flat plate-shaped object (the flat plate inclined with respect to the arrangement direction of the plurality of distance sensors S) existing on the detection area of the distance sensor S and Three-dimensional mapping data indicating the amplitude data of the reflected wave is added with the result obtained by direct transmission / reception (upper stage) and the result obtained by indirect transmission / reception (lower stage).
As shown in FIGS. 12 and 13, the candidate positions of the reflection points are interpolated by adding the three-dimensional mapping data using the results of receiving the reflected wave detected by the same object by direct transmission and reception and indirect transmission and reception, respectively. The
In addition, for the intersection of the circle defined by the direct wave analysis and the ellipse defined by the indirect wave analysis, that is, for the highly reliable candidate position obtained by both analysis, the amplitude value of the reflected wave at that point is added. And emphasized.

Next, the identification unit 241 identifies the distribution of the candidate positions of the reflection points from the three-dimensional mapping data calculated by the addition amplitude value calculation unit 233 (step ST8).
First, the identification unit 241 corrects the amplitude data of the reflected wave in the three-dimensional mapping data according to the propagation distance from when the ultrasonic signal is transmitted until the reflected wave is received. Thereafter, the identification unit 241 identifies the distribution of the candidate positions of the reflection points from the corrected three-dimensional mapping data.
FIG. 14 is a diagram illustrating the relationship between the propagation distance and the amplitude correction value. As shown in FIG. 14, a correction value that is a large value in proportion to the propagation distance in transmission / reception of an ultrasonic signal is set in the identification unit 241. When the identification unit 241 receives the three-dimensional mapping data from the addition amplitude value calculation unit 233, the identification unit 241 converts the amplitude data of the reflected wave in the three-dimensional mapping data into a correction value corresponding to the propagation distance. By doing in this way, the attenuation of the amplitude resulting from the propagation distance can be corrected.

Next, the position / shape determining unit 242 determines the position and shape of the obstacle 100 based on the distribution of the candidate positions of the reflection points identified by the identifying unit 241 (step ST9). That is, the degree of concentration of the candidate positions of the reflection points in the identified distribution, the ratio between the distribution of the candidate positions of the direct wave reflection points and the distribution of the candidate positions of the reflection points of the indirect wave, and the obstacle 100 from the distance sensor. The position and shape of the obstacle 100 are determined based on at least one of the degree of change of the distance data up to.
The position of the obstacle 100 is specified by the distance from the distance sensor to the obstacle 100 and the direction of the obstacle 100 viewed from the distance sensor. The shape of the obstacle 100 is specified by the shape and size on the plane where the distance sensor group Sgn is disposed, and whether or not the obstacle 100 is inclined with respect to the direction in which the distance sensor is disposed in the distance sensor group Sgn. .

FIG. 15 is a diagram illustrating an example of identifying a distribution of candidate positions of reflection points. The position / shape determining unit 242 determines the position and shape of the obstacle 100 from the distribution of the position candidates of the reflection points as shown in FIG. The distribution shown in FIG. 15A is obtained in a proportion similar to the distribution by the direct wave and the distribution by the indirect wave.
In this case, it is expected that the obstacle 100 has a curved surface portion or a flat surface portion wider than the distance between adjacent distance sensors on the outer shape.
Here, in the distribution shown in FIG. 15A, the position candidates of the reflection points are concentrated on a part, so that the obstacle 100 is not on the plane portion but on the plane on which the distance sensor group Sgn is arranged. It is determined that the shape is a circular cylindrical shape (see, for example, FIG. 6).

Further, since the distribution shown in FIG. 15B is only a distribution due to an indirect wave, it is expected that the obstacle 100 has a planar portion narrower than the interval between adjacent distance sensors on the outer shape. Here, in the distribution shown in FIG. 15B, the reflection point position candidates are concentrated in part, so that the obstacle 100 has a rectangular shape on the plane on which the distance sensor group Sgn is disposed. It is determined that the shape is a prismatic shape (see, for example, FIG. 7).
In addition, when the proportion of the distribution by the indirect wave is larger than the distribution by the direct wave so as to exceed a predetermined threshold, it means that the distance sensor group Sgn has few distance sensors that can be directly transmitted and received, and the obstacle 100 A prismatic shape having a narrow flat portion is expected.

In the distribution shown in FIG. 15C, as in FIG. 15A, the plurality of distance sensors in the distance sensor group Sgn performs direct transmission and indirect transmission at the same rate. In this case, the obstacle 100 is expected to have a curved surface portion or a flat surface portion wider than the distance between adjacent distance sensors on the outer shape. Here, in the distribution shown in FIG. 15C, the position candidates of the reflection points are not concentrated in part, so the obstacle 100 is not a curved surface portion but on a plane on which the distance sensor group Sgn is arranged. Is determined to be a linear flat plate shape (see, for example, FIG. 12).
When the change in the distance data between each distance sensor and the obstacle 100 in the distance sensor group Sgn is less than a predetermined threshold value, the distribution shown in FIG. 15C is obtained. It is parallel to the direction in which the plurality of distance sensors of the group Sgn are arranged.

In the distribution shown in FIG. 15D, as in FIG. 15C, the plurality of distance sensors in the distance sensor group Sgn performs direct transmission / reception and indirect transmission / reception at the same rate. Also, the reflection point position candidates are not concentrated in part. Therefore, it is expected that the obstacle 100 has a flat portion wider than the distance between adjacent distance sensors on the outer shape. Here, in the distribution of FIG. 15 (d), the distance data from the distance sensor to the obstacle 100 is gradually changing with respect to the direction in which the plurality of distance sensors of the distance sensor group Sgn is disposed. The obstacle 100 is determined to have a flat plate shape inclined with respect to the distance sensor group Sgn.
Here, a more specific example of obstacle shape determination will be described below. The shape of the obstacle is that of the direct wave and reflected wave shown in FIGS. 15A, 15B, 15C, 15D after the sensors S1, S2, S3 as shown in FIG. It is determined by the ratio between the vertical Ti and horizontal Th of the distribution shape and the detection frequency of the direct wave and the indirect wave.
The relationship of the aspect ratio of the cylinder is as shown in the following formula (1).
Th≈Ti (1)
Moreover, in the case of a flat plate, it becomes a relationship of following formula (2).
K × Th ≧ Ti (2)
K ≒ 2
Therefore, in the determination of the cylinder and the flat plate, K = 1.2 to 2 is used as the constant K in the above equation (2).

Also, assuming that the number of direct wave detections after sequentially transmitting and receiving the sensors S1, S2, and S3 is Dw and the number of indirect wave detections Iw, the relationship between the number of detections of the cylinder and the wide flat plate is expressed by the following equation (3). It becomes like this.
Dw ≒ Iw (3)
On the other hand, the relationship between the prisms is the following formula (4).
Dw <Iw (4)
The practical criterion is, for example, the following formula (5).
2Dw <Iw (5)
Therefore, if the relationship of said Formula (2), (3), (5) is used, the reliability of obstacle shape determination will improve.
Note that a line segment L in FIG. 15D shows a regression line obtained by quantizing the distribution of reflected waves for each unit coordinate of the plane coordinates, and the vertical and horizontal widths are obtained based on the regression line.

Next, the display coordinate conversion unit 25 moves the obstacle 100 from the two-dimensional coordinate system on the detection area of the distance sensor group to the arbitrary monitoring range set in advance with the position and shape determined by the position / shape determination unit 242. Conversion to a display coordinate system to be displayed (display coordinate system on the screen of the display unit 31) is performed (step ST10). Subsequently, the display unit 31 displays the position and shape of the obstacle 100 in the monitoring range in the display coordinate system converted from the two-dimensional coordinate system on the detection area by the display coordinate conversion unit 25 (step ST11).

Since the present invention uses detection information of indirect transmission / reception in addition to direct transmission / reception, even if the distance sensor installation interval is widened and the number thereof is reduced, the distance sensor detection information will not be insufficient. Therefore, it is possible to determine the position and shape of the obstacle 100 with a small number of sensors. Moreover, since the detection information in indirect transmission / reception is used, the prismatic obstacle 100 can be detected as described above.

The detection result of the obstacle 100 may be displayed on the display unit 31 within a display range corresponding to the movement of the vehicle 8.
FIG. 16 is a diagram illustrating a monitor range display process according to the movement of the vehicle. In FIG. 16, a vehicle 8 is equipped with the object detection device 1 according to the first embodiment, and includes distance sensor groups Sg 1 and Sg 2 and a camera 7. The distance sensor group Sg 1 is provided in the rear part of the vehicle 8, and the distance sensor group Sg 2 is provided in the front part of the vehicle 8. In addition, the camera 7 is provided as a rear camera in the rear part of the vehicle 8 and uses the detection area Ab of the distance sensor group Sg1 as a photographing range. Although not shown, the vehicle 8 is also equipped with the GPS sensor 4, the wheel speed sensor 5, and the steering angle sensor 6 shown in FIG.

In the vehicle position shown in FIG. 16A, the detected object determination unit 24 determines the position and shape of the obstacle 100 existing in the detection area Ab of the distance sensor group Sg1 as described above, and the display unit 31 The obstacle 100 on the detection area Ab is displayed.
Here, as shown in FIG. 16B, a case where the driver operates the steering of the vehicle 8 and the vehicle 8 is bent by an angle θ from the state of FIG. In this case, the position determination unit 22 determines the movement position and distance sensor of the vehicle 8 based on the GPS information acquired by the GPS sensor 4, the wheel speed data acquired by the wheel speed sensor 5, or the steering angle acquired by the steering angle sensor 6. The positions of the distance sensors of the groups Sg1 and Sg2 are determined.

The display coordinate conversion unit 25 displays a monitoring range in which the obstacle 100 is displayed at the position and shape determined by the detected object determination unit 24 based on the movement position of the vehicle 8 and the position of the distance sensor determined by the position determination unit 22. The coordinate system is converted into a display coordinate system corresponding to the direction of the distance sensor that changes as the vehicle 8 moves. Here, since the vehicle 8 is tilted by the angle θ, the display coordinates in FIG. 16A are also tilted in accordance with the vehicle tilt angle θ. In other words, the display is performed so that the display range of the detection area Ab is at a position facing the rear portion of the vehicle 8. At this time, the display coordinate conversion unit 25 considers a change in the direction of the distance sensor accompanying the movement of the vehicle 8 from the movement position of the vehicle 8 and the position of the distance sensor, and the position of the obstacle 100 in the detection area Ab after the movement. Calculate coordinates. As a result, as shown in FIG. 16B, the obstacle 100 is displayed in the display range of the detection area Ab of the distance sensor group whose direction has changed by the amount the vehicle 8 is bent.

Further, the display unit 31 displays the obstacle 100 in the monitoring range in the display coordinate system converted by the display coordinate conversion unit 25 and also displays video information (rear video) around the vehicle 8 taken by the camera 7. You may do it.

As described above, according to the first embodiment, the reflected wave from the obstacle 100 of the ultrasonic signal individually transmitted by the individual distance sensors S1 to S4 in the distance sensor group Sgn is used as the ultrasonic signal. A direct wave signal storage unit 215 for storing propagation distance data and reflected wave amplitude data in transmission / reception of an ultrasonic signal directly received by the same transmitted distance sensor, and individual distances in the distance sensor group Sgn The reflected wave from the obstacle 100 of the ultrasonic signal transmitted independently by each of the sensors S1 to S4 is indirectly received by any one distance sensor other than the distance sensor that transmitted the ultrasonic signal in the distance sensor group Sgn. An indirect wave signal storage unit 216 for storing propagation distance data and reflected wave amplitude data in transmission / reception of ultrasonic signals obtained in this manner, and direct wave signal recording Based on the propagation distance data and the amplitude data stored in the unit 215 and the indirect wave signal storage unit 216, the reflection point candidate position and the amplitude data of the reflected wave from the candidate position are placed on the detection area of the distance sensor group Sgn. Based on the distance sensor data mapping unit 23 to be mapped, and the three-dimensional mapping data indicating the distribution of the reflection point candidate position generated by the distance sensor data mapping unit 23 and the amplitude data of the reflected wave from the candidate position, the obstacle 100 From the detected object determination unit 24 that determines the position and shape of the sensor and the coordinate system on the detection area of the distance sensor group Sgn to the display coordinate system of the monitoring range that displays the object at the position and shape determined by the detected object determination unit 24 A display coordinate conversion unit 25 for conversion and a display coordinate system converted by the display coordinate conversion unit 25 display an object in the monitoring range. And a display unit 31.
By comprising in this way, the obstacle of various shapes is detectable, without causing the increase in a distance sensor.

In the present invention, any component of the embodiment can be modified or any component of the embodiment can be omitted within the scope of the invention.

The object detection device according to the present invention is suitable for an obstacle detection device that detects an obstacle around the vehicle because it can detect objects of various shapes without increasing the distance sensor.

1 object detection device, 2 processing unit, 3 notification unit, 4 GPS sensor, 5 wheel speed sensor, 6 steering angle sensor, 7 camera, 8 vehicle, 21 distance sensor data processing unit, 22 position determination unit, 23 distance sensor data mapping Unit, 24 detection object determination unit, 25 display coordinate conversion unit, 31 display unit, 32 audio output unit, 100 obstacle, 211a transmission unit, 211b reception unit, 212 full wave rectification unit, 213 threshold determination unit, 214 maximum value determination , 215 direct wave signal storage unit, 216 indirect wave signal storage unit, 231 first reflection point candidate position generation unit, 232 second reflection point candidate position generation unit, 233 addition amplitude value calculation unit, 241 identification unit, 242 Position / shape determination unit, Sg1-Sgn distance sensor group, S, S1-S4 distance sensor.

Claims

In an object detection device that detects an object using a distance sensor group including a plurality of distance sensors arranged in a predetermined direction,
The predetermined signal obtained by directly receiving a reflected wave from the object of a predetermined signal transmitted individually by each distance sensor in the distance sensor group by the same distance sensor that transmitted the predetermined signal. A direct wave signal storage unit for storing propagation distance data and amplitude data of the reflected wave in transmission and reception of
A reflected wave from the object of a predetermined signal transmitted individually by each distance sensor in the distance sensor group is transmitted to any one of the distance sensors other than the distance sensor that transmits the predetermined signal in the distance sensor group. An indirect wave signal storage unit that stores propagation distance data and amplitude data of the reflected wave in transmission / reception of the predetermined signal obtained by receiving indirectly;
Based on the propagation distance data and the amplitude data respectively stored in the direct wave signal storage unit and the indirect wave signal storage unit, the candidate position of the reflection point of the object and the amplitude data of the reflected wave from the candidate position are obtained. A distance sensor data mapping unit for mapping on a detection area of the distance sensor group;
Detected object determination for determining the position and shape of the object based on the candidate position of the reflection point generated by the distance sensor data mapping unit and the three-dimensional mapping data indicating the distribution of the amplitude data of the reflected wave from the candidate position And
A display coordinate conversion unit for converting from a coordinate system on the detection area of the distance sensor group to a display coordinate system of a monitoring range for displaying the object at the position and shape determined by the detection object determination unit;
An object detection apparatus comprising: a display unit configured to display the object in the monitoring range in the display coordinate system converted by the display coordinate conversion unit.
From the reflected waves received by the distance sensor, a reflected wave having an amplitude value exceeding a threshold set in accordance with a propagation distance from when the predetermined signal is transmitted until the reflected wave is received is determined and extracted. A threshold determination unit;
For the reflected wave extracted by the threshold determination unit, the maximum distance that is extracted by determining the propagation distance from when the predetermined signal is transmitted until the reflected wave is received, and the maximum amplitude value in a preset time zone The object detection device according to claim 1, further comprising a value determination unit.
The threshold determination unit determines amplitude data of the reflected wave using a threshold inversely proportional to a propagation distance from when the predetermined signal is transmitted until the reflected wave is received. The object detection apparatus described.
The distance sensor data mapping unit includes:
Based on propagation distance data and amplitude data stored in the direct wave signal storage unit, reflection points on the circumference of a circle whose radius is the distance from the distance sensor to the object centered on the position of the distance sensor First reflection point candidate position generation for generating three-dimensional mapping data mapping the candidate position of the reflection point and the amplitude data of the reflected wave from the candidate position on the detection area of the distance sensor group And
Based on the propagation distance data and amplitude data stored in the indirect wave signal storage unit, two fixed points are the position of the distance sensor that has transmitted the predetermined signal and the position of the distance sensor that has received the reflected wave of the predetermined signal. Assuming that a reflection point exists on the circumference of the ellipse, three-dimensional mapping data in which the candidate position of the reflection point and the amplitude data of the reflected wave from the candidate position are mapped on the detection area of the distance sensor group A second reflection point candidate position generation unit to generate;
The addition amplitude value calculating part which synthesize | combines the three-dimensional mapping data which the said 1st reflection point candidate position production | generation part and the said 2nd reflection point candidate position production | generation part each produced | generated. Object detection device.
The detected object determination unit
The amplitude data of the reflected wave in the three-dimensional mapping data generated by the distance sensor data mapping unit is corrected according to the propagation distance from when the predetermined signal is transmitted until the reflected wave is received, and the three-dimensional An identification unit for identifying the distribution of the candidate positions of the reflection points from the mapping data;
Distribution of candidate positions of reflection points obtained based on the degree of concentration of candidate positions of the reflection points in the distribution of candidate positions of the reflection points identified by the identification unit and data stored in the direct wave signal storage unit At least one of the ratio of the reflection point candidate position distribution obtained based on the data stored in the indirect wave signal storage unit, and the degree of change in the distance data from the distance sensor to the object The object detection apparatus according to claim 1, further comprising a position / shape determination unit that determines a position and a shape of the object with reference to.
The said identification part correct | amends the amplitude data of a reflected wave so that it may become a large value in proportion to the propagation distance after the said predetermined signal is transmitted and the reflected wave is received. The object detection apparatus described.
The position / shape determination unit
In the distribution of the candidate positions of the reflection points identified by the identification unit, the ratio of the distribution of candidate positions of the reflection points obtained based on the data stored in the direct wave signal storage unit is stored in the indirect wave signal storage unit. More than the distribution of the candidate positions of the reflection points obtained based on the stored data, and when the candidate positions of the reflection points are concentrated in part, it is determined that the object to be detected is a cylindrical shape,
In the distribution of the candidate positions of the reflection points identified by the identification unit, the ratio of the distribution of candidate positions of the reflection points obtained based on the data stored in the direct wave signal storage unit is the indirect wave signal storage unit. Is larger than the distribution of the candidate positions of the reflection points obtained based on the data stored in, and the change in the distance data to the object is less than a predetermined threshold, the object to be detected is plate-shaped Judgment,
In the distribution of the candidate positions of the reflection points identified by the identification unit, the ratio of the distribution of candidate positions of the reflection points obtained based on the data stored in the indirect wave signal storage unit is the direct wave signal storage unit. If the candidate position of the reflection point is larger than the distribution of candidate positions of the reflection point obtained based on the data stored in the data, and the candidate position of the reflection point is concentrated in part, it is determined that the object to be detected is a prismatic shape. ,
In the distribution of the candidate positions of the reflection points identified by the identification unit, the ratio of the distribution of candidate positions of the reflection points obtained based on the data stored in the direct wave signal storage unit is the indirect wave signal storage unit. More than the distribution of candidate positions of the reflection points obtained based on the data stored in, and the distance data to the object is gradually changing with respect to the direction of arrangement of the plurality of distance sensors, The object detection apparatus according to claim 5, wherein the object to be detected is determined to have a surface that is inclined as viewed from the distance sensor group.
The object detection device according to claim 1, wherein the object detection device is mounted on a moving body and detects an object existing around the moving body.
A position determination unit that determines a moving position of the moving body and a position of the distance sensor accompanying the movement of the moving body;
The display coordinate conversion unit is configured to display a monitoring range in which the object is displayed at the position and shape determined by the detected object determination unit based on the moving position of the moving body determined by the position determination unit and the position of the distance sensor. The display coordinate system is converted into a display coordinate system corresponding to the direction of the distance sensor that changes as the moving body moves,
The object detection apparatus according to claim 8, wherein the display unit displays the object in the monitoring range in the display coordinate system converted by the display coordinate conversion unit.
A photographing unit for photographing the surroundings of the moving body;
The display unit displays the object in the monitoring range in the display coordinate system converted by the display coordinate conversion unit, and displays video information around the moving object taken by the photographing unit. The object detection device according to claim 8.
The object detection apparatus according to claim 8, further comprising a notification unit that notifies that the object has approached within a predetermined distance from the moving body.