WO2016063532A1 - 車載用物体判別装置 - Google Patents

車載用物体判別装置 Download PDF

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Publication number
WO2016063532A1
WO2016063532A1 PCT/JP2015/005303 JP2015005303W WO2016063532A1 WO 2016063532 A1 WO2016063532 A1 WO 2016063532A1 JP 2015005303 W JP2015005303 W JP 2015005303W WO 2016063532 A1 WO2016063532 A1 WO 2016063532A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
vehicle
sensor
unit
detection state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/005303
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English (en)
French (fr)
Japanese (ja)
Inventor
田中　秀典
明宏 貴田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to US15/520,323 priority Critical patent/US10451722B2/en
Priority to CN201580055005.7A priority patent/CN106796291B/zh
Priority to DE112015004823.5T priority patent/DE112015004823B4/de
Publication of WO2016063532A1 publication Critical patent/WO2016063532A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past

Definitions

  • This disclosure relates to an in-vehicle object determination device (In-Vehicle Object Determining Apparatus) that determines whether an object around a vehicle is a moving object.
  • In-Vehicle Object Determining Apparatus In-Vehicle Object Determining Apparatus
  • Patent Document 1 discloses a vehicle-mounted object determination device that determines whether an object on the side of a vehicle is a moving object using an ultrasonic sensor.
  • the detected obstacle is obtained by collating the waveform of the distance measurement data sequentially obtained with the movement of the vehicle by each of the ultrasonic sensors arranged before and after the side of the vehicle. It is determined whether the object is a moving object.
  • the on-vehicle object discrimination device disclosed in Patent Document 1 discriminates whether the obstacle detected by the obstacle sensor is a moving object using the waveform of the distance measurement data obtained as the vehicle moves.
  • the vehicle is stopped, there is a problem that it cannot be determined whether the obstacle detected by the obstacle sensor is a moving object.
  • An object of the present disclosure is to provide an in-vehicle object determination device that can determine whether an obstacle detected by an obstacle sensor is a moving object regardless of whether the vehicle is running or stopped. There is.
  • the vehicle-mounted object determination device mounted on the vehicle is linked to the obstacle sensor unit, and includes a determination unit, an obstacle position specifying unit, a sensor position memory, and a vehicle position change specification. And a detection state estimation unit.
  • the obstacle sensor unit sequentially detects the presence of an obstacle around the vehicle and the distance to the obstacle.
  • the determination unit determines whether the obstacle detected by the obstacle sensor unit is a moving object.
  • the obstacle position specifying unit specifies the position of the obstacle detected by the obstacle sensor unit with respect to the vehicle.
  • the sensor position memory stores a sensor position that is the position of the obstacle sensor unit with respect to the vehicle.
  • the vehicle position change specifying unit specifies a change in the position of the vehicle.
  • the detection state estimation unit includes (i) a position of the obstacle specified by the obstacle position specifying unit with respect to the vehicle, (ii) a sensor position stored in the sensor position storage unit, and (iii) a vehicle position change specifying unit. Based on the identified change in the position of the vehicle from the first time point at which the obstacle sensor unit detects the obstacle to the second time point after a predetermined time has elapsed, the obstacle is stationary. In this case, the estimated detection state that is the detection state of the obstacle in the obstacle sensor unit at the second time point is calculated. The determination unit is based on the fact that the estimated detection state of the obstacle calculated by the detection state estimation unit deviates from the actual detection state of the obstacle actually detected at the second time point in the obstacle sensor unit. In addition, it is determined that the obstacle is a moving object.
  • the discriminating unit divides the obstacle detection state estimated by the detection state estimating unit at a predetermined time point from the obstacle actual detection state in the obstacle sensor unit. Based on the fact that the obstacle is, it is determined that the obstacle is a moving object.
  • the obstacle detection state can be estimated. Therefore, the detection state estimation unit determines the detection state of the obstacle by the obstacle sensor unit at a predetermined time when the obstacle is stationary regardless of whether the vehicle is running or stopped. Can be estimated.
  • the obstacle sensor unit's detection state at a predetermined time point deviates from the obstacle detection unit's actual detection state at the predetermined time point.
  • the obstacle is a moving object. That is, if there is a discrepancy between the calculated estimated detection state and the actual detection state that is actually detected at a second time point after a predetermined time from the first time point, the obstacle is determined to be a moving object. Is done.
  • the vehicle-mounted object determination device of the present disclosure it is possible to determine whether the obstacle detected by the obstacle sensor unit is a moving object regardless of whether the vehicle is running or stopped. Become.
  • the block diagram which shows an example of the schematic structure of the driving assistance system along 1st Embodiment.
  • the schematic diagram for demonstrating an example of the detection range of a 1st ultrasonic sensor and a 2nd ultrasonic sensor Schematic diagram for explaining the determination in the direction determination unit The flowchart which shows an example of the flow of an obstacle position holding process in an object discrimination device.
  • the flowchart which shows an example of the flow of the object discrimination
  • the flowchart which shows an example of the flow of a 1st discrimination
  • FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system 100 to which the present disclosure is applied.
  • the driving support system 100 is mounted on a vehicle, and as shown in FIG. 1, the object discrimination device 1, the first ultrasonic sensor 2 a, the second ultrasonic sensor 2 b, the wheel speed sensor 3, and the steering angle sensor 4. Is included.
  • a vehicle equipped with the driving support system 100 is also referred to as a host vehicle (HV) as necessary.
  • HV host vehicle
  • the first ultrasonic sensor 2a is mounted on the side surface of the front part of the vehicle and detects an obstacle present on the side of the front part of the vehicle.
  • the second ultrasonic sensor 2b is mounted on the side surface of the rear part of the vehicle and detects an obstacle present on the side of the rear part of the vehicle.
  • the first ultrasonic sensor 2a and the second ultrasonic sensor 2b are also referred to as obstacle sensors.
  • the first ultrasonic sensor 2a and the second ultrasonic sensor 2b are collectively referred to as an ultrasonic sensor unit or an obstacle sensor unit. That is, in this embodiment, it can be said that the obstacle sensor unit includes a plurality of or at least one obstacle sensor.
  • the first ultrasonic sensor 2a and the second ultrasonic sensor 2b may be arranged on the left and right side surfaces of the vehicle, may be arranged on the left side surface of the vehicle, or may be arranged on the right side surface of the vehicle. Although it is good also as a structure arrange
  • first ultrasonic sensor 2a and the second ultrasonic sensor 2b transmit a search wave and receive a reflected wave of the search wave reflected by the obstacle, so that the distance from itself to the obstacle (hereinafter referred to as the obstacle wave) , Obstacle distance). Further, the first ultrasonic sensor 2a and the second ultrasonic sensor 2b are arranged so that the directivity center line is, for example, parallel to the vehicle axle direction.
  • the first ultrasonic sensor 2a is mounted on the right side of the front part of the vehicle (see HV in FIG. 2), and the second ultrasonic sensor 2b is on the right side of the rear part of the vehicle.
  • the detection range of the first ultrasonic sensor 2a (see SAa in FIG. 2) and the detection range of the second ultrasonic sensor 2b (see SAb in FIG. 2) are along the vehicle front-rear direction. Line up back and forth on the right side of the vehicle.
  • the wheel speed sensor 3 sequentially outputs a pulse signal corresponding to the rotation speed of each rolling wheel.
  • the steering angle sensor 4 is a sensor that detects the steering angle of the steering of the vehicle. The steering angle when the vehicle travels in a straight traveling state is a neutral position (0 degree), and the rotation angle from the neutral position is the steering angle. Output sequentially.
  • the object discrimination device 1 includes an electronic control unit (also referred to as a control circuit).
  • the electronic control unit includes a microcomputer, and each of the microcomputers includes a well-known CPU, a memory such as a ROM and a RAM, an I / O, and a bus connecting them.
  • the object discriminating apparatus 1 is based on various information input from the first ultrasonic sensor 2a, the second ultrasonic sensor 2b, the wheel speed sensor 3, the steering angle sensor 4, and the like, which will be described later on obstacle position holding processing and object discrimination processing. Etc. are executed.
  • This object discriminating apparatus 1 is also referred to as an on-vehicle object discriminating apparatus.
  • part or all of the functions executed by the object discrimination device 1 or the electronic control unit may be configured by hardware using one or a plurality of ICs.
  • “information” is used not only as a countable noun but also as a countable noun.
  • the electronic control unit of the object discrimination device 1 includes a first signal acquisition unit 11, a second signal acquisition unit 12, an obstacle position specification unit 13, a vehicle position change specification unit 15, and a detection state estimation unit 16. , An obstacle surface identification unit 17, a direction determination unit 18, and a determination unit 19. These parts are also referred to as devices or modules.
  • the object discrimination device 1 further includes a sensor position memory 14.
  • the first signal acquisition unit 11 sequentially acquires signals output from the first ultrasonic sensor 2a according to the presence or absence of an obstacle detected by the first ultrasonic sensor 2a and the detected obstacle distance.
  • the second signal acquisition unit 12 sequentially acquires signals output from the second ultrasonic sensor 2b according to the presence or absence of an obstacle detected by the second ultrasonic sensor 2b and the detected obstacle distance.
  • the obstacle position specifying unit 13 uses the transmission direction of the exploration wave of the first ultrasonic sensor 2a and the signal of the first ultrasonic sensor 2a acquired by the first signal acquisition unit 11 to present an obstacle present on the right side of the vehicle.
  • the position relative to the vehicle is specified.
  • the position with respect to the vehicle of the reflective point which reflected the search wave of the 1st ultrasonic sensor 2a among obstacles is specified.
  • the first ultrasonic sensor 2 a is installed in the direction in which the search wave from which the reflected wave is obtained is transmitted.
  • the position separated by the obstacle distance is specified as the position of the obstacle with respect to the installation position of the first ultrasonic sensor 2a.
  • the vehicle position is set as the origin from the position of the obstacle with respect to the specified installation position of the first ultrasonic sensor 2a and the installation position of the first ultrasonic sensor 2a in the vehicle stored in the sensor position storage 14.
  • the position of the obstacle in the XY coordinate system (hereinafter referred to as the obstacle position) is specified.
  • the X axis and the Y axis are in the horizontal plane, and for example, the vehicle position is the rear wheel axle center position.
  • the obstacle position specifying unit 13 exists on the right side of the vehicle using the transmission direction of the exploration wave of the second ultrasonic sensor 2b and the signal of the second ultrasonic sensor 2b acquired by the second signal acquisition unit 12. Identify the location of the obstacle relative to the vehicle.
  • the direction from the installation position of the second ultrasonic sensor 2b in the direction in which the search wave from which the reflected wave is obtained is transmitted.
  • the position separated by the obstacle distance is specified as the position of the obstacle with respect to the installation position of the second ultrasonic sensor 2b.
  • the vehicle position is set as the origin from the position of the obstacle with respect to the specified installation position of the second ultrasonic sensor 2 b and the installation position of the second ultrasonic sensor 2 b in the vehicle stored in the sensor position storage 14.
  • the obstacle position in the XY coordinate system is specified.
  • storage device 14 and the 2nd ultrasonic sensor 2b is also referred to as a sensor position.
  • the vehicle position change specifying unit 15 specifies a change in the position of the vehicle from the travel distance of the vehicle obtained from the pulse signal of the wheel speed sensor 3 and the change in the steering angle of the vehicle sequentially detected by the steering angle sensor 4. .
  • the detection state estimation unit 16 includes the obstacle position specified by the obstacle position specification unit 13, the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b stored in the sensor position storage 14, and the vehicle. At a predetermined time point (second time point) when an obstacle detected in the past (first time point) is stationary based on the change in the vehicle position specified by the position change specifying unit 15. The obstacle position is estimated. Then, based on the estimated obstacle position, the detection state of the obstacle by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is estimated.
  • the obstacle can be detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b at the present time (second time point) and the obstacle distance to be detected are estimated as detection states (that is, The case where the estimated detection state is calculated) will be described as an example.
  • the past is also referred to as the past time point or the first time point.
  • the predetermined time point is also referred to as a second time point after a predetermined time has elapsed from the first time point.
  • estimating a detection state calculates an estimated detection state.
  • the detection state estimation unit 16 detects the obstacle position specified by the obstacle position specification unit 13 for the obstacle detected by the first ultrasonic sensor 2a in the past, and the obstacle detected by the first ultrasonic sensor 2a. Then, from the change in the vehicle position specified by the vehicle position change specifying unit 15 up to the current time, the obstacle position at the current time when the obstacle is stationary is estimated. Then, based on the positional relationship between the estimated current obstacle position and the detection range determined from the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, the first ultrasonic sensor 2a and the second Whether the obstacle can be detected by the ultrasonic sensor 2b and the obstacle distance to be detected are estimated.
  • the estimated current obstacle position is not included in the detection range of the first ultrasonic sensor 2a, but is included in the detection range of the second ultrasonic sensor 2b, the first ultrasonic sensor 2a.
  • the detection state at is estimated as undetectable, and the detection state at the second ultrasonic sensor 2b is estimated as detectable.
  • the estimated current obstacle position is included in the detection range of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b, the estimated current obstacle position and the first ultrasonic sensor
  • the obstacle distance detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is also estimated from the installation position of 2a and the second ultrasonic sensor 2b.
  • the detection range it is assumed that, for example, a range extending in a fan shape from the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b toward the transmission direction of the exploration wave is determined.
  • Information on the detection range may be stored in the sensor position storage 14 together with the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, for example.
  • the detection state estimation part 16 shall update the position in the above-mentioned XY coordinate system of the obstacle position specified in the past one by one by estimating the obstacle at the present time one by one.
  • the obstacle surface specifying unit 17 includes the distance to the obstacle sequentially detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, and the first ultrasonic sensor 2a and the first ultrasonic sensor 2a stored in the sensor position memory 14. 2 Based on the installation position of the ultrasonic sensor 2b and the change in the vehicle position specified by the vehicle position change specifying unit 15, the surface of the obstacle relative to the vehicle at a predetermined time (hereinafter referred to as the obstacle surface) is specified. To do. In the present embodiment, the case where the current obstacle plane is specified will be described as an example.
  • the detection state estimation unit 16 sequentially updates the obstacle position sequentially identified by the obstacle position identification unit 13 (that is, the position of the reflection point of the obstacle with respect to the vehicle position). Based on the point sequence of the obstacle position in the above-mentioned XY coordinate system obtained at the present time, the line segment connecting the consecutive point sequences with a distance of not more than a predetermined distance is determined for the vehicle at the present time. Identify as an obstacle surface.
  • the direction determination unit 18 determines a predetermined value based on the obstacle surface specified by the obstacle surface specification unit 17 and the installation positions of the first ultrasonic sensor 2 a and the second ultrasonic sensor 2 b stored in the sensor position storage 14. At this point, it is determined whether or not the obstacle surface is facing the installation position. In the present embodiment, the case where it is determined whether or not the obstacle surface is facing the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b at the present time will be described as an example.
  • the first ultrasonic sensor 2 a and the second ultrasonic sensor 2 b stored in the sensor position storage unit 14 on the line segment indicating the obstacle surface specified by the obstacle surface specification unit 17.
  • the perpendicular line can be lowered from the installation position, it is determined that the obstacle surface faces the installation position of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b.
  • the obstacle surface is the first ultrasonic sensor 2a or the second ultrasonic sensor 2a. 2. It determines with not being suitable for the installation position of the ultrasonic sensor 2b.
  • FIG. 3 a case where it is determined whether or not the obstacle surface is directed to the installation position of the first ultrasonic sensor 2a is taken as an example.
  • SAa indicates a detection range of the first ultrasonic sensor 2a
  • Ob1 and Ob2 indicate obstacles
  • black squares indicate obstacle positions.
  • A is a line segment indicating the obstacle surface of the obstacle Ob1
  • B is a line segment indicating the obstacle surface of the obstacle Ob2.
  • the obstacle Ob1 that can be perpendicular to the line A indicating the obstacle surface from the installation position of the first ultrasonic sensor 2a has the obstacle surface of the first ultrasonic sensor 2a installed. It is determined that it is facing the position.
  • the obstacle Ob2 that cannot be perpendicular to the line segment B indicating the obstacle surface from the installation position of the first ultrasonic sensor 2a does not have the obstacle surface facing the installation position of the first ultrasonic sensor 2a. It is determined.
  • the direction determination unit 18 passes the detection range of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b through the line segment indicating the obstacle surface specified by the obstacle surface specification unit 17, and stores the sensor position.
  • the obstacle surface is the first ultrasonic sensor 2a or the second ultrasonic sensor. It is good also as a structure determined to be suitable for the installation position of 2b. That is, it is good also as a structure which determines whether the part contained in the detection range of an obstacle sensor among the surfaces of an obstacle is suitable for the sensor position.
  • the determining unit 19 determines whether the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b is a moving object. Details of the determination unit 19 will be described later.
  • the obstacle position holding process is a process in which the obstacle position of the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b is specified and held while updating the obstacle position as the vehicle moves. is there.
  • the flowchart in FIG. 4 may be configured to be started when, for example, the ignition power supply of the vehicle is turned on.
  • the described flowchart includes a plurality of sections (or referred to as steps), and each section is expressed as, for example, S1. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Further, each section can be referred to as a device, a module.
  • the section includes (i) not only a section of software combined with a hardware unit (eg, a computer) but also (ii) a section of hardware (eg, an integrated circuit, a wiring logic circuit) and related devices. It can be realized with or without the function.
  • the hardware section can be included inside the microcomputer.
  • the obstacle position specifying unit 13 transmits the search wave transmission direction of the first ultrasonic sensor 2a, the signal of the first ultrasonic sensor 2a acquired by the first signal acquisition unit 11, and the first ultrasonic sensor 2a.
  • the obstacle position in the XY coordinate system with the vehicle position as the origin is identified from the installation position.
  • the identified obstacle position is stored in a memory such as a RAM of the object discrimination device 1, for example.
  • the process proceeds to S4.
  • the detection state estimation unit 16 may determine whether the vehicle is moving or stopped based on a pulse signal from the wheel speed sensor 3.
  • the detection state estimation unit 16 updates the obstacle position stored in the memory in accordance with the movement of the vehicle.
  • the obstacle position specified and stored in S2 is moved by the change in the reverse direction of the change in the vehicle position specified by the vehicle position change specifying unit 15 from the detection of the obstacle in S1 to the current time.
  • the estimated position is estimated as the current obstacle position when the obstacle is stationary, and is updated to the estimated obstacle position.
  • the obstacle position specifying unit 13 transmits the exploration wave transmission direction of the second ultrasonic sensor 2b, the signal of the second ultrasonic sensor 2b acquired by the second signal acquisition unit 12, and the second ultrasonic sensor 2b.
  • the obstacle position in the XY coordinate system with the vehicle position as the origin is identified from the installation position. If the identified obstacle position is a position that approximates the obstacle position updated in S4, the obstacle position updated in S4 is integrated and stored in the memory.
  • the detection state estimation unit 16 updates the obstacle position stored in the memory in accordance with the movement of the vehicle.
  • the obstacle position is updated by estimating the moved position as the current obstacle position when the obstacle is stationary.
  • the obstacle position updated in S4 is a position moved by a change in the reverse direction of the change in the vehicle position specified by the vehicle position change specifying unit 15 from the update of the obstacle position in S4 to the current time. Is estimated as the current obstacle position, and the obstacle position is updated.
  • the obstacle position specified and stored in S6 is moved by a change in the reverse direction of the change in the vehicle position specified by the vehicle position change specifying unit 15 from the detection of the obstacle in S5 to the current time.
  • the obstacle position is updated by estimating the current position as the current obstacle position when the obstacle is stationary.
  • the object discrimination process is a process for discriminating whether the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b is a moving object.
  • the flowchart of FIG. 5 may be configured to be started when, for example, the ignition power of the vehicle is turned on. Further, it is assumed that the obstacle position holding process described above is executed in parallel.
  • the detection state estimation unit 16 performs the first ultrasonic sensor 2a and the second ultrasonic sensor 2b at the current time.
  • the detection state such as whether or not an obstacle can be detected and the obstacle distance to be detected is estimated.
  • the obstacle surface specifying unit 17 specifies the obstacle surface for the vehicle at the current time based on the point sequence of the obstacle position at the current time obtained by sequentially updating the detection state estimating unit 16.
  • S242 whether or not the obstacle distance of the obstacle detected by the determination unit 19 in S241 matches the obstacle distance estimated in S21 for the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21. Determine whether.
  • the term “match” as used herein is not limited to a configuration in which a match is determined when the match is complete, but may be determined as a match with an allowable range of an error level. If it is determined that they match (S242: YES), the process proceeds to S243. On the other hand, if it is determined that they do not match (S242: NO), the process proceeds to S244.
  • the determination unit 19 determines that the obstacle detected in S241 is a stationary object, and proceeds to S25. In S244, the determination unit 19 determines the obstacle detected in S241 as a moving object, and proceeds to S25.
  • the obstacle detected in S241 can be paraphrased as the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 among the obstacles whose obstacle position is specified by the obstacle position specifying unit 13.
  • the obstacle surface of the obstacle estimated by the orientation determination unit 18 at the present time as being detectable by the first ultrasonic sensor 2a in S21 is the first. It is determined whether or not the ultrasonic sensor 2a is facing the installation position. If it is determined that it is facing (S245: YES), the process proceeds to S246. On the other hand, if it is determined that it is not suitable (S245: NO), the process proceeds to S247.
  • the determination unit 19 determines that the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 is a moving object, and proceeds to S25. In S247, the determination unit 19 determines that the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 is a stationary object, and proceeds to S25. In S247, the determination unit 19 may move to S25 without performing the determination.
  • the determination unit 19 determines that the obstacle detected in S261 is a stationary object, and proceeds to S30. In S264, the determination unit 19 determines that the obstacle detected in S261 is a moving object, and proceeds to S30.
  • the obstacle detected in S261 can be paraphrased as the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 among the obstacles whose obstacle position is specified by the obstacle position specifying unit 13.
  • the obstacle surface of the obstacle estimated by the direction determination unit 18 that can be detected by the second ultrasonic sensor 2b in S21 at the present time is the first. 2 It is determined whether or not the ultrasonic sensor 2b is facing the installation position. If it is determined that it is facing (S265: YES), the process proceeds to S266. On the other hand, if it is determined that it is not suitable (S265: NO), the process proceeds to S267.
  • the determination unit 19 determines that the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 is a moving object, and proceeds to S30. In S267, the determination unit 19 determines that the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 is a stationary object, and proceeds to S30. In S267, the determination unit 19 may move to S30 without performing the determination.
  • HV is a vehicle
  • Ob1 is moving
  • Ob2 is stationary
  • Ob is stationary
  • Ob is obstruction Ob1 identified when obstacle Ob1 is located in the detection range SAa of the first ultrasonic sensor 2a.
  • the object position, Pa2 indicates the obstacle position of the obstacle Ob2.
  • the stationary obstacle Ob2 once detected at the obstacle position Pa2 is continuously detected by the second ultrasonic sensor 2b, and the same obstacle distance is continuously detected.
  • the moving obstacle Ob1 once detected at the obstacle position Pa1 cannot be detected by the first ultrasonic sensor 2a or a different obstacle distance is detected as the obstacle Ob1 moves. Become.
  • the detection state is estimated, and when the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object.
  • HV is the vehicle
  • Ob3 is a stationary obstacle
  • Pa3 is the obstacle position of the obstacle Ob3 specified when the obstacle Ob3 is located in the detection range SAa of the first ultrasonic sensor 2a
  • Pa4 is from the vehicle.
  • the position where the obstacle position Pa3 is seen is moved by a change in the opposite direction of the change in the position of the vehicle.
  • the obstacle position Pa3 of the stationary obstacle Ob3 once detected by the first ultrasonic sensor 2a is moved by a change in the opposite direction of the change in the position of the vehicle as viewed from the vehicle. Will move to a different position. Therefore, when the position Pa4 obtained by moving the obstacle position Pa3 from the vehicle by an amount opposite to the change in the position of the vehicle is located in the detection range SAb of the second ultrasonic sensor 2b, the second ultrasonic wave The obstacle Ob3 is detected by the sensor 2b, and the same obstacle distance as the distance from the second ultrasonic sensor 2b to the position Pa4 is detected.
  • the position Pa4 obtained by moving the obstacle position Pa3 by a change in the opposite direction of the change in the position of the vehicle as viewed from the vehicle is the position of the second ultrasonic sensor 2b. Even if it is located in the detection range SAb, the obstacle Ob3 is not detected by the second ultrasonic sensor 2b, or an obstacle distance different from the distance from the second ultrasonic sensor 2b to the position Pa4 is detected. It will be.
  • the first ultrasonic sensor 2a is also referred to as a first obstacle sensor
  • the second ultrasonic sensor 2b is also referred to as a second obstacle sensor.
  • the detection state such as the detection possibility and the obstacle distance when the obstacle is detected again by an ultrasonic sensor different from the ultrasonic sensor that once detected the obstacle is estimated.
  • the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object.
  • the vehicle passes twice the same place such as when the vehicle moves backward after moving forward or moves forward after moving backward, the obstacle is detected again by the same ultrasonic sensor as the ultrasonic sensor that once detected the obstacle. Then, it is possible to estimate a detection state such as detection possibility and obstacle distance in such a case, and to determine that the obstacle is a moving object when the estimated detection state deviates from the actual detection state.
  • the determination unit 19 determines whether the detection state such as the obstacle detection possibility and the obstacle distance estimated by the detection state estimation unit 16 is the first ultrasonic sensor 2a or the second ultrasonic wave at the current time. Based on the deviation from the actual detection state of the obstacle by the sensor 2b, it is determined that the obstacle is a moving object. As described above, the obstacle is a moving object regardless of whether the vehicle is stopped or moving due to the difference between the obstacle detection state estimated by the detection state estimation unit 16 and the actual obstacle detection state. Therefore, according to the configuration of the first embodiment, it is determined whether the obstacle detected by the obstacle sensor is a moving object regardless of whether the vehicle is running or stopped. Is possible.
  • the detection status and the obstacle distance are used as the detection state for determining the divergence, it is difficult to detect the azimuth within the detection range. It is possible to determine whether an obstacle detected by an obstacle sensor is a moving object, regardless of whether the vehicle is running or stopped, even if the ultrasonic sensor has a lower resolution than a radar. become.
  • the obstacle surface is not facing the installation position of the ultrasonic sensor.
  • the reflected wave obtained by reflecting the exploration wave from the ultrasonic sensor on the obstacle surface is not received by the ultrasonic sensor, and the obstacle is not detected.
  • the detection state estimation unit 16 even if the obstacle is located in the detection range of the ultrasonic sensor, it is actually determined that detection is impossible.
  • the obstacle detection state estimated by the detection state estimation unit 16 deviates from the actual obstacle detection state, and it is determined that the obstacle is a moving object, the stationary object is mistakenly detected as a moving object. It will be determined.
  • the configuration of the first embodiment when the obstacle surface of the obstacle estimated to be detectable by the ultrasonic sensor is not directed to the installation position of the ultrasonic sensor, the super Even when the obstacle cannot be detected by the acoustic wave sensor, the obstacle is not discriminated as a moving object, so that it is possible to reduce errors in discriminating a stationary object as a moving object.
  • the first ultrasonic sensor 2a or the second ultrasonic sensor 2b serving as an obstacle sensor for detecting an obstacle is mounted on the side of the vehicle and detects an obstacle present on the side of the vehicle.
  • the present invention is not limited to this.
  • it is good also as a structure which detects the obstruction which is mounted in places other than the side surface of a vehicle and exists in directions other than the side of a vehicle.
  • Modification 2 In the above-described embodiment, a configuration in which a plurality of obstacle sensors that detect an obstacle is used is shown, but the configuration is not necessarily limited thereto. For example, a configuration in which only one obstacle sensor is used (hereinafter, modified example 2) may be used. Hereinafter, Modification 2 will be described. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the embodiments up to this point are denoted by the same reference numerals in the following description of the second modification, and the description thereof is omitted. Omitted.
  • the driving support system 200 of the second modification is similar to the driving support system 100 of the first embodiment, except that only one obstacle sensor is provided and the object discriminating apparatus 1a is used instead of the object discriminating apparatus 1. It is the same.
  • a driving support system 200 according to the second modification is mounted on a vehicle, and includes an object discrimination device 1a, a first ultrasonic sensor 2a, a wheel speed sensor 3, and a rudder angle sensor 4 as shown in FIG. Yes.
  • the object discrimination device 1a includes a first signal acquisition unit 11, an obstacle position specifying unit 13, a sensor position storage unit 14, a vehicle position change specifying unit 15, a detection state estimating unit 16, and an obstacle plane specifying.
  • the object discrimination device 1a is the same as the object discrimination device 1 except that the second signal acquisition unit 12 is not provided.
  • S5 to S8 may be omitted from the flowchart of FIG.
  • the ultrasonic sensor unit includes at least a first ultrasonic sensor 2a and a second ultrasonic sensor 2b.
  • the ultrasonic sensor unit is the first ultrasonic sensor 2a or the second ultrasonic sensor 2b.
  • One of the ultrasonic sensors 2b is assumed to be included.
  • the configuration in which the ultrasonic sensor such as the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is used as the obstacle sensor for detecting the obstacle is shown, but the configuration is not necessarily limited thereto.
  • an obstacle sensor other than the ultrasonic sensor may be used as long as it is a sensor that can specify the position of the obstacle.
  • an obstacle sensor such as a laser radar or a millimeter wave radar that detects the obstacle and the distance to the obstacle by receiving a reflected wave of the transmitted exploration wave may be used.
  • Modification 4 In the first embodiment described above, even when the obstacle detection state estimated by the detection state estimation unit 16 by the determination unit 19 deviates from the actual detection state, the obstacle surface exceeds the first level.
  • the direction determination unit 18 determines that the sound sensor 2a or the second ultrasonic sensor 2b is not directed to the installation position, the configuration in which the obstacle is not determined to be a moving object is shown. Absent. For example, it is good also as a structure which is not provided with the obstruction surface specific
  • an obstacle sensor for detecting an obstacle an obstacle sensor other than an obstacle sensor such as a laser radar or a millimeter wave radar that detects an obstacle and a distance to the obstacle by receiving a reflected wave of the transmitted survey wave
  • an obstacle sensor other than an obstacle sensor such as a laser radar or a millimeter wave radar that detects an obstacle and a distance to the obstacle by receiving a reflected wave of the transmitted survey wave
  • a configuration using a stereo camera or the like may be used.
  • Modification 7 In the above-described embodiment, the configuration in which the change in the position of the vehicle is specified from the change in the steering angle of the vehicle and the travel distance is shown, but this is not necessarily the case.
  • the configuration may be such that the change in the position of the vehicle is specified based on the change in the steering angle and vehicle speed of the vehicle, the yaw rate of the vehicle, and the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2015/005303 2014-10-22 2015-10-21 車載用物体判別装置 Ceased WO2016063532A1 (ja)

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CN201580055005.7A CN106796291B (zh) 2014-10-22 2015-10-21 车载用物体判别装置
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US20170322299A1 (en) 2017-11-09
JP2016085037A (ja) 2016-05-19
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US10451722B2 (en) 2019-10-22
JP6413621B2 (ja) 2018-10-31
CN106796291A (zh) 2017-05-31
CN106796291B (zh) 2019-03-22

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