WO2019065411A1

WO2019065411A1 - Vehicle sensing system

Info

Publication number: WO2019065411A1
Application number: PCT/JP2018/034649
Authority: WO
Inventors: 平山　義幸
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2017-09-29
Filing date: 2018-09-19
Publication date: 2019-04-04
Also published as: JPWO2019065411A1; JP6818902B2; JP6818902B6

Abstract

Provided is a vehicle sensing system enabling highly precise locating and tracking of a target vehicle travelling in the surroundings of a host vehicle. A vehicle sensing system 1 for detecting the position and orientation of a target vehicle travelling in the surroundings of a host vehicle 1000 has: a sensor array comprising radars 10 disposed near the front corners of the host vehicle 1000 and cameras 20 disposed on the side surfaces of the host vehicle 1000; and a calculation device 100 for calculating the orientation of the target vehicle on the basis of sensing results from the sensor array. The sensing angle range of radar 10 is equal to or less than 105° in the outward direction with respect to the direction of travel when the host vehicle 1000 is travelling forward. The sensing angle range of camera 20 is between 65° and 115° in the outward direction with respect to the direction of travel when the host vehicle 1000 is travelling forward.

Description

Vehicle detection system

The present invention relates to a vehicle detection system for continuously detecting a vehicle to be detected (hereinafter referred to as a detection vehicle).

As an example of a vehicle external world recognition device capable of achieving both position detection and tracking, Patent Document 1 outputs an image capturing means for capturing a situation ahead of the vehicle as an image, and position information of an object to be noticed by the vehicle. In an external world recognition apparatus comprising an object of interest output means, and an image processing means for performing image processing on a region based on an output of the object of interest output means in the image capturing means and detecting the object, the image processing means detects the position of the object And a second method of tracking the object, and when the object can not be detected by the first method, the object is detected by the second method.

JP, 2005-038407, A

In recent years, a radar device that detects an object present around the vehicle, an imaging device that captures an image of the periphery of the vehicle, and the like are mounted on the vehicle, and other information is detected based on the information detected by the radar device and the imaging device. A safety support travel system has been proposed which controls a vehicle so as to prevent occurrence of a collision with a vehicle etc. in advance or reduce the damage at the time of a collision.

In order to realize such a system, it is required to perform position detection and tracking of a detection vehicle traveling around the host vehicle with high accuracy. As part of such a technique, there is a technique as described in Patent Document 1 mentioned above.

Here, in order to perform tracking of a detection vehicle accurately and stably in automatic driving, it is necessary to determine a detection point from "the direction of the vehicle" to obtain a correct position of the detection vehicle.

However, when detecting a detection vehicle using a plurality of detection means, the sensor used for detection differs depending on the position of the detection vehicle. This is because it depends on the characteristics of the sensor.

Moreover, while a detection point changes with positions of a detection vehicle, a detection point also changes with directions of a detection vehicle.

For example, in the case of a rear side radar that detects the rear of the host vehicle, the detection point is the front center of the detection vehicle. In the case of a surround camera that detects the periphery of the host vehicle in the lateral direction, the detection point is the front end or the side center of the detection vehicle. In addition, in the case of a front side radar or a front camera that detects the front of the host vehicle, the detection point is either the rear end of the detection vehicle or the rear center.

Moreover, how to obtain | require the direction of the detection vehicle from a detected value also changes with sensors.

For example, in an imaging device such as a stereo camera, the orientation of a detection vehicle can be obtained from a change in detected coordinates. On the other hand, in the millimeter wave radar, the direction can be obtained from the velocity in the X direction and the Y direction.

Here, when finding the direction of the detection vehicle, depending on the sensor, there are cases where an abnormal value is detected, and it has become clear by the study of the inventor that the wrong direction may be calculated.

Hereinafter, the case where the direction of the detection vehicle is analyzed from the detection results of the detection vehicle traveling straight at a constant speed in the vicinity of the own vehicle will be described using FIGS. 1 and 2 as an example. FIG. 1 is a diagram showing the result of analyzing the direction of a detected vehicle by a stereo camera, and FIG. 2 is a diagram showing the result of analyzing the direction of a detected vehicle by a millimeter wave radar.

As shown in FIG. 1 (1), when the detection vehicle 2000 passes straight in the vicinity of the host vehicle 1000 at a constant speed (relative speed 20 km / h), the detection vehicle 2000 is analyzed using the detection value of the stereo camera. The relative velocity Vx in the longitudinal direction of the vehicle is detected as about 15 to 20 km / h as shown in FIG. 1 (2), and the direction of the detection vehicle is detected as about 0 degree as shown in FIG. Ru.

On the other hand, when the same scene is analyzed using the detection value of the millimeter wave radar, although the detection vehicle is traveling straight at a constant speed (relative speed 20 km / h), the own vehicle 1000 The relative velocity Vx in the longitudinal direction of the detection vehicle 2000 when passing near is detected to be about 10 km / h or less as shown in FIG. 2 (2), and as shown in FIG. 2 (3) It was revealed that the direction was detected as -50 to 0 degrees.

As shown in FIG. 1 and FIG. 2, unlike a stereo camera, the millimeter wave radar may detect “speed decrease” by mistake in front of the host vehicle and calculate “incorrect direction of detected vehicle”. It became clear by examination of this inventor.

It is apparent from the study of the present inventor that this erroneously detected speed reduction area occurs in an area where the change in distance from the host vehicle to the detection vehicle is small, that is, an area where the radial component of the speed of the detection vehicle is small. became.

The present invention has been made in view of the above problems, and provides a vehicle detection system capable of highly accurately determining the direction of a detection vehicle traveling around the host vehicle and performing tracking with high accuracy. The purpose is to

The present invention includes a plurality of means for solving the above problems, and an example thereof is a vehicle detection system for detecting the position and direction of a detection vehicle traveling around the host vehicle. A sensor group including a radar installed near a front corner and a camera installed on the side of the vehicle, and an arithmetic device for calculating the direction of the detection vehicle based on the detection result of the sensor group, The detection angle range of the radar is in the range of 105 degrees or less outward with respect to the front of the vehicle, and the detection angle range of the camera is 65 degrees to 115 degrees outward with respect to the front of the vehicle. It is characterized by including an angle range of

According to the present invention, it is possible to determine with high accuracy the direction of the detection vehicle traveling around the host vehicle, and to perform tracking with high accuracy. Problems, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is a figure which shows an example of the analysis result at the time of detecting a detection vehicle by a stereo camera. It is a figure which shows an example of the analysis result at the time of detecting a detection vehicle by a millimeter wave radar. It is a block diagram showing an example of a system configuration of a vehicle detection system of this example. It is a figure which shows the detection angle range of the millimeter wave radar with respect to the own vehicle in a present Example. It is a figure which shows the detection angle range of the camera with respect to the own vehicle in a present Example. It is a figure which shows the relationship of the error rate and detection angle of a direction detection of the vehicle of the millimeter wave radar in this invention. It is a figure which shows the relationship between the error rate of direction detection of the vehicle of the millimeter wave radar in this invention, and the largest angle of a detection range. It is a flowchart figure explaining the flow of processing of the vehicle detection system in this example.

An embodiment of a vehicle detection system of the present invention will be described with reference to FIGS. 3 to 8. In the present invention, “the forward direction of the host vehicle” means the traveling direction when the host vehicle travels straight ahead, and the angle is defined as 0 degrees ahead of the host vehicle.

FIG. 3 is a block diagram showing an example of a system configuration of the vehicle detection system of the present embodiment. FIG. 4 is a view showing a detection angle range of the millimeter wave radar with respect to the host vehicle. FIG. 5 is a view showing a detection angle range of the camera with respect to the host vehicle. FIG. 6 is a diagram showing the relationship between the error rate of detection of the direction of the vehicle of the millimeter wave radar and the detection angle in the present invention. FIG. 7 is a diagram showing the relationship between the error rate for detecting the direction of the vehicle of the millimeter wave radar and the maximum angle of the detection range in the present invention. FIG. 8 is a flowchart for explaining the flow of processing of the vehicle detection system in the present embodiment.

In FIG. 3, a vehicle detection system 1 for detecting the position and the direction of a detection vehicle traveling around the host vehicle 1000 (see FIGS. 4 and 5) includes a radar 10, a camera 20, and an arithmetic device 100.

The radar 10 is a radar that detects a detection vehicle by a millimeter wave and calculates its position and velocity, and uses a millimeter wave with a wavelength of about 1 to 10 mm and a frequency of 30 G to 300 GHz (gigahertz) for radio waves to be emitted It is a radar. The details thereof are not particularly limited, and as a detection method of distance and relative velocity, for example, a known FM-CW (Friquency-Modulated Continuous Wave) method, a two-frequency CW (Continuous Wave) method, a spread spectrum method, a pulse method, etc. Any scheme may be applied. The details of the direction detection method are not particularly limited, and the direction detection method may be applied to a known method such as an electronic scan method, a mechanical scan method, or a monopulse method. Also, publicly known processing can be used for calculation processing of the position and speed of the detection vehicle.

The radar 10 is mounted on the left and right front corners of the vehicle 1000 as shown in FIG. 4, and the detection angle range thereof is a range of 105 degrees or less outward with respect to the forward direction of the vehicle 1000. In the present embodiment, the mounting angle is 45 degrees, and the detection angle range is a range (100 degrees) from -5 degrees to 95 degrees with reference to the forward direction of the host vehicle. By setting the mounting position of the radar not in the center of the front of the host vehicle but in the vicinity of the front corner, it is possible to detect not only the host vehicle front but also surrounding vehicles on the front side of the host vehicle.

The mounting angle in the present embodiment means an angle corresponding to the center of the outward minimum value and the maximum value with reference to the forward direction of the vehicle 1000 in the detection angle range of the radar 10. In addition, the detection angle range can be calculated by measuring the relationship between the position of the detection vehicle and the possibility of detection when the detection vehicle travels around the host vehicle.

The camera 20 captures an image of the detected vehicle by an imaging element, and calculates the position and speed of the detected vehicle from the imaging results. Even when there are a plurality of detection vehicles around the host vehicle 1000, the camera 20 can detect the detection vehicles separately for each vehicle.

The details of the camera 20 are also not particularly limited, and a stereo camera having a known configuration in which information in the depth direction can also be recorded can be appropriately applied by simultaneously photographing an object from a plurality of different directions. Also, publicly known processing can be used for calculation processing of the position and speed of the detection vehicle.

As shown in FIG. 5, the camera 20 is mounted on the left and right side surfaces of the vehicle 1000, and the detection angle range is an angle range of 65 degrees to 115 degrees outward with reference to the forward direction of the vehicle 1000. In the present embodiment, the mounting angle is 90 degrees, and the detection angle range is a range (50 degrees) of 65 degrees to 115 degrees with reference to the forward direction of the host vehicle.

Here, as described above, it has become clear for the first time by the inventor of the present invention that the radar 10 erroneously detects "speed reduction" obliquely ahead of the host vehicle and calculates "incorrect direction".

The present inventors have further intensively studied the false detection area. The examination results will be described below with reference to FIGS. 6 and 7.

First, the relationship between the radar detection angle and the error rate of the direction detection of the vehicle was examined.

As the conditions, using a millimeter wave radar attached to a corner in front of the host vehicle, a detected vehicle traveling in the vicinity of the host vehicle is detected, and whether the direction detection result of the vehicle is true or false is checked for each detection angle.

At this time, using a millimeter wave radar in which the detection angle range was changed to 60 degrees, 80 degrees, 100 degrees, 120 degrees, and 140 degrees, the measurement was performed while changing the mounting angle from 15 degrees to 120 degrees (detection angle And the attachment angle made the forward direction of the own vehicle 0 degree).

The graph which plotted the error rate of direction detection of the detection vehicle measured on this condition with respect to the detection angle is FIG. In FIG. 6, the plot points are mean values, and the maximum and minimum values are indicated by error bars.

As a result, as shown in FIG. 6, the detection angle range of the radar 10 is the direction detection of the detection vehicle by the millimeter wave radar in the range of 65 degrees to 115 degrees outward when based on the forward direction of the host vehicle 1000 It was found that the error rate of In particular, it has been found that the error rate is high when the angle is in the range of 75 degrees to 105 degrees. Therefore, it has become clear that it is necessary to cover the angle range of 65 degrees to 115 degrees, which the radar 10 is not good at, with the camera 20.

Furthermore, the relationship between the mounting angle of the radar and the error rate was also studied.

As the condition, using a millimeter wave radar attached to the corner in front of the host vehicle, a vehicle traveling in the vicinity of the host vehicle is detected to check the accuracy of the detection result of the detected vehicle, and the error rate average value of the detection angle range (The angle is 0 degrees in the forward direction of the host vehicle).

In this study, tracking processing is included. That is, the newly detected data was judged by comparing the predicted value from the past data and the newly detected data. In other words, the newly detected data is not adopted as suspicious.

As a result, it has become clear that the error rate for detecting the direction of the vehicle is significantly different depending on the mounting angle of the millimeter wave radar.

Furthermore, the study results were summarized, and the relationship between the maximum detection angle of the radar and the error rate was also studied. FIG. 7 shows a diagram in which the error rate of the direction detection of the vehicle is plotted against the maximum angle of the detection range. In FIG. 7, the results of using five types of millimeter wave radars having different detection angle ranges are indicated by different marks.

As shown in FIG. 7, it has become clear that the error rate can be reduced by setting the detection angle range of the millimeter wave radar to 105 degrees or less.

The interpretation of the examination results shown in FIGS. 6 and 7 is as follows.

It is clear from FIG. 6 that it is best not to include the angular range (65 degrees to 115 degrees) where the error rate of the millimeter wave radar is high. Also, even if the angle range (65 degrees to 115 degrees) is included, as shown in FIG. 7, the case near the end of the detection range (detection angle range of 105 degrees or less) can be corrected by tracking It also became clear.

Therefore, as described above, the detection angle range of the radar 10 is set to a range of 105 degrees or less outward with respect to the forward direction of the host vehicle 1000, and the detection angle range of the camera 20 is based on the forward direction of the host vehicle 1000. And include an angle range of 65 degrees to 115 degrees outward.

The sensor group of the present embodiment is configured of the radar 10 installed at the front corner of the host vehicle 1000 and the camera 20 installed on the side surface of the host vehicle 1000. The sensor group is not limited to the case where it is configured by two radars 10 and two cameras 20, and may be configured by one or more radars 10 and one or more cameras 20. . In addition, different types of known sensors can be further included.

Further, as in the present embodiment, it is desirable that detection ranges of the radar 10 and the camera 20 be overlapped.

In addition, it is desirable to overlap the detection range of the radar 10 on the right side of the traveling direction of the host vehicle 1000 and the detection range of the radar 10 on the left side.

By providing a redundant system of the camera 20, the radar 10, and the radars 10 as described above, it is possible to more reliably execute the front side detection that is most important for the automatic driving of the vehicle 1000.

Returning to FIG. 3, the arithmetic unit 100 is an arithmetic processing unit that calculates the direction of the detection vehicle based on the detection result of the sensor group, and is configured by a computer having a CPU, a memory, an I / O, and the like. The computing device 100 includes an input unit 110, an angle determination unit 120, a computing unit 130, and an output unit 140.

The input unit 110 is a portion that receives an input of data on the position and velocity of a detection vehicle output from the radar 10 or the camera 20. The input data of each sensor is output to the angle determination unit 120.

The angle determination unit 120 calculates how many positions of the detection vehicle exist outward when the forward direction of the host vehicle 1000 is a reference. Then, when it is determined that the detection vehicle exists outward at 65 degrees or less with reference to the forward direction of the host vehicle 1000, the angle determination unit 120 causes the calculation unit 130 to calculate the calculation result of the radar 10 Output. Further, when it is determined that the detection vehicle is present at an angle larger than 65 degrees, the angle determination unit 120 outputs the calculation result of the camera 20 to the calculation unit 130. The output of these calculation results is executed for each detected vehicle.

Although the case of using the calculation result of the radar 10 and the case of providing the boundary in the case of using the calculation result of the camera 20 at 65 degrees have been described, the boundary angle is not limited to 65 degrees and can be changed as appropriate.

For example, the boundary angle may be 75 degrees or 80 degrees at which the detection error rate of the radar 10 sharply rises, and may be 105 degrees which is the maximum angle range.

The calculation unit 130 calculates the direction of the detection vehicle from the calculation result of the radar 10 input from the angle determination unit 120 or the calculation result of the camera 20 and the calculation result of the position and speed of the detection vehicle in the past. . If there are a plurality of detection vehicles, the calculation unit 130 calculates the direction for each detection vehicle. The calculation result is output to the vehicle control ECU 200 via the output unit 140.

When calculating the direction of the detection vehicle, the calculation unit 130 according to this embodiment does not distinguish whether the detection information in the past is a detection value based on the radar 10 or a detection value based on the camera 20.

That is, even when the detection vehicle is at 65 degrees or less, the radar vehicle takes over and utilizes the information on the position and direction of the detection vehicle calculated based on the detection result of the camera 20 when it is at a position larger than 65 degrees. The position and direction of the detection vehicle are calculated based on the 10 detection results. Similarly, even when the detected vehicle is at a position larger than 65 degrees, the information on the position and the direction of the detected vehicle calculated based on the detection result of the radar 10 when it exists at 65 degrees or less is inherited and used, The position and the direction of the detected vehicle calculated based on the detection result of the camera 20 using it are calculated. Thereby, it is comprised so that a detection vehicle may be tracked continuously.

Information on the direction and speed of a detected vehicle traveling around the vehicle 1000 or stopped, obtained by the vehicle detection system 1, is output to a vehicle control ECU (Electronic Control Unit) 200 for automatic driving. It is used when performing various controls such as control, automatic parking control, and parking assistance control.

The vehicle control ECU 200 executes control for supporting automatic driving of the host vehicle 1000. For example, the target steering angle is output to the steering device 230 to control the traveling direction of the host vehicle 1000. Further, the required driving force is output to the driving force control ECU 210 that controls the driving force of the host vehicle 1000, and the required braking force is output to the braking force control ECU 220 that controls the braking force, thereby controlling the speed of the host vehicle 1000. Furthermore, the shift range of the own vehicle 1000 is controlled by issuing a request for the drive range, the reverse range or the parking range to the shift by wire control device 240 that controls the shift range of the automatic transmission.

Next, the flow of processing of detection of a detection vehicle by the vehicle detection system 1 of the present embodiment will be described with reference to FIG.

The vehicle detection system 1 of the present embodiment repeatedly executes the processing shown in FIG. 8 while the engine of the host vehicle is ON.

First, the vehicle detection system 1 measures the surroundings of the host vehicle 1000 by the radar 10 and the camera 20, and calculates the position and speed of the detection vehicle if it exists (step S100). When it is determined in the calculation result of the camera 20 that there are a plurality of detection vehicles around the host vehicle 1000, the position and speed thereof are calculated for each detection vehicle. Also, when there is no detected vehicle, a flag indicating that there is no detected vehicle is set.

Next, the vehicle detection system 1 inputs the calculation result of the radar 10 and the camera 20 calculated in step S100 to the calculation device 100 (step S110).

Next, the vehicle detection system 1 determines the position of the detection vehicle (how many positions outward with respect to the forward direction of the host vehicle 1000 exist) in the angle determination unit 120 (step S120).

When it is determined in this step that the detection vehicle is present at 65 degrees or less outward with reference to the forward direction of the host vehicle 1000, the angle determination unit 120 calculates the calculation unit among the calculation results input in step S110. The calculation result of the radar 10 is output to 130. On the other hand, when it is determined that the angle is greater than 65 degrees, the angle determination unit 120 outputs the calculation result of the camera 20 to the calculation unit 130 among the calculation results input in step S110. Furthermore, when the flag indicating no detected vehicle is input in step S110, the angle determination unit 120 outputs a processing signal to the arithmetic unit 130 to skip the next steps S130 and S140 with no detected vehicle.

Next, the vehicle detection system 1 determines in the calculation unit 130 whether there is a past detection value of the detection vehicle (step S130).

If it is determined in this step that there is a past detected value of the detected vehicle, the process proceeds to step S140. On the other hand, when it is determined that there is no past detected value of the vehicle, the process proceeds to step S150.

In this step S130, the detected vehicle in the past does not distinguish whether it is a detected value based on the radar 10 or a detected value based on the camera 20 in a pure manner. And / or detected by the camera 20, it is determined whether or not there is a calculation result of position and velocity.

Next, the vehicle detection system 1 calculates the direction of the detection vehicle based on the past detection result of the detection vehicle and the information output in step S120 in the calculation unit 130 (step S140).

Also in step S140, similarly to step S130, when calculating the direction of the detection vehicle, it is not distinguished whether the detection information in the past is a detection value based on the radar 10 or a detection value based on the camera 20. It shall be.

Next, the vehicle detection system 1 determines whether or not the directions of all the detected vehicles have been calculated based on the detection results of the radar 10 and the camera 20 in the calculation unit 130 (step S150).

If it is determined in this step that the directions of all the detected vehicles have been calculated, the processing is ended. On the other hand, when it is determined that the directions of all the detected vehicles are not calculated, the process returns to step S120, and the calculation of all the detected vehicles is ended.

Next, the effects of this embodiment will be described.

The vehicle detection system 1 of the present embodiment described above detects a sensor group including the radar 10 installed at the front corner of the host vehicle 1000 and the camera 20 installed at the side surface of the host vehicle 1000 and detection results of the sensor group The detection angle range of the radar 10 is in the range of 105 degrees or less outward with respect to the forward direction of the host vehicle 1000, and the detection angle range of the camera 20 is An angle range of 65 degrees to 115 degrees is included outward with reference to the forward direction of the host vehicle 1000.

With such a configuration, the direction of the detection vehicle is calculated using the detection result of the camera 20 in the area where the “speed decrease” is detected by mistake in front of the host vehicle 1000 and the “incorrect direction” is calculated. The direction of the detection vehicle can be calculated using the detection result of the radar 10 outside the region. Therefore, the accuracy of the calculation of the direction of the detection vehicle can be improved as compared with the conventional case, and the tracking of the detection vehicle present around the host vehicle 1000 can be accurately and stably performed in the automatic driving.

Further, the computing device 100 uses information on the position and orientation of the detected vehicle calculated based on the detection result of the radar 10 when calculating the position and orientation of the detected vehicle based on the detection result of the camera 20, and the camera 20 The information on the position and direction of the detected vehicle calculated on the basis of the detection result of is used to calculate the position and the direction of the detected vehicle on the basis of the detection result of the radar 10 to continuously track the detected vehicle. The information (position, speed, acceleration, vehicle size, direction of the vehicle) of the surrounding vehicles detected by 10 can be delivered to the camera 20 which is a video system sensor, and the recognition rate and recognition when recognizing the detected vehicle from the image Accuracy can be improved. Although a general image is only planar information, adding information on a three-dimensional shape as in the above-mentioned handover processing further reduces the recognition error rate and realizes more accurate detection. Is possible. On the other hand, by passing information of the detection vehicle around the host vehicle 1000 detected by the camera 20 to the radar 10, detection can be performed after knowing the vehicle type and the vehicle size, so detection with higher accuracy is possible. It becomes. As described above, by exchanging the peripheral vehicle information, smooth tracking between the radar 10 and the camera 20 becomes possible.

Furthermore, by determining the direction of the detection vehicle using the speed information of the vehicle detected by the sensor group, the detection accuracy of the direction of the detection vehicle can be made more accurate, and the tracking accuracy can be further improved. Can.

Further, the detection information of the camera 20 is not used to determine the direction of the detection vehicle detected in an angle range of 65 degrees to 115 degrees outward with reference to the forward direction of the host vehicle 1000. The radar 10 erroneously detects the “speed decrease” obliquely ahead of the host vehicle 1000 and detects the detection vehicle more reliably excluding the area where the “incorrect detection vehicle direction” is calculated. This enables more accurate tracking of the detected vehicle.

Furthermore, when a plurality of detection vehicles are simultaneously detected by the camera 20, the information of the plurality of detection vehicles is used when computing the direction of the detection vehicles by the radar 10, so that the camera 20 is excellent in detection of a plurality of vehicles. It becomes possible to detect that there are a plurality of vehicles with higher accuracy and to take over the information to the radar 10, and even when there are a plurality of vehicles around the host vehicle 1000, with high accuracy It can track.

<Others>
The present invention is not limited to the above-described embodiment, and various modifications and applications are possible. The embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the configurations described.

For example, although the case where the position and the speed of the detection vehicle are calculated by the radar 10 and the camera 20 has been described, it is also possible to calculate the position and the speed of the detection vehicle in the arithmetic device 100.

DESCRIPTION OF SYMBOLS 1 ... Vehicle detection system 10 ... Radar 20 ... Camera 100 ... Arithmetic device 110 ... Input part 120 ... Angle determination part 130 ... Arithmetic part 140 ... Output part 200 ... Vehicle control ECU
210 ... driving force control ECU
220 ... braking force control ECU
230: Steering device 240: Shift-by-wire control device 1000: Vehicle 2000: Detection vehicle

Claims

A vehicle detection system for detecting a position and a direction of a detection vehicle traveling around a host vehicle, the vehicle detection system comprising:
A sensor group including a radar installed near the front corner of the vehicle and a camera installed on the side of the vehicle;
An arithmetic device for calculating the direction of the detection vehicle based on the detection result of the sensor group;
The detection angle range of the radar is in the range of 105 degrees or less outward based on the traveling direction when the host vehicle travels straight ahead,
A vehicle detection system, wherein a detection angle range of the camera includes an angle range of 65 degrees to 115 degrees outward with reference to a traveling direction when the host vehicle goes straight ahead.
In the vehicle detection system according to claim 1,
When calculating the direction of the detection vehicle based on the detection result of the radar, the direction of the detection vehicle is determined using the speed information of the vehicle detected by the radar.
In the vehicle detection system according to claim 2,
The arithmetic device is
Information on the position and orientation of the detected vehicle calculated based on the detection result of the radar is used when calculating the position and orientation of the detected vehicle based on the detection result of the camera, and based on the detection result of the camera The detection vehicle is continuously tracked by using the information of the position and direction of the detection vehicle calculated in the above calculation when calculating the position and direction of the detection vehicle based on the detection result of the radar. Vehicle detection system.
In the vehicle detection system according to claim 2,
The detection information of the radar is not used to determine the direction of the detection vehicle detected in an angle range of 65 degrees to 115 degrees outward with reference to the traveling direction when the host vehicle travels straight ahead. A vehicle detection system characterized by using detection information of a camera.
In the vehicle detection system according to claim 2,
A vehicle detection system characterized by using information of the plurality of detection vehicles when calculating a direction of the detection vehicle by the radar when a plurality of detection vehicles are simultaneously detected by the camera.