JP2000131432A - Method for detecting obstruction to vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine accurately whether bodies to be detected are the same obstruction or not by using a millimeter-wave radar device and a laser radar device in appropriate combination. SOLUTION: The coordinate data of the relative location of an obstruction detected by a millimeter-wave radar device with respect to one's own vehicle is designated by M1(xm1, ym1), and the coordinate data of the relative locations of obstructions detected by a laser radar device with respect to one's own vehicle are designated by R1(xr1, yr1) and R2(xr2, yr2). On the basis of the coordinate data M1 detected by the millimeter-wave radar device, a rectangular decision area Ai having each distance (a) along the x-axis and each distance (b) along the y-axis is set. In the case that the coordinate data R1 and R2 detected by the laser radar device fall within the decision area Ai, it is decided that the obstruction detected by the millimeter-wave radar device and the obstructions detected by the laser radar device are the same body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of detecting an obstacle in a vehicle by using a combination of a millimeter wave radar device and a laser radar device to determine whether or not the detected objects are the same obstacle.

[0002]

2. Description of the Related Art A radar device mounted on a host vehicle detects an obstacle such as a preceding vehicle, and when the host vehicle may contact the obstacle, performs automatic braking to avoid contact. Safety devices are known. As a radar device used in such a traveling safety device, a millimeter wave radar device (for example, JP-A-8-94749, JP-A-7-3186) is used.
No. 35) and a laser radar device are known.

The millimeter-wave radar device can detect an obstacle without being affected by weather conditions such as dense fog, but has a problem that the resolution in the left-right direction is inferior because it is difficult to narrow the beam. On the other hand, the laser radar device is excellent in the resolution in the left-right direction because the beam can be narrowed down, but may not be detected due to weather conditions such as dense fog.

[0004]

By the way, in order to detect a reflector provided at the rear of a preceding vehicle, which is an obstacle, the laser radar device runs in parallel with a pair of left and right reflectors provided on a four-wheeled vehicle. Two motorcycles that are erroneously recognized as two motorcycles or provided on two motorcycles running in parallel.
There is a possibility that one reflector is erroneously recognized as one four-wheeled vehicle. Further, since the laser radar device detects an object that reflects light, there is a possibility that a cat's eye or the like provided on a road is detected as an obstacle.

On the other hand, since the millimeter wave radar device detects the entire vehicle body of the preceding vehicle, one millimeter of the preceding vehicle may be erroneously recognized as a plurality of preceding vehicles, or a plurality of preceding vehicles may be regarded as one vehicle. Although it is unlikely that the vehicle is erroneously recognized as a preceding vehicle, the millimeter wave radar device has a problem that the resolution in the left and right directions is insufficient as described above, and the left and right widths of an obstacle cannot be accurately detected.

As described above, the millimeter wave radar device and the laser radar device have advantages and disadvantages, respectively. However, if the two radar devices are used in an appropriate combination, the object to be detected can be compensated for by compensating for the disadvantages of both. It is possible to accurately determine whether or not the obstacles are the same.

[0007] The present invention has been made in view of the above-mentioned circumstances, and by using an appropriate combination of a millimeter wave radar device and a laser radar device, it is possible to accurately determine whether or not the detected objects are the same obstacle. The purpose is to determine

[0008]

In order to achieve the above object, an object of the present invention is to provide a method for receiving obstacles by receiving a millimeter wave reflected wave transmitted forward in the traveling direction of the vehicle. An obstacle detection device for a vehicle, comprising: a millimeter wave radar device that detects an obstacle; and a laser radar device that detects an obstacle by receiving a reflected wave of laser light transmitted forward in the traveling direction of the vehicle. Determining that the obstacle detected by the millimeter wave radar device and the obstacle detected by the laser radar device in the determination region set around the obstacle are the same obstacle. I do.

[0009] According to the above configuration, while using the millimeter-wave radar device and the laser radar device together to enhance the detection capability of the obstacle, the laser radar is positioned within the determination area set around the obstacle detected by the millimeter-wave radar device. Based on whether or not an obstacle detected by the devices is present, it is possible to accurately determine whether or not the obstacles detected by both radar devices are the same object.

The invention according to a second aspect is characterized in that, in addition to the configuration of the first aspect, the determination area is expanded as the reception intensity of the reflected wave of the millimeter wave radar device is higher.

[0011] According to the above configuration, when the reception intensity of the reflected wave of the millimeter wave radar device is strong because the size of the obstacle is large, the determination region is expanded. Therefore, the determination region according to the size of the obstacle is set. Thus, the determination accuracy can be improved.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, when a plurality of obstacles are detected by the millimeter wave radar device, the distance according to the distance between the plurality of obstacles is determined. And changing the size of the determination area.

According to the above configuration, the size of the determination area is changed in accordance with the distance between the plurality of obstacles detected by the millimeter wave radar device. This can be prevented from occurring.

According to a fourth aspect of the present invention, in addition to the configuration of the first or second aspect, when a plurality of obstacles are detected by the millimeter wave radar device, a determination area is determined for each obstacle. In addition to the setting, when the determination areas of adjacent obstacles overlap each other, the determination areas are reduced.

According to the above configuration, when a plurality of obstacles are detected by the millimeter wave radar device, the determination areas corresponding to the obstacles are reduced so that the determination areas do not overlap each other. It is possible to prevent erroneous determinations from occurring due to overlapping of regions.

According to a fifth aspect of the present invention, in addition to the configuration of the fourth aspect, the ratio of the reduction is determined in a determination region having a shorter distance from the own vehicle or in a determination region existing in front of the own vehicle. Is reduced.

According to the above configuration, when the determination areas of a plurality of obstacles overlap each other, the determination area is set to be larger in a determination area having a shorter distance from the own vehicle or in a determination area existing in front of the own vehicle. If the obstacle detected by the two radar devices is unlikely to be another object because the obstacle exists near or in front of the own vehicle, the obstacle detected by the two radar devices is a different object. Misjudgment can be prevented.

According to a sixth aspect of the present invention, in addition to the configuration of the first or second aspect, when an obstacle previously detected by the millimeter wave radar device and the laser radar device is continuously detected, The determination area is set according to the width of the obstacle based on the detection result of the previous laser radar device.

According to the above configuration, when the previously detected obstacle is continuously detected, the determination area is set according to the width of the obstacle based on the previous detection result of the laser radar device. In addition, the determination region can be set more appropriately by effectively utilizing the detection result of the laser radar device having an excellent resolution in the width direction.

According to a seventh aspect of the present invention, in addition to the configuration of the first or second aspect, when an obstacle previously detected by the millimeter wave radar device and the laser radar device is continuously detected, The determination region is set according to a distance relationship between a detection result of the previous millimeter wave radar device and a detection result of the previous laser radar device.

According to the above configuration, when the previously detected obstacle is continuously detected, the obstacle is determined according to the distance relationship between the previous detection result of the millimeter wave radar device and the previous detection result of the laser radar device. Therefore, the determination area can be set more appropriately by effectively utilizing the high-precision detection result of the continuously detected obstacle.

According to an eighth aspect of the present invention, in addition to the configuration of the first or second aspect, the relative speed of the obstacle calculated based on the detection result of the millimeter wave radar device or the laser radar device, and the millimeter wave The size of the determination area is changed according to a difference between detection times of the radar device and the laser radar device.

According to the above configuration, the size of the determination area is changed in accordance with the relative speed of the own vehicle and the obstacle and the difference between the detection times of the two radar devices. Even if there is a difference between the detection result of the radar device detected at the time and the current situation, it is possible to make a correct determination by compensating for the difference.

According to a ninth aspect of the present invention, in addition to the configuration of the first or second aspect, the relative speed of the obstacle calculated based on the detection result of the millimeter wave radar device or the laser radar device, and the millimeter wave Correcting at least one of the relative position of the obstacle based on the detection result of the millimeter wave radar device and the relative position of the obstacle based on the detection result of the laser radar device according to the difference between the detection times of the radar device and the laser radar device. It is characterized by the following.

According to the above configuration, according to the relative speed of the own vehicle and the obstacle, and the difference between the detection times of the two radar devices,
Since at least one of the relative positions of the two obstacles based on the detection results of the two radar devices is corrected, the relative position of the obstacle detected earlier due to the relative speed and the relative position of the obstacle detected later are determined. Even if there is a difference between the two, the correct judgment can be made by compensating for the difference.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIG. 1 to FIG. 16 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle provided with an obstacle detecting device.
2 is a block diagram of a braking system, FIG. 3 is an explanatory diagram of an obstacle detecting operation of the laser radar device, FIG. 4 is an explanatory diagram of an obstacle detecting operation of the millimeter wave radar device, and FIG. 5 is each beam of the millimeter wave radar device. FIG. 6 is an explanatory diagram of a method of specifying the left-right relative position of an obstacle from the reception intensity of the object, FIG. 6 is an explanatory diagram of the relative position detection of the obstacle by the millimeter-wave radar device and the laser radar device, and FIG. 8 is an explanatory diagram of how to set and determine the determination area, FIG. 9 is a map for searching for the correction distance from the reception intensity of the millimeter wave radar device, and FIG. 10 is a view for determining the determination area when two obstacles are approaching. FIG. 11 is an explanatory diagram of determination area setting when two obstacles are approaching, FIG. 12 is an explanatory view of determination area setting based on previous detection data, and FIG. 13 is based on previous detection data. FIG. 14 is an explanatory diagram of setting a constant area, FIG. 14 is an explanatory diagram of an erroneous determination caused by a difference between a relative speed of an obstacle and detection timing of both radar devices, and FIG. 15 is a diagram of a difference between a relative speed of an obstacle and detection timing of both radar devices. And FIG. 16 is an explanatory diagram of detection data correction taking into account the difference between the relative speed of an obstacle and the detection timing of both radar devices.

As shown in FIGS. 1 and 2, a four-wheeled vehicle V equipped with the obstacle detecting device of the present invention has left and right front wheels as driving wheels to which the driving force of an engine E is transmitted via a transmission T. _WFL , _WFR and left and right rear wheels _WRL , _WRR , which are driven wheels that rotate as the vehicle V travels, are provided.
A brake pedal 1 operated by a driver is connected to a master cylinder 3 via an electronic control negative pressure booster 2. The electronic control negative pressure booster 2 mechanically boosts the depressing force of the brake pedal 1 to operate the master cylinder 3, and a braking command signal from the electronic control unit U regardless of the operation of the brake pedal 1 during braking assistance. Causes the master cylinder 3 to operate. When a pedaling force is input to the brake pedal 1 and a braking command signal is input from the electronic control unit U, the electronic control negative pressure booster 2 outputs a brake hydraulic pressure in accordance with the larger one of the two. The input rod of the electronic control negative pressure booster 2 is connected to the brake pedal 1 via a lost motion mechanism, and the electronic control negative pressure booster 2 is operated by a signal from the electronic control unit U to move the input rod forward. , The brake pedal 1 remains at the initial position.

A pair of output ports 8 of the master cylinder 3
9 is a front wheel W via the hydraulic control device 4. _FL, W_FRAnd rear wheel
W_RL, W_RRBrake calipers provided for each
5_FL, 5 _FR, 5_RL, 5_RRConnected to. Hydraulic control device 4
Is four brake calipers 5_FL, 5_FR, 5_RL, 5_RRTo
In response, four pressure regulators 6 are provided.
The pressure regulators 6 are connected to the electronic control unit U so that the front wheels
W_FL, W_FRAnd rear wheel W_RL, W_RRBrake installed on
Caliper 5_FL, 5_FR, 5_RL, 5_RRControl the operation of
You. Therefore, each brake carrier is controlled by the pressure regulator 6.
Pa5_FL, 5_FR, 5_RL, 5_RRBrake hydraulic pressure transmitted to
Independent control reduces wheel lock during braking
Anti-lock brake control can be performed.

The electronic control unit U transmits a millimeter wave toward the front of the vehicle body and determines the front-rear relative position, the left-right relative position, and the relative speed between the own vehicle and an obstacle such as a preceding vehicle based on the reflected wave. a millimeter-wave radar apparatus S ₁ for detecting and transmitting the laser toward the front of the vehicle body, the front and rear relative position and the lateral relative position between the obstacle and the vehicle such as cars run before on the basis of the reflected waves, as well as obstacles a laser radar device S ₂ for detecting the lateral width are connected. Further, the electronic control unit U is connected to wheel speed sensors S ₃ ... For detecting the rotational speeds of the front wheels W _FL , W _FR and the rear wheels W _RL , W _RR , respectively.

Based on the detection results of the millimeter-wave radar device S ₁ and the laser radar device S ₂ , the electronic control unit U determines the relative position between the front and rear obstacles such as the preceding vehicle with respect to the own vehicle, The left / right relative position, the relative speed, and the left / right width are calculated, and the obstacle is determined based on the front / rear relative position, the left / right relative position, the relative speed, the left / right width, and the vehicle speed and the acceleration of the own vehicle detected by the wheel speed sensors S ₃ . The possibility of contact with is determined. If there is a possibility that the vehicle comes into contact with an obstacle, the electronic control negative pressure booster 2 operates according to a command from the electronic control unit U, and the hydraulic pressure generated by the master cylinder 3 is adjusted by the hydraulic control device 4. The pressure is transmitted to the brake calipers 5 _FL , 5 _FR , 5 _RL , and 5 _RR to perform automatic braking in order to avoid contact with an obstacle.

The millimeter-wave radar device S ₁ and the laser radar device S ₂ have different detection characteristics, and a difference between the detection characteristics is used to determine whether or not the detected objects are the same obstacle. judge. Hereinafter, the details will be described.

First, the detection characteristics of the millimeter wave radar device S ₁ and the laser radar device S ₂ will be described.

The laser used in the laser radar device S ₂ can narrow the beam narrowly.
As shown in the figure, by receiving a reflected wave from an obstacle while scanning the narrow beam transmitted to the front of the vehicle body in the left-right direction (or in the left-right direction and the up-down direction), based on the time from the transmission to the reception. To detect the front-back relative position of the obstacle and the left-right relative position of the obstacle based on the beam transmission direction when the reflected wave is received.

The laser radar apparatus S ₂ is excellent in the resolution in the horizontal direction, as shown in FIG. 6, if the obstacle is a leading vehicle, primarily detects the right and left reflector provided on the vehicle body rear Therefore, the detection accuracy of the left-right relative position and the left-right width of the obstacle is extremely good. On the other hand, 1
There is a possibility that the left and right reflectors of two motorcycles may be erroneously recognized as two motorcycles running in parallel, or two motorcycles running in parallel may be erroneously recognized as one motorcycle.

On the other hand, since the millimeter wave used in the millimeter wave radar device S ₁ is difficult to narrow down compared to the laser, a plurality of millimeter wave beams are radially transmitted to the front of the vehicle body as shown in FIG. And receive the reflected wave,
In addition to detecting the front-back relative position of the obstacle based on the time from the transmission to the reception, and detecting the left-right relative position of the obstacle based on the transmission direction of the beam from which the reflected wave was received among the plurality of beams. And the relative speed of the obstacle is detected based on the Doppler principle. At this time, since reflected waves of a plurality of beams are received for one obstacle, FIG.
As shown in FIG. 5, the center of gravity of the reception intensities of the plurality of beams is calculated, and the center of gravity is estimated as the relative position of the obstacle to the left and right. For the above reasons, the millimeter wave radar device S
Resolution in the horizontal direction of ₁ is lower than that of the laser radar apparatus S _2.

[0037] As described above, there is a problem that the millimeter-wave radar apparatus S ₁ but can be used without being affected by the weather low resolution in the horizontal direction, the laser radar apparatus S ₂ is the resolution in the lateral direction is high There is a problem that it can not be used depending on the weather. Therefore, both radar devices S ₁ and S ₂
The combined use, it is conceivable to perform highly precise detection without being influenced by the weather, obstacle detected by the obstacle and the laser radar device S ₂ detected by the millimeter-wave radar apparatus S ₁ in this case It is necessary to determine whether or not are the same.

Next, a procedure for determining whether or not the detected objects are the same obstacle will be described with reference to the flowchart of FIG.

[0039] First, in step S1, detects the relative position from the vehicle in front of the obstacle based on the detection result millimeter-wave radar apparatus S _1. As is clear from FIG. 6, the detected relative position is coordinate data Mi (xmi, ymi).
Given by The xy coordinate system is fixed to the host vehicle, the x-axis extends forward of the vehicle, and the y-axis extends to the left of the vehicle perpendicular to the x-axis. Millimeter wave radar device S
₁ is given as the position of the center of gravity of the reception intensities of a plurality of beams, the coordinate data Mi (x
mi, ymi) is one for one obstacle.

[0040] In step S2, detects the relative position from the vehicle in front of the obstacle based on the detection result the laser radar apparatus S _2. As is clear from FIG.
The detected relative position is given as coordinate data Rj (xrj, yrj) in the xy coordinate system. Since the laser radar device S ₂ is for detecting a right and left reflector provided on the rear portion of the obstacle, the coordinate data Rj of the relative position (x
rj, yrj) is usually two for one obstacle.

The subsequent Step S3, the coordinate data Mi (x in the relative position of the obstacle detected by the millimeter-wave radar apparatus S ₁
The determination area Ai is set based on (mi, ymi).
The determination area Ai is the coordinate data Mi of the relative position of the obstacle detected by the millimeter-wave radar apparatus S ₁ (xmi, ym
i), a distance a (eg,
a = 2 m) and a distance b in the left-right direction
It becomes a rectangular range having a width of (for example, b = 2 m) (see FIG. 8). That is, the determination area Ai is: Ai; (xmi−a ≦ x ≦ xmi + a) and (ymi−
b ≦ y ≦ ymi + b). The distances a and b are determined by the millimeter wave radar device S _1.
And is set according to the accuracy of detection laser radar device S _2.

The subsequent Step S4, the coordinate data Rj of the relative position of the obstacle detected by the laser radar device S ₂
It is determined whether or not (xrj, yrj) exists inside the determination area Ai. If the coordinate data Rj exists inside the determination area Ai, at step S5, the laser radar device S
_The obstacle “Rj” detected in ₂ is a millimeter wave radar device S ₁
It is determined that the object is the same as the obstacle "Mi" detected in. On the other hand, if the coordinate data Rj does not exist inside the determination area Ai, in step S6, the laser radar device S
_The obstacle “Rj” detected in ₂ is a millimeter wave radar device S ₁
It can be determined that the detected object is not the same object as the detected obstacle "Mi".

[0043] When this specifically described, at the side of the obstacle near the vehicle 6, the coordinate data M1 of the relative position detected by the millimeter-wave radar apparatus S ₁ (xm1, ym1)
The inside of the determination area A1 is set as a reference, the laser radar apparatus S ₂ 2 sets of coordinates of the relative position of the reflector data detected by R1 (xr1, yr1), R2 (xr
2, yr2) are present, therefore the obstacle detected by the millimeter-wave radar apparatus S ₁ and the laser radar device S ₂ obstacle detected by it is determined that the same object. Similarly, in the far side of the obstacle from the vehicle in FIG. 6, the coordinate data M2 of the relative position detected by the millimeter-wave radar apparatus S ₁
Determination area A2 set based on (xm2, ym2)
Inside, a laser radar apparatus coordinate data of the relative position of the two reflectors detected by S ₂ R3 (XR3, yr of
3), R4 (xr4, yr4 ) are present, therefore the obstacle detected by the millimeter-wave radar apparatus S ₁ and the laser radar device S ₂ obstacle detected by it is determined that the same object.

In order to improve the accuracy of the determination, the determination area A
The size and shape of i are corrected by the method described below.

Compensation by reception intensity of millimeter wave radar device
Reception intensity of the positive millimeter-wave radar apparatus S ₁ is stronger if large vehicles such as obstacle track weaker if small-sized vehicle such as a motorcycle reversed. That is, it is presumed that an obstacle having a high reception intensity has a large left-right width, and an obstacle having a low reception intensity has a small left-right width. Therefore, as shown in FIG. 9, by correcting the distance b in the y-axis direction as the reception intensity of the millimeter-wave radar apparatus S ₁ is stronger in the increasing direction, it corrects the lateral width of the determination area Ai in the increasing direction.

[0046] Note that the reception intensity of the millimeter-wave radar apparatus S _1, the maximum value of the reception intensity of the plurality of beams are employed. Also the distance a in the x-axis direction, may be corrected in the increasing direction according to the reception intensity of the millimeter-wave radar apparatus S ₁ in the same manner.

As is apparent from the correction diagram 10 when a plurality of determination areas overlap, when the millimeter-wave radar apparatus S ₁ is detected two coordinate data Mi, the Mj, each coordinate data Mi, determined corresponding to Mj The areas Ai and Aj are
Ai; (xmi-ai ≦ x ≦ xmi + ai) and (ym
i-bi≤y≤ymi + bi) Aj; (xmj-aj≤x≤xmj + aj) and (ym
j−bj ≦ y ≦ ymj + bj).

The distance dxij in the x-axis direction and the distance dyij in the y-axis direction of the two coordinate data Mi and Mj are given by dxij = | xmi-xmj | dyij = | ymi-ymj |. At this time, two coordinate data Mi, Mj
Are close to each other, and when dxij ≦ ai + aj and dyij ≦ bi + bj are satisfied, as shown in FIG.
Part of i and Aj overlap each other.

In such a case, as shown by the broken line in FIG. 10, the two determination areas Ai and Aj are divided so that they do not overlap, thereby preventing occurrence of erroneous detection. As another method, as shown in FIG. 11, the two determination areas Ai and Aj can be divided by a straight line parallel to the x-axis. At this time,
The reduction amount p of the determination region Ai closer to the front of the own vehicle is reduced, and the reduction amount q of the determination region Aj farther from the front of the own vehicle is increased. As another method, the reduction amount p of the determination area Ai on the side where the front-rear relative distance to the host vehicle is small is reduced, and the reduction amount q of the determination area Aj on the side where the front-rear relative distance to the host vehicle is large is increased. Thereby, both radar devices S ₁ , S
_When the obstacle detected in ₂ exists in front of the own vehicle or near the own vehicle and is highly likely to be the same object, it is possible to prevent erroneous determination that the obstacle is another object. still,
As a simple method, the reduction amounts p and q of the two determination areas Ai and Aj may be equalized (p = q).

[0050]Correction using previous detection data Here, the width of the determination region Ai in the y-axis direction is
Correction using data. As shown in FIG.
A plurality of coordinate data in contact with each other, ie, the millimeter wave radar device S₁
Data M1 detected by a laser radar
Device S_TwoCoordinate data R1, R2 detected by
Constitutes one obstacle, and the width W of the obstacle is 3
Right and left ends of the coordinate data M1, R1, R2
Given by the distance between the coordinate data R1, R2 located at
You. This millimeter wave radar device S ₁Of the coordinate data M1
The center is obtained from the previous coordinate data M1, R1, R2.
The width W of the obstructed obstacle equally to the left and right, and further to the left
By adding a preset distance c to the right outside,
The width of the constant area Ai in the y-axis direction is set. Also, the judgment area
The width of Ai in the x-axis direction is the same as this time
Device S₁Around the coordinate data M1
Is added to the distance a. That is, the judgment area
The area Ai is defined as follows. Note that the distance c is
Rewave radar device S₁And laser radar device S_Two
Is set according to the detection accuracy of.

Ai; (xmi-a≤x≤xmi + a) and (ymi-W / 2-c≤y≤ymi + W / 2 + c) FIG. 13 illustrates another method, and corresponds to one obstacle. coordinate data R1~R laser radar device S ₂
4 is applied in the case of being dispersed in the x-axis direction and the y-axis direction. In the previous detection result, for example, five coordinate data M
1, if the R1~R4 had constitute one obstacle, farthest laser radar apparatus in the positive direction of the x-axis coordinate data M1 of the millimeter-wave radar apparatus S ₁ as a reference S
The distance to the coordinate data R4 of No. ₂ is dx (+), and similarly, the laser radar device S ₂ farthest in the negative direction of the x-axis.
The distance between the coordinate data R1 and R2 is dx (-),
The distance to the laser radar apparatus coordinate data R2 of S _2, R3 farthest in the positive direction of the y-axis and dy (+), y
The distance to the coordinate data R1 of the laser radar apparatus S ₂ farthest in the negative direction of the axis dy - and ().

The distances dx (+), dx
Using (−), dy (+), dy (−) and a preset distance c, the determination area Ai is defined as follows.

Ai; (xmi−dx (−) − c ≦ x ≦ x
mi + dx (+) + c) and (ymi-dy (-)-c
≦ y ≦ ymi + dy (+ ) + c) The determination region Ai, based on the coordinate data M1 obtained in detection of the last millimeter-wave radar apparatus S _1, the coordinates obtained in the detection of the previous laser radar device S ₂ Data R
The distances dx (+), dx (-), dy (+), dy (-), which are the maximum deviations in the x-axis direction and the y-axis direction of 1 to R4, are calculated, and the distances dx (+), dx (- ), Dy
(+), Dy (-) the value obtained by adding the distance c set in advance to, and distributes the coordinate data M1 obtained in the detection of this millimeter-wave radar apparatus S ₁ in the x-axis direction and the y-axis direction as a reference Equivalent to something.

As described above, for the obstacle continuously detected by the millimeter-wave radar device S ₁ and the laser radar device S ₂ , the determination area Ai is determined by using the previous detection result and the current detection result. by setting, whether the obstacle detected by the laser radar device S ₂ is a obstacle and the same object detected by the millimeter-wave radar apparatus S ₁ can be determined even more accurately.

[0055]Compensate for the time difference between the detections of both radar devices
Correction for Millimeter wave radar device S₁And laser radar device S
_TwoPerform detections at regular intervals and asynchronously, respectively.
The identification of the detected obstacle is determined by millimeter wave radar.
ー Device S₁Is executed with reference to the detection cycle of. This place
If the millimeter wave radar device S₁Detection timing and laser
-Radar device S_TwoThe detection timing is off,
Laser radar device S_TwoDetection data is millimeter wave radar
ー Device S ₁Is older than the detected data. Both
Loading device S₁, S_TwoDetection cycle of 100msec
Then, the time difference between the detection timings is 10 at the maximum value.
0 msec.

In such a case, if there is no relative speed between the own vehicle and the obstacle, there is no particular problem, but if the relative speed exists between the own vehicle and the obstacle, an erroneous determination occurs. To explain on the basis why in Figure 14, to set the detection area Ai on the basis of the coordinate data M1 has been detected by the millimeter-wave radar apparatus S _1, the coordinate data R1 has been detected within the detection area Ai in the laser radar apparatus S ₂ , R2
In determining whether or not included, the relative speed between the vehicle and the obstacle is present, the coordinate data R1, R2 early laser radar device S ₂ of the detection timing is now indicated by the solid line at the time of determination Is shifted to the position shown by the broken line from this position, and an erroneous determination occurs if the determination is performed using the shifted coordinate data R1 and R2 as they are. In the example of FIG. 14, the obstacle detected by the laser radar device S ₂ with contains coordinate data R1, R2 that has detected both the radar apparatus S _1, S ₂ in the determination area Ai is identical object actually However, since the coordinate data R1 and R2 whose detection timings are early are used, there is a possibility that the obstacles detected by the two radar devices S ₁ and S ₂ are erroneously determined to be not the same object.

Then, as shown in FIG. 15, the time difference between the relative speed of the vehicle and the obstacle detected by the millimeter wave radar device S ₁ and the detection timing of the two radar devices S ₁ and S ₂ (in the case of the present embodiment) , And 100 msec, which is the maximum value), to calculate the distance L, and correct the increase or decrease in the length of the determination area Ai in the x-axis direction by the distance L to thereby determine the erroneous determination. Occurrence can be avoided. The relative speeds of the own vehicle and the obstacle can be detected based on the Doppler principle, and can be calculated based on the deviation between the preceding and following relative position and the current and preceding and following relative position.

[0058] Instead of correcting the length of the x-axis direction of the determination region Ai mentioned above, as shown in FIG. 16, the distance a coordinate data R1, R2 detected by the laser radar device S ₂ L
The same effect can be obtained by moving the x-axis direction by / 2. L / 2 was as moved by the coordinate data M has been detected determination area Ai in the millimeter-wave radar apparatus S ₁
Due to the set around a 1 is because the coordinate data R1, R2 detected by the laser radar device S _2, is not moved in the x-axis direction beyond the determination area Ai. Or may be moving coordinate data M1 has been detected by the millimeter-wave radar apparatus S ₁ in the opposite direction of the distance L / 2 by the x-axis direction.

Although the embodiments of the present invention have been described above, various design changes can be made in the present invention without departing from the gist thereof.

For example, in the present embodiment, the time difference between the detection timings is set to 100 msec, which is the maximum value. However, in the case where the actual time difference between the detection timings is obtained, the time difference may be used. In this embodiment, the determination area A
Although i and the coordinate data R1 and R2 are corrected in the x-axis direction, the determination area Ai and the coordinate data R1 and R2 can also be corrected in the y-axis direction, which is the horizontal direction.

[0061]

As described above, according to the first aspect of the present invention, the obstacle detected by the millimeter wave radar device is improved while the obstacle detection capability is enhanced by using the millimeter wave radar device and the laser radar device together. Accurately determine whether obstacles detected by both radar devices are the same object based on whether there is an obstacle detected by the laser radar device in the determination area set around the object Can be.

According to the second aspect of the present invention,
Since the determination region is expanded when the reception intensity of the reflected wave of the millimeter wave radar device is high because the size of the obstacle is large, it is possible to set the determination region according to the size of the obstacle and improve the determination accuracy.

According to the third aspect of the present invention,
Since the size of the determination area is changed according to the distance between the plurality of obstacles detected by the millimeter wave radar device, it is possible to prevent the plurality of determination areas from interfering with each other and causing erroneous determination. .

According to the fourth aspect of the present invention,
When multiple obstacles are detected by the millimeter wave radar device,
Since the determination areas corresponding to the obstacles are reduced so that the determination areas do not overlap with each other, it is possible to prevent a plurality of determination areas from overlapping with each other to cause an erroneous determination.

According to the fifth aspect of the present invention,
When the determination areas of a plurality of obstacles overlap each other, the determination area having a smaller distance to the own vehicle or the determination area existing in front of the own vehicle is set to be larger. When the obstacle detected by both radar devices is unlikely to be another object because it is present in front, it is possible to prevent the obstacle detected by both radar devices from being erroneously determined to be another object. it can.

According to the invention described in claim 6,
When the previously detected obstacle is continuously detected, the judgment area is set according to the width of the obstacle based on the detection result of the previous laser radar device, so that the laser with excellent resolution in the width direction The determination region can be set more appropriately by effectively using the detection result of the radar device.

According to the invention described in claim 7,
If the obstacle previously detected is continuously detected, the judgment area is set according to the distance relationship between the detection result of the previous millimeter wave radar device and the detection result of the previous laser radar device. The determination area can be set more appropriately by effectively utilizing the high-precision detection result of the obstacle that has been detected.

According to the invention described in claim 8,
Since the size of the determination area is changed in accordance with the relative speed of the own vehicle and the obstacle and the difference between the detection times of the two radar devices, the detection result of the radar device detected earlier due to the relative speed and Even if there is a deviation from the current situation, it is possible to compensate for the deviation and make a correct determination.

According to the ninth aspect of the present invention,
Since at least one of the relative positions of the two obstacles based on the detection results of the two radar devices is corrected in accordance with the relative speed of the own vehicle and the obstacle and the difference between the detection times of the two radar devices, the relative speed As a result, even if there is a deviation between the relative position of the obstacle detected earlier and the relative position of the obstacle detected later, correct judgment can be made by compensating for the deviation.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle including an obstacle detection device.

FIG. 2 is a block diagram of a braking system.

FIG. 3 is an explanatory diagram of an obstacle detecting operation of the laser radar device.

FIG. 4 is an explanatory diagram of an obstacle detecting operation of the millimeter wave radar device.

FIG. 5 is an explanatory diagram of a method for specifying a relative left / right position of an obstacle from reception intensity of each beam of the millimeter wave radar device.

FIG. 6 is an explanatory diagram of relative position detection of an obstacle by a millimeter wave radar device and a laser radar device.

FIG. 7 is a flowchart illustrating an operation.

FIG. 8 is an explanatory diagram of how to set and determine a determination area.

FIG. 9 is a map for searching a correction distance from a reception intensity of the millimeter wave radar device.

FIG. 10 is an explanatory diagram of a determination area setting when two obstacles are approaching;

FIG. 11 is an explanatory diagram of setting of a determination area when two obstacles are approaching;

FIG. 12 is an explanatory diagram of a determination area setting based on previous detection data.

FIG. 13 is an explanatory diagram of setting a determination area based on previous detection data.

FIG. 14 is an explanatory diagram of an erroneous determination caused by a difference between a relative speed of an obstacle and a detection timing of both radar devices.

FIG. 15 is an explanatory diagram of determination area correction in consideration of the difference between the relative speed of an obstacle and the detection timing of both radar devices.

FIG. 16 is an explanatory diagram of correction of detection data in consideration of a relative speed of an obstacle and a difference between detection timings of both radar devices.

[Explanation of symbols]

Ai, Aj Judgment area S ₁ Millimeter wave radar device S ₂ Laser radar device V Vehicle (own vehicle)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoshi Haneda 1-4-1, Chuo, Wako, Saitama Prefecture Inside Honda R & D Co., Ltd. (72) Inventor Shoji Ichikawa 1-4-1, Chuo, Wako, Saitama No. F-term in Honda R & D Co., Ltd. (Reference) 5H180 AA01 BB04 CC03 CC12 CC14 FF05 LL01 LL02 LL06 LL09 LL15 5J070 AA14 AB01 AB24 AC01 AC02 AC06 AC11 AC20 AE01 AF03 AF10 AG01 AH14 AH19 AH23 AH33 BF03 BF04 BF07 BF16

Claims (9)

[Claims] 1. A millimeter wave radar device (S ₁ ) for detecting an obstacle by receiving a reflected wave of a millimeter wave transmitted forward in a traveling direction of a vehicle (V); A laser radar device (S ₂ ) for detecting an obstacle by receiving a reflected wave of laser light transmitted forward in the traveling direction, and a millimeter wave radar device (S The obstacle detected in S ₁ ) and the determination area (Ai, Aj) set around the obstacle
An obstacle detected by the laser radar device (S ₂ ) in the vehicle, wherein the obstacle is determined to be the same obstacle. 2. The obstacle detection of a vehicle according to claim 1, wherein the determination area (Ai, Aj) is expanded as the reception intensity of the reflected wave of the millimeter wave radar device (S ₁ ) increases. Method. 3. When a plurality of obstacles are detected by the millimeter-wave radar device (S ₁ ), the size of the determination area (Ai, Aj) is changed according to the distance between the plurality of obstacles. The vehicle obstacle detection method according to claim 1 or 2, wherein 4. When a plurality of obstacles are detected by the millimeter wave radar device (S ₁ ), a determination area (Ai, Aj) is set for each obstacle and a determination area of an adjacent obstacle is determined. The method according to claim 1 or 2, wherein the determination area (Ai, Aj) is reduced when (Ai, Aj) overlaps each other. 5. A reduction area (Ai, Aj) having a smaller distance from the own vehicle (V), or a determination area (Ai, Aj) existing in front of the own vehicle (V), having a smaller reduction ratio. The method for detecting an obstacle of a vehicle according to claim 4, wherein 6. When the obstacle previously detected by the millimeter wave radar device (S ₁ ) and the laser radar device (S ₂ ) is continuously detected, the detection result of the previous laser radar device (S ₂ ) The vehicle obstacle detection method according to claim 1 or 2, wherein the determination area (Ai, Aj) is set in accordance with a width of the obstacle based on the distance. 7. When the obstacle previously detected by the millimeter wave radar device (S ₁ ) and the laser radar device (S ₂ ) is continuously detected, the previous millimeter wave radar device (S ₁ ) detects the obstacle. The determination area (Ai, Aj) is set according to a distance relationship between a result and a previous detection result of the laser radar device (S ₂ ).
Or the obstacle detection method for a vehicle according to 2. 8. The relative speed of an obstacle calculated based on the detection result of the millimeter wave radar device (S ₁ ) or the laser radar device (S ₂ ), the millimeter wave radar device (S ₁ ) and the laser radar device (S The vehicle obstacle detection method according to claim 1 or 2, wherein the size of the determination area (Ai, Aj) is changed according to the difference between the detection times in ( ₂ ). 9. The relative speed of an obstacle calculated based on the detection result of the millimeter wave radar device (S ₁ ) or the laser radar device (S ₂ ), the millimeter wave radar device (S ₁ ) and the laser radar device (S ₂ ) According to the detection time difference, at least the relative position of the obstacle based on the detection result of the millimeter wave radar device (S ₁ ) and the relative position of the obstacle based on the detection result of the laser radar device (S ₂ ) The method for detecting an obstacle of a vehicle according to claim 1, wherein one of the obstacles is corrected.