JP5873461B2 - Vehicle control object determination device, vehicle control object determination method, and vehicle control object determination program - Google Patents

Description

  The present invention relates to a vehicle control target determination device, a vehicle control target determination method, and a vehicle control target determination program that determine an object to be controlled.

  In recent years, technology for assisting safe driving of vehicles has been developed. As one of the technologies, an obstacle is detected by a radar device mounted on the vehicle, and the speed of the vehicle is controlled according to the detected obstacle by, for example, applying a brake to avoid collision with the obstacle. For example, there is an automatic control technique in which the direction in which the vehicle travels is controlled by turning the steering or the like to bypass an obstacle.

  However, the objects detected by the radar device as obstacles include, for example, objects that do not interfere with safe driving of the vehicle, such as manhole covers and traffic lights, in addition to obstacles such as falling objects. It is. This is because the radar device can detect the distance between the vehicle and the object, but it can detect the height of the object (vertical length) and the vertical position where the object is placed. This is because the detection by the radar device has low detection accuracy in the vertical direction. For this reason, if an object that does not hinder driving is recognized as an obstacle, automatic control for controlling the speed and direction of the vehicle, alarm control for notifying the driver of the vehicle, etc. Assist control works excessively.

  In order to solve such a problem, for example, in Patent Document 1, a plurality of objects existing in the traveling direction of the host vehicle are detected, and a determination region set around the detected one object is detected on the other detected side. A technique for a vehicle control target determination device that excludes one object from a target for controlling the traveling of the vehicle when the object passes is disclosed. With the technology of the vehicle control target determination device disclosed in Patent Document 1, for example, excessive assist control on an object that does not interfere with safe traveling of the vehicle, such as a manhole cover or a traffic light, can be suppressed.

JP 2006-127194 A

  However, the other object passing through the determination region set as one object for determining whether or not it is a control target in the technique of Patent Document 1 has a narrow depth with respect to the traveling direction of the own vehicle such as a pedestrian or a motorcycle. It can be a thing. Even when the radar apparatus detects an object, an error is included in the position of the detected object. Since the detection error of this radar apparatus includes more errors at the end of the object, even if it is determined that the other object has passed through the one object in the technique of Patent Document 1, it is actually a failure. There may be a case where a vehicle such as a motorcycle, which is the other object, has passed in the vicinity of one object that is an object (the front side or the back side of the one object for the own vehicle). For this reason, there is a possibility that the determination as to whether or not it is a control target is erroneous.

  The present invention has been made on the basis of the above problem recognition, and whether one object is a target object for controlling the traveling of the vehicle by accurately determining another object passing through the one object. An object of the present invention is to provide a vehicle control target determination device, a vehicle control target determination method, and a vehicle control target determination program capable of accurately determining whether or not.

In order to solve the above problems, the vehicle control target determination device (for example, the vehicle control target determination device 200 or the vehicle control target determination device 201 in the embodiment) of the invention described in claim 1 is an object detection device. Based on the positions of a plurality of objects (for example, moving object 2 or moving object 3 and fixed object 10 or fixed object 20 in the embodiment) detected by (for example, radar device 100 or camera device 400 in the embodiment). A vehicle control target determination device for determining an object to be controlled, the vicinity of a first object detected by the object detection device (for example, the fixed object 10 or the fixed object 20 in the embodiment) A determination unit that determines whether or not the second object (for example, the moving object 2 or the moving object 3 in the embodiment) detected by the detection device has passed (for example, , When it is determined that the second object has passed through the vicinity of the first object, and the detected object determination unit 210 and the moving object type determination unit 230 or the moving object type determination unit 231) in the embodiment. A suppression unit that suppresses the control amount when the first object is a control target object in a plurality of stages as the overlap amount between the position where the first object exists and the range of the second object increases . (For example, the moving object width setting unit 240, the overlap amount calculation unit 250, and the reliability determination unit 260 in the embodiment).
The vehicle control target determination device (for example, the vehicle control target determination device 200 or the vehicle control target determination device 201 in the embodiment) of the invention described in claim 2 is an object detection device (for example, a radar in the embodiment). The control target object is determined based on the positions of a plurality of objects (for example, the moving object 2 or the moving object 3 and the fixed object 10 or the fixed object 20 in the embodiment) detected by the device 100 or the camera device 400). A control target determination device for a vehicle, wherein the object detection device detects a vicinity of a first object detected by the object detection device (for example, the fixed object 10 or the fixed object 20 in the embodiment). A determination unit (for example, detection in the embodiment) that determines whether an object (for example, the moving object 2 or the moving object 3 in the embodiment) has passed. When the body determination unit 210 and the moving object type determination unit 230 or the moving object type determination unit 231) determine that the second object has passed near the first object, the first object Depending on the amount of overlap between the existing position and the range of the second object, the control amount when the first object is excluded from the object to be controlled or the first object is set as the object to be controlled is A suppression unit (for example, a moving object width setting unit 240, an overlap amount calculation unit 250, and a reliability determination unit 260 in the embodiment), and the determination unit includes a plurality of detection units detected by the object detection device. A detection object determination unit (for example, the detection object determination unit 210 in the embodiment) that determines the first object and the second object from the object, and a type determination that determines the type of the second object Part (eg form of implementation) A moving object type determining unit 230 or a moving object type determining unit 231), and the suppressing unit determines the width of the second object according to the type of the second object determined by the type determining unit. The width setting unit (for example, the moving object width setting unit 240 in the embodiment) and the width set by the width setting unit are set as the range of the second object, and the range of the second object and the first According to the overlap amount calculation unit (for example, the overlap amount calculation unit 250 in the embodiment) that calculates the overlap amount with the position where one object exists, and the overlap amount calculated by the overlap amount calculation unit A reliability determination unit (for example, a reliability determination in the embodiment) that suppresses a control amount of a control device (for example, the vehicle control device 300 in the embodiment) that controls the first object as an object to be controlled. And a fixed portion 260).

The determination unit of the invention described in claim 3 is a detection object determination unit that determines the first object and the second object from a plurality of objects detected by the object detection device (for example, an embodiment). A detection object determination unit 210) and a type determination unit (for example, the moving object type determination unit 230 or the moving object type determination unit 231 in the embodiment) for determining the type of the second object, A suppressing unit configured to set a width of the second object according to the type of the second object determined by the type determining unit (for example, the moving object width setting unit 240 in the embodiment); The width set by the width setting unit is set as the range of the second object, and an overlap amount calculating unit (for example, calculating an overlap amount between the range of the second object and the position where the first object exists) (for example, Overlap in the embodiment Control unit 250) and a control device that controls the first object as an object to be controlled in accordance with the overlap amount calculated by the overlap amount calculation unit (for example, a vehicle control device in an embodiment) 300) a reliability determination unit that suppresses the control amount (for example, the reliability determination unit 260 in the embodiment).

The reliability determination unit according to a fourth aspect of the invention excludes the first object from the objects to be controlled by the control device when the overlap amount is equal to or greater than a predetermined amount, and the overlap amount Is less than the predetermined amount, the amount of suppression of the control amount of the control device for the first object is changed.

When the overlap amount is smaller than the predetermined amount, the reliability determination unit according to the invention described in claim 5 determines a control amount of the control device for the first object according to the overlap amount. The amount to be suppressed is changed.

A vehicle control target determination device according to a sixth aspect of the invention is mounted on a vehicle (for example, the host vehicle 1 in the embodiment), and the object detection device is at least a radar device (for example, a radar device in the embodiment). 100), and the control amount is an amount corresponding to a value set in a component (for example, a brake actuator or a steering actuator in the embodiment) controlled by the control device to assist the traveling of the vehicle. It is characterized by that. Vehicles include not only four-wheeled vehicles, but also three-wheeled vehicles (including front and rear two wheels as well as front and rear two-wheeled vehicles) or motorcycles on which the driver rides across the vehicle body. This includes all types of vehicles such as saddle-riding vehicles.

The vehicle control target determination device (for example, the vehicle control target determination device 200 or the vehicle control target determination device 201 in the embodiment) of the invention described in claim 7 is an object detection device (for example, a radar in the embodiment). The object to be controlled is determined based on the sizes of a plurality of objects (for example, the moving object 2 or the moving object 3 and the fixed object 10 or the fixed object 20 in the embodiment) detected by the device 100 or the camera device 400). A vehicle control target determination device that detects the vicinity of a first object detected by the object detection device (for example, the fixed object 10 or the fixed object 20 in the embodiment). A determination unit (for example, the detection in the embodiment) that determines whether or not the object (for example, the moving object 2 or the moving object 3 in the embodiment) has passed. When the object determination unit 210, the moving object type determination unit 230, or the moving object type determination unit 231) determines that the second object has passed near the first object, the second object A suppression unit that suppresses the control amount when the first object is excluded from the object to be controlled or the first object is the object to be controlled according to the width or type (for example, movement in the embodiment) An object width setting unit 240 and a reliability determination unit 260).

According to the vehicle control target determination method of the invention described in claim 8 , the vehicle control target determination in the vehicle control target determination device that determines the object to be controlled based on the positions of the plurality of objects detected by the object detection device. a method, determination unit, in the vicinity of the first object, wherein the object detecting device detects, and determining whether or not the second object is passed to said object detecting device detects, suppressing unit However, when it is determined that the second object has passed near the first object, the larger the amount of overlap between the position where the first object exists and the range of the second object , And a suppression step that further suppresses the control amount when the first object is an object to be controlled in a plurality of stages .
According to a ninth aspect of the present invention, there is provided a vehicle control target determination method that determines a control target object based on the positions of a plurality of objects detected by the object detection device. A determination step in which the determination unit determines whether or not the second object detected by the object detection device has passed in the vicinity of the first object detected by the object detection device, and a suppression unit. However, when it is determined that the second object has passed through the vicinity of the first object, the position of the first object and the range of the second object Suppressing the control amount when the first object is excluded from the object to be controlled or the first object is the object to be controlled, and the determination step is detected by the object detection device From the plurality of objects, the first object and the A detection object determination step for determining the second object, and a type determination step for determining the type of the second object, wherein the suppression step determines the type of the second object determined by the type determination step. The width setting step for setting the width of the second object according to the range, the width set by the width setting step as the range of the second object, and the range of the second object and the first object are An overlap amount calculating step for calculating an overlap amount with an existing position, and a control device for controlling the first object as an object to be controlled according to the overlap amount calculated by the overlap amount calculating step And a reliability determination step for suppressing the control amount.

According to a tenth aspect of the present invention, there is provided a vehicle control target determination method in which a vehicle control target determination apparatus determines a control target object based on the sizes of a plurality of objects detected by the object detection device. A determination method , wherein a determination unit determines whether or not the second object detected by the object detection device has passed in the vicinity of the first object detected by the object detection device, and suppression. When the unit determines that the second object has passed near the first object, the first object is excluded from the objects to be controlled according to the width or type of the second object. Or a suppression step of suppressing a control amount when the first object is an object to be controlled.

A vehicle control target determination program according to an eleventh aspect of the invention is a vehicle control target determination in a vehicle control target determination device that determines an object to be controlled based on the positions of a plurality of objects detected by the object detection device. a program determining unit, in the vicinity of the first object, wherein the object detecting device detects, and determining whether or not the second object is passed to said object detecting device detects, suppressing unit However, when it is determined that the second object has passed near the first object, the larger the amount of overlap between the position where the first object exists and the range of the second object , And a suppression step that further suppresses the control amount when the first object is an object to be controlled in a plurality of stages .
A vehicle control target determination program according to a twelfth aspect of the invention is a vehicle control target determination in a vehicle control target determination device that determines an object to be controlled based on the positions of a plurality of objects detected by the object detection device. A determination step in which the determination unit determines whether or not the second object detected by the object detection device has passed in the vicinity of the first object detected by the object detection device; However, when it is determined that the second object has passed through the vicinity of the first object, the position of the first object and the range of the second object Suppressing the control amount when the first object is excluded from the object to be controlled or the first object is the object to be controlled, and the determination step is detected by the object detection device From the plurality of objects And a detection object determination step for determining the second object and a type determination step for determining the type of the second object, wherein the suppression step is determined by the type determination step. A width setting step for setting the width of the second object in accordance with the type of the second object, the width set by the width setting step as the range of the second object, and the range of the second object According to the overlap amount calculation step for calculating the overlap amount with the position where the first object exists, and the overlap amount calculated by the overlap amount calculation step, the first object is set as an object to be controlled. And a reliability determination step of suppressing a control amount of a control device that performs control.

Vehicle control object determination program of the invention described in claims 1 to 3, based on the magnitude of a plurality of objects where the object detecting device detects, in the vehicle control in determining vehicle control object determination device objects of the control object a target determining program, the determination unit, in the vicinity of the first object, wherein the object detecting device detects, and determining whether or not the second object is passed to said object detecting device detects, When the suppression unit determines that the second object has passed in the vicinity of the first object, the first object is moved from the object to be controlled according to the width or type of the second object. And a suppressing step of suppressing a control amount when the first object is an object to be controlled.

According to the first aspect of the present invention, whether or not the second object has passed near the first object based on the positions of the first object and the second object detected by the object detection device. And when it is determined that the second object has passed in the vicinity of the first object, as the amount of overlap between the position where the first object exists and the range of the second object increases, the first because the you further suppress control amount relative to the object in a plurality of stages, the vehicle control object determination device, it is possible to suppress the excessive control for the object to be controlled.
According to the invention described in claim 2, whether or not the second object has passed near the first object based on the positions of the first object and the second object detected by the object detection device. And determining that the second object has passed in the vicinity of the first object, depending on the amount of overlap between the position where the first object exists and the range of the second object, In order to determine whether to exclude an object from a control target object or to be a control target object but suppress a control amount, the vehicle control target determination device may suppress excessive control over the control target object. it can. According to the second aspect of the present invention, the plurality of objects detected by the object detection device are classified into the first object and the second object, and the second object among the classified objects. The type (for example, a four-wheel vehicle, a two-wheel vehicle, and a vehicle other than the vehicle in the embodiment) is determined. Then, a width corresponding to the type of the second object is set, and an overlap amount (for example, an overlap amount in the embodiment) between the set range of the second object width and the position where the first object exists. To determine the reliability that the second object has passed through the position where the first object exists according to the amount of overlap, based on the width corresponding to the type of the second object, Whether or not the first object is a control target object can be determined more accurately, and based on the determination result, the first object is excluded from the control target object. The control amount can be set in the control device such as suppressing the control amount.

According to the invention described in claim 3 , the plurality of objects detected by the object detection device are classified into the first object and the second object, and among the classified objects, the type of the second object ( For example, a four-wheel vehicle, a two-wheel vehicle, and a vehicle other than the vehicle in the embodiment are determined. Then, a width corresponding to the type of the second object is set, and an overlap amount (for example, an overlap amount in the embodiment) between the set range of the second object width and the position where the first object exists. To determine the reliability that the second object has passed through the position where the first object exists according to the amount of overlap, based on the width corresponding to the type of the second object, Whether or not the first object is a control target object can be determined more accurately, and based on the determination result, the first object is excluded from the control target object. The control amount can be set in the control device such as suppressing the control amount.

According to the fourth aspect of the present invention, an appropriate control amount can be set in the control device in order to change whether to control the first object in the control device according to the overlap amount.

According to the fifth aspect of the present invention, when the overlap amount is small, the control amount for the first object in the control device is changed according to the overlap amount, so that a fine control amount is set in the control device. be able to.

According to the sixth aspect of the present invention, the vehicle control target determination device is mounted on the vehicle, and the vehicle control target determination device changes the setting of the control amount of the control device to assist driving of the vehicle (assist). Therefore, excessive assist control on the first object by the control device can be suppressed, and the vehicle can be driven without a sense of incongruity.

According to the invention described in claim 7 , whether or not the second object has passed in the vicinity of the first object based on the positions of the first object and the second object detected by the object detection device. And determining that the second object has passed in the vicinity of the first object, the first object is excluded from the objects to be controlled according to the width or type of the second object, or Since it is determined whether the control amount is suppressed although it is set as the object to be controlled, excessive control on the object to be controlled can be suppressed by the vehicle control target determination device.

According to the invention described in claim 8 , whether or not the second object has passed in the vicinity of the first object based on the position of the first object and the second object detected by the object detection device. And when it is determined that the second object has passed in the vicinity of the first object, as the amount of overlap between the position where the first object exists and the range of the second object increases , the first order to you further suppress control amount relative to the object in a plurality of stages, it is possible to suppress the excessive control for the object to be controlled.
According to the invention described in claim 9, whether or not the second object has passed in the vicinity of the first object based on the positions of the first object and the second object detected by the object detection device. And determining that the second object has passed in the vicinity of the first object, depending on the amount of overlap between the position where the first object exists and the range of the second object, Since it is determined whether to exclude the object from the control target object or to be the control target object but suppress the control amount, it is possible to suppress excessive control on the control target object. According to the ninth aspect of the present invention, the plurality of objects detected by the object detection device are classified into the first object and the second object, and the second object among the classified objects is classified into the second object. The type (for example, a four-wheel vehicle, a two-wheel vehicle, and a vehicle other than the vehicle in the embodiment) is determined. Then, a width corresponding to the type of the second object is set, and an overlap amount (for example, an overlap amount in the embodiment) between the set range of the second object width and the position where the first object exists. To determine the reliability that the second object has passed through the position where the first object exists according to the amount of overlap, based on the width corresponding to the type of the second object, Whether or not the first object is a control target object can be determined more accurately, and based on the determination result, the first object is excluded from the control target object. The control amount can be set in the control device such as suppressing the control amount.

According to the invention described in claim 10 , whether or not the second object has passed in the vicinity of the first object based on the positions of the first object and the second object detected by the object detection device. And determining that the second object has passed in the vicinity of the first object, the first object is excluded from the objects to be controlled according to the width or type of the second object, or Since it is determined whether the control amount is suppressed although it is the object to be controlled, excessive control on the object to be controlled can be suppressed.

According to the invention described in claim 11 , whether or not the second object has passed in the vicinity of the first object based on the positions of the first object and the second object detected by the object detection device. And when it is determined that the second object has passed in the vicinity of the first object, as the amount of overlap between the position where the first object exists and the range of the second object increases , the first the Help program to suppressed in a plurality of stages control amount relative to the object, the suppression of excessive control for the object of the control target, can be performed by a computer.
According to the twelfth aspect of the present invention, whether or not the second object has passed near the first object based on the positions of the first object and the second object detected by the object detection device. And determining that the second object has passed in the vicinity of the first object, depending on the amount of overlap between the position where the first object exists and the range of the second object, Since it is determined by the program whether the object is excluded from the control target object or the control target object is suppressed but the control amount is suppressed, excessive control of the control target object can be suppressed by the computer. . According to the invention described in claim 12, a plurality of objects detected by the object detection device are classified into a first object and a second object, and among the classified objects, the second object The type (for example, a four-wheel vehicle, a two-wheel vehicle, and a vehicle other than the vehicle in the embodiment) is determined. Then, a width corresponding to the type of the second object is set, and an overlap amount (for example, an overlap amount in the embodiment) between the set range of the second object width and the position where the first object exists. To determine the reliability that the second object has passed through the position where the first object exists according to the amount of overlap, based on the width corresponding to the type of the second object, Whether or not the first object is a control target object can be determined more accurately, and based on the determination result, the first object is excluded from the control target object. The control amount can be set to the control device such as suppressing the control amount by a computer.

According to the invention described in claims 1 to 3, based on the positions of the first and second objects to an object detecting device detects, or in the vicinity of the first object and the second object has passed not Whether the first object is excluded from the objects to be controlled according to the width or type of the second object when it is determined that the second object has passed in the vicinity of the first object Since it is determined by the program whether the control target is to be controlled but the control amount is suppressed, excessive control of the control target object can be suppressed by the computer.

1 is a block diagram illustrating a schematic configuration of a vehicle control target determination device according to a first embodiment of the present invention. It is the figure which showed an example of the positional relationship of the own vehicle, a fixed object, and a moving object which the control object determination apparatus for vehicles of the 1st embodiment determines. It is the figure which showed an example of the relationship between the fixed object and the range of a moving object at the time of calculating overlap amount in the vehicle control target determination device of the first embodiment. It is the figure which showed an example of the relationship between the reliability determined in the vehicle control target determination device of the first embodiment and the overlap amount. It is the flowchart which showed the process sequence in the control object determination apparatus for vehicles of the 1st embodiment. It is the block diagram which showed schematic structure of the control object determination apparatus for vehicles by the 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the left and right and front and rear directions mean directions viewed from the driver of the vehicle.

<First Embodiment>
FIG. 1 is a block diagram illustrating a schematic configuration of a vehicle control target determination device according to the first embodiment. FIG. 1 also shows a radar device 100 and a vehicle control device 300 that are connected to the vehicle control target determination device 200 of the first embodiment. The vehicle control target determination device 200 according to the first embodiment includes a radar device 100 mounted as an object detection device on a vehicle (hereinafter referred to as “own vehicle”) on which the vehicle control target determination device 200 is mounted. Based on the detected object information, whether or not an obstacle existing in the traveling direction (forward direction) in which the host vehicle travels is an object to be avoided, that is, an object to be controlled by the vehicle control device 300. It is determined whether or not, and information of the determined result is output to the vehicle control device 300.

  The radar apparatus 100 transmits a plurality of electromagnetic waves (millimeter waves) having different angles in the elevation angle direction at a plurality of different angles in the horizontal direction in front of the host vehicle and reflects the reflected waves (electromagnetic waves) reflected from the object. : An object detection device that detects an object that reflects an electromagnetic wave that exists in front of the host vehicle by observing a millimeter wave. The radar apparatus 100 then outputs detection information including information on the distance to the object that reflects the electromagnetic wave and information on the direction in which the object exists to the vehicle control target determination apparatus 200.

  The vehicle control target determination device 200 includes a detection object determination unit 210, a fixed object position storage unit 220, a moving object type determination unit 230, a moving object width setting unit 240, an overlap amount calculation unit 250, and a reliability. And a determination unit 260.

  Based on the detection information input from the radar apparatus 100, the detected object determination unit 210 avoids an object existing in the traveling direction (forward direction) in which the host vehicle travels by controlling the host vehicle by the vehicle control device 300. A fixed object that can be an obstacle to be detoured and a moving object that exists in front of the host vehicle are classified. Then, the detected object determination unit 210 uses distance and direction information from the own vehicle obtained from the detection information of the object classified as a fixed object as position information of the fixed object (hereinafter referred to as “fixed object position information”). The data is output to the fixed object position storage unit 220. In addition, the detected object determination unit 210 includes information on the distance and direction from the vehicle obtained from the detection information of the object classified as a moving object that passes in the vicinity of the position where the fixed object exists, and the direction in which the moving object moves. The information is output to the moving object type determination unit 230 as moving object information (hereinafter referred to as “moving object information”).

  When the detected object determination unit 210 classifies the object detected by the radar apparatus 100 as a fixed object or a moving object, a speed sensor (not shown) that outputs information on the speed at which the host vehicle is traveling is used. Information and information from a direction sensor (not shown) that outputs information on the traveling direction of the host vehicle are also referred to. Accordingly, it is possible to avoid that the fixed object is classified as the moving object due to the traveling of the host vehicle, and it is possible to grasp the relationship between the direction in which the moving object is moving and the direction in which the host vehicle is moving.

  The fixed object position storage unit 220 stores the fixed object position information input from the detected object determination unit 210 at a predetermined time interval, and outputs the stored fixed object position information to the overlap amount calculation unit 250.

  The moving object type determination unit 230 determines the overall length or width of the moving object moving in front of the host vehicle based on the moving object information input from the detected object determination unit 210, and determines the length of the determined moving object. The type of the moving object is determined based on the height or the width. Then, the moving object type determining unit 230 adds the determined moving object type information and the moving direction information to the moving object information input from the detected object determining unit 210, and the moving object type information To the moving object width setting unit 240. Here, the type of moving object is information that identifies other than four-wheeled vehicles such as passenger cars and trucks, two-wheeled vehicles such as scooters and motorcycles, and vehicles such as pedestrians.

  More specifically, when the moving object is moving in the direction crossing the left and right in front of the host vehicle, the entire length of the moving object is determined from the moving object information input from the detected object determination unit 210. The type of the moving object is determined according to what kind of moving object the determined length of the moving object corresponds to. For example, when the total length of the moving object is 3 m or more, it is determined that the moving object is a four-wheeled vehicle, and represents that the moving object is a four-wheeled vehicle moving in a direction intersecting with the own vehicle. The moving object type information is output to the moving object width setting unit 240. Further, for example, when the entire length of the moving object is 1 m or more and less than 3 m, the moving object is determined to be a two-wheeled vehicle and is a two-wheeled vehicle that moves in a direction intersecting with the own vehicle. Is output to the moving object width setting unit 240. In addition, for example, when the entire length of the moving object is less than 1 m, the moving object is determined to be other than a vehicle and represents a vehicle other than a vehicle that moves in a direction crossing the host vehicle. The type information is output to the moving object width setting unit 240.

  Further, when the moving object is moving in the same direction or the opposite direction in front of the host vehicle, the entire width of the moving object is determined from the moving object information input from the detected object determining unit 210, and the determination is made. The type of the moving object is determined depending on what kind of moving object the width of the moving object corresponds to. For example, when the entire width of the moving object is 1.5 m or more, it is determined that the moving object is a four-wheeled vehicle, and represents a four-wheeled vehicle that moves in the same direction as the own vehicle. The moving object type information is output to the moving object width setting unit 240. Further, for example, when the entire width of the moving object is 0.5 m or more and less than 1.5 m, it is determined that the moving object is a two-wheeled vehicle, and the two-wheeled vehicle moving in the same direction as the own vehicle is used. The moving object type information indicating the presence is output to the moving object width setting unit 240. Further, for example, when the entire width of the moving object is less than 0.5 m, it is determined that the moving object is other than the vehicle, and the moving object indicates that the moving object is other than the vehicle moving in the same direction as the own vehicle. The type information is output to the moving object width setting unit 240.

  Based on the moving object type information input from the moving object type determination unit 230, the moving object width setting unit 240 determines the width of the moving object that moves in the direction intersecting the host vehicle (the length of the depth in the forward direction of the host vehicle). ) Is set. Then, the moving object width setting unit 240 adds information on the width of the set moving object to the moving object type information input from the moving object type determination unit 230, and the moving object width setting unit 240 adds the information on the moving object width information to the overlap amount calculation unit 250. Output.

  For example, when the moving object width setting unit 240 represents that the moving object type information input from the moving object type determination unit 230 represents a four-wheeled vehicle that moves in a direction crossing the host vehicle, In a general automobile, at least 1.5 m that can be set to the vehicle width is output to the overlap amount calculation unit 250 as moving object width information. For example, when the moving object width setting unit 240 indicates that the moving object type information input from the moving object type determination unit 230 represents a two-wheeled vehicle that moves in a direction crossing the host vehicle, Then, 0.5 m that can be set to at least the vehicle width in a general motorcycle is output to the overlap amount calculation unit 250 as moving object width information. For example, when the moving object width setting unit 240 indicates that the moving object type information input from the moving object type determination unit 230 is a vehicle other than the vehicle moving in the direction intersecting with the own vehicle, 0.5 m that can be set to at least the width by a general person is output to the overlap amount calculation unit 250 as moving object width information.

  The moving object width setting unit 240 is included in the moving object type information when the moving object type information input from the moving object type determination unit 230 represents a moving object that moves in the same direction as the host vehicle. The width of the moving object is set to the width of the moving object that moves in the same direction as the host vehicle, and is output to the overlap amount calculation unit 250 as moving object width information.

  Based on the fixed object position information input from the fixed object position storage unit 220 and the moving object width information input from the moving object width setting unit 240, the overlap amount calculation unit 250 determines the position where the fixed object exists. An overlap amount (hereinafter referred to as “overlap amount”) in which the range of the moving object passing through the vicinity overlaps the position where the fixed object exists is calculated. Then, the overlap amount calculation unit 250 outputs information indicating the calculated overlap amount (hereinafter referred to as “overlap amount information”) to the reliability determination unit 260. A detailed description of the overlap amount calculation method in the overlap amount calculation unit 250 will be described later.

  Based on the overlap amount information input from the overlap amount calculation unit 250, the reliability determination unit 260 determines that the moving object that has passed in the vicinity of the position where the fixed object exists has safely passed the range of the fixed object. Determine possible confidence. In other words, when the host vehicle passes through the range of the fixed object, it is considered that the fixed object can be excluded from the objects to be controlled by the vehicle control device 300 as an object that does not interfere with the safe traveling of the host vehicle. Determine the degree. And the reliability determination part 260 determines the method of assist control which assists driving | running | working of the own vehicle by the vehicle control apparatus 300 based on the determined reliability, and according to the determined method of assist control, The setting (control amount by the vehicle control device 300) of the vehicle control device 300 is changed.

  For example, when the reliability is high, the assist control for avoiding the fixed object by the vehicle control device 300 is stopped, and when the reliability is low, the assist control for avoiding the fixed object by the vehicle control device 300 is operated. The setting of the vehicle control device 300 is changed so as to make it happen. A detailed description of the relationship between the overlap amount calculated by the overlap amount calculation unit 250 and the reliability determined by the reliability determination unit 260 and the change in the setting of the vehicle control device 300 will be described later.

  The vehicle control device 300 controls, for example, a brake actuator that controls the brake and a steering actuator that controls the steering, according to the setting from the vehicle control target determination device 200, to control the traveling of the host vehicle (assist control). ) Note that in the first embodiment, a detailed description of the configuration and method for controlling the traveling of the host vehicle by the vehicle control device 300 is omitted.

  As described above, the vehicle control target determination device 200 allows the host vehicle to safely travel in the vicinity of the fixed object based on the state when the vehicle traveling in front of the host vehicle passes through the vicinity of the fixed object. By determining whether or not it is possible, it is possible to suppress excessive assist control by the vehicle control device 300 for a fixed object that does not interfere with safe traveling of the host vehicle.

  Here, an example of the positional relationship between the host vehicle and the fixed object and the moving object determined by the vehicle control target determination device 200 of the first embodiment will be described. FIG. 2 is a diagram illustrating an example of a positional relationship between the host vehicle, the fixed object, and the moving object that are determined by the vehicle control target determination device 200 according to the first embodiment. FIG. 2A shows an example of a case where the moving object 2 moves in a direction crossing the front of the host vehicle 1 from the left side to the right side when the fixed object 10 is detected in the traveling direction of the host vehicle 1, FIG. 2B shows an example where the moving object 3 moves in the same direction in front of the host vehicle 1 when the fixed object 20 exists in the traveling direction of the host vehicle 1.

  As shown in FIG. 2A, when the radar apparatus 100 detects the fixed object 10 existing in the traveling direction of the host vehicle 1, the detected fixed object 10 is automatically detected as a manhole cover, for example. Even in the case of the fixed object 10 that does not interfere with safe driving of the vehicle, it is necessary to determine whether or not the object is a control target object by the vehicle control device 300. At this time, the vehicle control target determination device 200 moves further in the direction crossing the front of the host vehicle 1 from the left side to the right side, further detected by the radar device 100, and based on the moving object 2 passing through the vicinity of the fixed object 10. Then, it is determined whether or not the fixed object 10 is an object to be controlled by the vehicle control device 300.

  However, even when the fixed object 10 is a manhole cover that does not interfere with the safe driving of the host vehicle 1, depending on the type of the detected moving object 2, the moving object 2 passes through the position where the fixed object 10 exists. The situation is different. For example, when the moving object 2 is a four-wheeled vehicle such as a passenger car or a truck, it is considered that the vehicle has traveled on the fixed object 10, but the moving object 2 is a two-wheeled vehicle such as a scooter or a motorcycle. In some cases, it may be possible to pass the near side or the far side of the fixed object 10. In addition, when the moving object 2 is other than a vehicle such as a pedestrian, for example, it may be possible to pass over the vehicle while avoiding the fixed object 10.

  Therefore, in the vehicle control target determination device 200, as described above, the moving object type determination unit 230 is after the moving object 2 has passed near the position where the fixed object 10 is present or while it is passing. The type of the moving object 2 is determined based on the entire length L2 of the moving object 2 that can be acquired, and the moving object width setting unit 240 sets the width W2 of the moving object 2. In the vehicle control target determination device 200, the overlap amount calculation unit 250 calculates the overlap amount between the range of the width W2 of the moving object 2 and the position of the fixed object 10, and the reliability determination unit 260 Based on the lap amount, the reliability that the moving object 2 is considered to have safely passed through the range of the fixed object 10 is determined. As a result, the vehicle control target determination device 200 more accurately determines whether or not the vehicle control device 300 is an object to be controlled based on the width of the moving object 2 that has passed through the vicinity of the fixed object 10. Can do.

  Further, as shown in FIG. 2B, when there is a moving object 3 that moves in the same direction in front of the host vehicle 1, that is, when there is a preceding vehicle, the fixed object 20 that exists in front of the moving object 3 exists. Cannot be detected by the radar apparatus 100. In this case, the radar apparatus 100 detects the fixed object 20 after the moving object 3 passes through the position of the fixed object 20. At this time, the vehicle control target determination device 200 determines whether or not the fixed object 20 is an object to be controlled by the vehicle control device 300 based on the moving object 3 already detected by the radar device 100.

  However, even when the moving object 3 passes through the position of the fixed object 20, the situation when the moving object 3 passes through the position where the fixed object 10 exists differs depending on the type of the moving object 3. For example, when the moving object 3 is a four-wheeled vehicle such as a passenger car or a truck, it is considered that the vehicle has traveled on the fixed object 20, but the moving object 3 is a two-wheeled vehicle such as a scooter or a motorcycle. In some cases, passing through the right side or the left side of the fixed object 20 may be considered. Further, depending on the accuracy with which the radar apparatus 100 detects the moving object 3, even when it is detected that the moving object 3 has traveled on the fixed object 20, the radar device 100 actually passes the right and left sides of the fixed object 20. It is also possible.

  Therefore, in the vehicle control target determination device 200, as described above, the moving object type determination unit 230 determines the type of the moving object 2 based on the detected overall width W3 of the moving object 3, and sets the moving object width. The unit 240 sets the width W3 of the moving object 3. In the vehicle control target determination device 200, the overlap amount calculation unit 250 includes the range of the width W 3 of the moving object 3 after the moving object 3 has passed near the position where the fixed object 20 exists and the fixed object 20. The overlap amount with the position is calculated, and the reliability determination unit 260 determines the reliability that the moving object 2 is considered to have safely passed through the range of the fixed object 20 based on the overlap amount. As a result, the vehicle control target determination device 200 more accurately determines whether or not the vehicle control device 300 is an object to be controlled based on the width of the moving object 3 that has passed through the vicinity of the fixed object 10. Can do.

  As described above, in the vehicle control target determination device 200, a wide moving object such as a four-wheeled vehicle is located in the vicinity of a fixed object that does not interfere with the safe traveling of the host vehicle, such as a manhole cover. Only when the vehicle passes, the fixed object is determined to be excluded from the objects to be controlled by the vehicle control device 300. Further, in the vehicle control target determination device 200, a narrow moving object such as a two-wheeled vehicle or a pedestrian is near a fixed object that hinders safe traveling of the host vehicle, such as a pole on a road. Is not excluded from the objects to be controlled by the vehicle control device 300. Thus, a fixed object that hinders safe traveling of the host vehicle is not erroneously excluded from objects to be controlled by the vehicle control device 300.

  Next, an example of the overlap amount between the fixed object and the range of the moving object determined by the vehicle control target determination device 200 according to the first embodiment will be described. FIG. 3 is a diagram illustrating an example of a relationship between the fixed object and the range of the moving object when the overlap amount is calculated in the vehicle control target determination device 200 according to the first embodiment. FIG. 3 shows an overlap between the fixed object 10 detected in the traveling direction of the host vehicle 1 shown in FIG. 2A and the moving object 2 that moves in front of the host vehicle 1 from the left side to the right side. An example of the quantity is shown.

  As shown in FIG. 3, the overlap amount calculation unit 250 is orthogonal to the moving direction of the moving object 2 from the position where the fixed object 10 exists within the width W2 of the moving object 2 set by the moving object width setting unit 240. The overlap amount OV1 and the overlap amount OV2 to be calculated are calculated. Then, the overlap amount calculation unit 250 determines the overlap amount having the smaller value among the calculated overlap amounts as the final overlap amount, and the determined overlap amount value is overlapped. The information is output to the reliability determination unit 260 as quantity information.

  More specifically, the radar apparatus 100 outputs the distance D2 between the moving object 2 and the host vehicle and the distance D10 between the fixed object 10 and the host vehicle shown in FIG. The calculation unit 250 receives the fixed object position information including the distance D10 and the moving object width information including the distance D2. Then, the overlap amount calculation unit 250 calculates the difference between the distance D10 and the distance D2 as the overlap amount OV1, and calculates the difference between the width W2 and the overlap amount OV1 as the overlap amount OV2. Then, the overlap amount calculation unit 250 outputs the value of the overlap amount OV1 having a smaller value out of the calculated overlap amount OV1 and overlap amount OV2 to the reliability determination unit 260 as overlap amount information.

  The overlap amount calculation method by the overlap amount calculation unit 250 is not limited to the above-described calculation method, and various methods are conceivable. For example, the position of the center of the width W2 of the moving object 2 may be used as a reference, and the overlap amount may be calculated based on the reference position and the position of the fixed object 10.

  Next, an example of setting of the vehicle control device 300 that is changed by the vehicle control target determination device 200 of the first embodiment will be described. FIG. 4 is a diagram illustrating an example of the relationship between the reliability and the overlap amount determined by the vehicle control target determination device 200 according to the first embodiment. The reliability determination unit 260 determines the reliability based on the overlap amount value input from the overlap amount calculation unit 250. For example, the determination of the reliability by the reliability determination unit 260 is input from the overlap amount calculation unit 250 from the reliability determined in advance in four stages according to the value of the overlap amount as shown in FIG. This is performed by a method of selecting the reliability corresponding to the value of the overlap amount OV1 that is the overlap amount information.

  More specifically, for example, when the value of the overlap amount OV1 input from the overlap amount calculation unit 250 is less than 0.5 m, the reliability with the lowest reliability = 0 is selected. Further, for example, when the value of the overlap amount OV1 input from the overlap amount calculation unit 250 is 0.5 m or more and less than 0.75 m, reliability = 1 is selected, and the value of the overlap amount OV1 is When it is 0.75 m or more and less than 1 m, reliability = 2 is selected. Further, for example, when the value of the overlap amount OV1 input from the overlap amount calculation unit 250 is 1 m or more, the reliability with the highest reliability = 3 is selected.

  Then, the reliability determination unit 260 sets the assist control setting of the vehicle control device 300 according to the selected reliability in the vehicle control device 300. For example, when the highest reliability = 3 is selected, a setting that does not activate the assist control that avoids the fixed object 10 is set in the vehicle control device 300. For example, when reliability = 2 is selected, a setting for issuing a warning to the driver of the host vehicle 1 is set in the vehicle control device 300 in a state where the assist control for avoiding the fixed object 10 is not activated. Further, for example, when reliability = 1 is selected, the assist control for detouring the fixed object 10 by slowing the traveling speed of the host vehicle 1 is activated, and the setting for issuing a warning to the driver of the host vehicle 1 is performed. Set in the vehicle control device 300. Further, for example, when the lowest reliability = 0 is selected, the assist control that further reduces the traveling speed of the host vehicle 1 to avoid the collision with the fixed object 10 is activated, and the driver of the host vehicle 1 is operated. A setting for issuing a warning is set in the vehicle control device 300.

  Thus, the reliability determination unit 260 determines the reliability based on the overlap amount value input from the overlap amount calculation unit 250. That is, the reliability is determined in consideration of the fact that the position of the object (the fixed object 10 and the moving object 2) detected by the radar apparatus 100 includes more error at the end of the object. Can do. And the reliability determination part 260 changes the setting of the vehicle control apparatus 300 to the setting of the assist control according to the determined reliability. Thereby, the vehicle control target determination device 200 can suppress excessive assist control on the fixed object 10 by the vehicle control device 300.

  The reliability determination unit 260 can also be configured to determine the reliability based on the width of the moving object and to change the setting of the vehicle control device 300 (control amount by the vehicle control device 300). This is because when the overlap amount calculation unit 250 calculates a small overlap amount, since the width of the moving object is also included, the reliability can be determined from the width of the moving object. In this case, the reliability determination unit 260 determines the reliability based on the moving object width information output from the moving object width setting unit 240 to the overlap amount calculation unit 250.

  For example, when the moving object width information output by the moving object width setting unit 240 is 1.5 m that can be set to at least the vehicle width in a general automobile, the overlap amount calculation unit 250 calculates the moving object width information. Since it is determined that the overlap amount is large, the reliability determination unit 260 selects a high reliability (for example, reliability = 2). In addition, for example, when the moving object width information output by the moving object width setting unit 240 is 0.5 m that can be set to at least the width of a general motorcycle or the width of a general person. Since it is determined that the overlap amount calculated by the overlap amount calculation unit 250 is small, the reliability determination unit 260 selects a low reliability (for example, reliability = 1).

  The reliability determination unit 260 can also be configured to determine the reliability based on the type of the moving object and to change the setting of the vehicle control device 300 (control amount by the vehicle control device 300). This is because the overlap amount calculated by the overlap amount calculation unit 250 can be assumed depending on the type of moving object. In this case, the reliability determination unit 260 determines the reliability based on the moving object type information output from the moving object type determination unit 230 to the moving object width setting unit 240.

  For example, when the moving object type information output by the moving object type determination unit 230 indicates that the vehicle is a four-wheeled vehicle, it is assumed that the overlap amount calculated by the overlap amount calculation unit 250 is large. Therefore, the reliability determination unit 260 selects a high reliability (for example, reliability = 2). Further, for example, when the moving object type information output by the moving object type determination unit 230 represents that the vehicle is a two-wheeled vehicle or other than a vehicle, the overlap amount calculated by the overlap amount calculation unit 250 is Since it is determined that there are few, the reliability determination unit 260 selects a low reliability (for example, reliability = 1).

  Next, a processing procedure in the vehicle control target determination device 200 according to the first embodiment will be described. FIG. 5 is a flowchart illustrating a processing procedure in the vehicle control target determination device 200 according to the first embodiment.

  First, in step S1, the radar apparatus 100 transmits a plurality of electromagnetic waves (millimeter waves) in front of the host vehicle, and detects an object existing in front of the host vehicle that has reflected the transmitted electromagnetic waves (millimeter waves). . The radar apparatus 100 then outputs the detected object detection information to the vehicle control target determination apparatus 200.

  Subsequently, in step S <b> 2, the detected object determination unit 210 in the vehicle control target determination device 200 exists in the traveling direction (forward direction) in which the host vehicle travels based on the detection information input from the radar device 100. The target object is classified into a fixed object and a moving object, fixed object position information is stored in the fixed object position storage unit 220, and the moving object information is output to the moving object type determination unit 230. Thereafter, the moving object type determination unit 230 in the vehicle control target determination device 200 determines the overall length or width of the moving object based on the moving object information input from the detection object determination unit 210, and determines the determined movement. The type of the moving object is determined based on the length or width of the object, and the moving object type information is output to the moving object width setting unit 240. Thereafter, the moving object width setting unit 240 in the vehicle control target determination device 200 is based on the moving object type information input from the moving object type determination unit 230, and the width of the moving object that moves in the direction intersecting the host vehicle. And the moving object width information is output to the overlap amount calculation unit 250.

  Subsequently, in step S <b> 3, the overlap amount calculation unit 250 in the vehicle control target determination device 200 is input from the fixed object position information input from the fixed object position storage unit 220 and the moving object width setting unit 240. Based on the moving object width information, it is determined whether the radar apparatus 100 has detected a fixed object and a moving object. If it is determined in step S3 that the radar apparatus 100 has not detected a fixed object and a moving object (NO in step S3), the process returns to step S1 and the detection of the object by the radar apparatus 100 is repeated.

  If it is determined in step S3 that the radar apparatus 100 has detected a fixed object and a moving object (YES in step S3), in step S4, the overlap amount calculation unit 250 moves the fixed object position information and the movement. Based on the object width information, it is determined whether or not the moving object has passed near the position where the fixed object exists. If it is determined in step S4 that the moving object has not passed near the position where the fixed object exists (NO in step S4), the process returns to step S1 and the detection of the object by the radar apparatus 100 is repeated.

  If it is determined in step S4 that the moving object has passed near the position where the fixed object exists (YES in step S4), in step S5, the overlap amount calculation unit 250 Based on the moving object width information, an overlap amount between the position where the fixed object exists and the range of the moving object that has passed is calculated, and the overlap amount information is output to the reliability determination unit 260.

  Subsequently, in step S6, the reliability determination unit 260 in the vehicle control target determination device 200 determines the vicinity of the position where the fixed object exists based on the overlap amount information input from the overlap amount calculation unit 250. The reliability of the moving object that has passed is determined.

  Subsequently, in step S <b> 7, the reliability determination unit 260 changes the assist control setting in the vehicle control device 300 based on the determined reliability. Thereafter, the process returns to step S1 and the detection of the object by the radar apparatus 100 is repeated.

  When the reliability determination unit 260 determines the reliability based on the width of the moving object or the type of the moving object, the processing procedure for not performing step S5 in which the overlap amount calculation unit 250 calculates the overlap amount It can also be.

  As described above, in the vehicle control target determination device 200 according to the first embodiment, the object detected by the radar device 100 is classified into a fixed object and a moving object, and the moving object passes near the fixed object. Based on the overlap amount at the time, the reliability that the moving object is considered to have safely passed through the range of the fixed object is determined. In the vehicle control target determination device 200 according to the first embodiment, the setting of assist control by the vehicle control device 300 when the host vehicle passes near the fixed object is changed based on the determined reliability. . Thereby, in the vehicle control target determination device 200 according to the first embodiment, an object that does not interfere with the safe traveling of the host vehicle is excluded from the objects to be controlled by the vehicle control device 300, and is fixed by the vehicle control device 300. Excessive assist control for the object can be suppressed. Thus, the host vehicle equipped with the vehicle control target determination device 200 of the first embodiment can travel in the vicinity of the fixed object without a sense of incongruity.

  In the first embodiment, a case has been described in which the radar apparatus 100 is used as an object detection apparatus that inputs information on an object detected by the vehicle control target determination apparatus 200. However, the method for detecting an object is not limited to the method using the radar apparatus 100. For example, instead of the radar device 100, a camera device is used as an object detection device, and whether or not the object is a control target object by the vehicle control device 300 is determined based on information on the object detected by the camera device. The setting of assist control by the vehicle control device 300 may be changed according to the result. Further, for example, it is determined whether or not the object is an object to be controlled by the vehicle control device 300 using an object detection device in which the radar device 100 and the camera device are integrated, and setting of assist control by the vehicle control device 300 is performed. It may be changed.

<Second Embodiment>
Next, a vehicle control target determination device that changes the setting of assist control by the vehicle control device 300 using an object detection device that combines the radar device 100 and the camera device will be described. FIG. 6 is a block diagram illustrating a schematic configuration of the vehicle control target determination device according to the second embodiment. FIG. 6 also shows the radar device 100, the camera device 400, and the vehicle control device 300 that are connected to the vehicle control target determination device 201 of the second embodiment. The vehicle control target determination device 201 according to the second embodiment includes object information detected by each of the radar device 100 and the camera device 400 mounted on the host vehicle on which the vehicle control target determination device 201 is mounted. Based on the determination result, it is determined whether or not the obstacle existing in the traveling direction (forward direction) in which the host vehicle travels is an object to be controlled to be avoided by the assist control by the vehicle control device 300. The setting of the vehicle control device 300 is changed.

  The vehicle control target determination device 201 according to the second embodiment only uses the object information detected by the camera device 400 when determining the type of the detected moving object. This is different from the control target determination apparatus 201 for use. For this reason, the vehicle control target determination device 201 includes the same components as the vehicle control target determination device 200 of the first embodiment. Therefore, in the description of the second embodiment, the same reference numerals are given to the same components as the components provided in the vehicle control target determination device 200 of the first embodiment, and the detailed description is omitted. To do.

  The radar apparatus 100 outputs detected object detection information to the vehicle control target determination apparatus 201.

  The camera device 400 captures an image in front of the host vehicle traveling, extracts the shape of the object included in the captured image, and recognizes the extracted object. In the recognition of the object by the camera device 400, the shape of the extracted object and, for example, a predetermined four-wheel vehicle such as a passenger car or a truck, a two-wheel vehicle such as a scooter or a motorcycle, or a vehicle other than a pedestrian or the like Although it is conceivable to use a pattern matching method for matching the shape, the method for recognizing the object is the same as the conventional method, and thus detailed description thereof is omitted.

  Then, the camera device 400 outputs the recognized object type information and the recognition information including information on the position and size of the object in the captured image to the vehicle control target determination device 201.

  The vehicle control target determination device 201 includes a detection object determination unit 210, a fixed object position storage unit 220, a moving object type determination unit 231, a moving object width setting unit 240, an overlap amount calculation unit 250, and reliability. And a determination unit 260.

  Based on the detection information input from the radar apparatus 100, the detected object determination unit 210 classifies objects existing in the traveling direction (forward direction) in which the host vehicle travels into a fixed object and a moving object, and a fixed object. The position information is output to the fixed object position storage unit 220, and the moving object information is output to the moving object type determination unit 231.

  The moving object type determination unit 231 is based on the moving object information input from the detected object determination unit 210, similarly to the moving object type determination unit 230 provided in the vehicle control target determination device 200 of the first embodiment. The entire length or width of the moving object moving in front of the host vehicle is determined. The moving object type determination unit 231 recognizes the moving object detected by the radar apparatus 100 and the camera apparatus 400 based on the determined length or width of the moving object and the recognition information input from the camera apparatus 400. A matching process for associating the object with the object is performed to determine the final type of the moving object.

  More specifically, in the matching process in the moving object type determination unit 231, first, an object of a type recognized by the camera device 400 included in the recognition information (hereinafter referred to as “recognized object”) is included in the moving object information. The length or width is calculated when the distance is greater. Subsequently, the moving object type determination unit 231 calculates a difference between the calculated length or width of the recognized object and the entire length or width of the determined moving object, and calculates the length between the recognized object and the moving object or When the width difference is within a predetermined range, it is determined that the recognized object and the moving object are the same object, and the type of the recognized object included in the recognition information is the final type of the moving object. Is determined. If the difference in length or width between the recognized object and the moving object is not within a predetermined range, it is determined that the recognized object and the moving object are different objects, and the vehicle control according to the first embodiment is performed. Similar to the moving object type determination unit 230 provided in the target determination apparatus 200, the type of the moving object determined based on the determined length or width of the moving object is set as the final type of the moving object.

  Note that the difference between the length or width of the recognized object calculated by the moving object type determination unit 231 and the overall length or width of the determined moving object is calculated, that is, the recognized object and the moving object are compared. In the matching process, the direction of the recognized object that can be calculated based on the position and size information of the recognized object in the image included in the recognition information and the direction of the moving object included in the detection information are the same. Make comparisons between objects.

  Then, the moving object type determination unit 231 adds the information on the final type of the determined moving object and the information on the direction in which the moving object moves to the moving object information input from the detection object determination unit 210. The type information is output to the moving object width setting unit 240.

  The moving object width setting unit 240 is based on the moving object type information input from the moving object type determination unit 231 in the same manner as the moving object width setting unit 240 included in the vehicle control target determination device 200 of the first embodiment. The moving object width information to which the moving object width information set in the above step is added is output to the overlap amount calculation unit 250. Thereby, also in the vehicle control target determination device 201, the overlap amount calculation unit 250 outputs the overlap amount information to the reliability determination unit 260, similarly to the vehicle control target determination device 200 of the first embodiment. When the reliability determination unit 260 determines the reliability, the setting of the vehicle control device 300 is changed.

  As described above, the moving object type determination unit 231 determines the final moving object based on the recognition information input from the camera device 400 in addition to the moving object information input from the detection object determination unit 210. When the type is determined and it is determined that the recognized object and the moving object are the same object, the type of the recognized object included in the recognition information is set as the final type of the moving object. For this reason, when the camera device 400 can recognize the type of the recognized object more finely, the moving object width setting unit 240 sets the moving object width included in the vehicle control target determination device 200 of the first embodiment. The width of the moving object can be set more finely than the setting unit 240.

  For example, when the moving object type information input from the moving object type determination unit 230 indicates that the vehicle is a four-wheeled vehicle that moves in a direction crossing the host vehicle, the vehicle control target of the first embodiment In the moving object width setting unit 240 provided in the determination apparatus 200, the width of the moving object is 1.5 m that can be set to at least the vehicle width in a general automobile. This is a width that is set as a four-wheeled vehicle including a passenger car and a truck. However, when the camera device 400 can recognize the type of the recognition object by separating the passenger car and the truck, the width of the moving object is 1.5 m which can be set to at least the vehicle width in a general passenger car. In a general truck, at least 2 m which can be set to the vehicle width can be set as the width of the moving object. Similarly, a motorcycle can be divided into a scooter, a motorcycle, a bicycle, and the like, and the width of each can be set.

  In this case, the overlap amount calculation unit 250 can calculate the overlap amount in more detail, and the reliability determination unit 260 can determine the reliability more finely.

  As described above, in the vehicle control target determination device 201 as well as the vehicle control target determination device 200 of the first embodiment, the vehicle traveling in front of the host vehicle passes through the vicinity of the fixed object. Based on the state, it is possible to more accurately determine whether or not the object is an object to be controlled by the vehicle control device 300, and excessive assistance by the vehicle control device 300 for a fixed object that does not interfere with safe traveling of the host vehicle. Control can be suppressed. Furthermore, the vehicle control target determination device 201 can more accurately determine the type of the moving object based on the recognition information input from the camera device 400.

  Note that the processing procedure in the vehicle control target determination device 201 according to the second embodiment is as described above. The moving object type determination unit 231 includes the recognition information input from the camera device 400 and includes the final information on the moving object. Since only the specific type is different, detailed description is omitted.

  As described above, in the vehicle control target determination device 201 of the second embodiment, similarly to the vehicle control target determination device 200 of the first embodiment, an object that does not interfere with safe traveling of the host vehicle. Can be excluded from objects to be controlled by the vehicle control device 300, and excessive assist control for the fixed object by the vehicle control device 300 can be suppressed.

  In addition, in the vehicle control target determination device 201 of the second embodiment, in addition to the vehicle control target determination device 200 of the first embodiment, the type of the moving object is based on the image captured by the camera device 400. Determine. Thereby, in the vehicle control target determination device 201 according to the second embodiment, the type of the moving object passing near the fixed object is determined more finely than the vehicle control target determination device 200 according to the first embodiment. In addition, the width of the moving object can be set more finely. Thereby, in the vehicle control target determination device 201 of the second embodiment, the vehicle control device 300 excludes an object that does not interfere with safe traveling of the host vehicle from the control target object according to the first embodiment. The vehicle control target determination device 200 can be controlled more finely, and the assist control for the fixed object by the vehicle control device 300 can be set more finely. As a result, the host vehicle on which the vehicle control target determination device 201 of the second embodiment is mounted travels in the vicinity of a fixed object without a more uncomfortable feeling than the vehicle control target determination device 200 of the first embodiment. be able to.

  As described above, according to the mode for carrying out the present invention, the object detected by the radar device is classified into a fixed object and a moving object, and the overlap when the moving object passes in the vicinity of the fixed object. Based on the quantity, the reliability that the moving object is considered to have safely passed through the range of the fixed object is determined. And in the form for implementing this invention, the setting of the assist control by the vehicle control apparatus when the own vehicle passes the vicinity of a fixed object is changed based on the determined reliability. Thereby, in the form for implementing this invention, the object which does not interfere with the safe driving | running | working of the own vehicle is excluded from the object of the control object by a vehicle control apparatus, and the excessive assist control with respect to the fixed object by a vehicle control apparatus is suppressed. can do.

  In addition, according to the embodiment for carrying out the present invention, by using an object detection device in which a radar device and a camera device are integrated, a moving object is further classified and the width of the moving object is set more finely Thus, it is possible to further determine the reliability at which the moving object is considered to have safely passed the range of the fixed object. Thereby, in the form for implementing this invention, the assist control with respect to the fixed object by a vehicle control apparatus can be set more finely. Thus, a vehicle equipped with the vehicle control target determination device according to the embodiment for carrying out the present invention can avoid obstacles existing in the traveling direction without a sense of incongruity.

  In the embodiment for carrying out the present invention, as a configuration of an object detection device that detects an object existing in a traveling direction (forward direction) in which the vehicle travels, an object that combines a radar device or a radar device and a camera device. Although the configuration using the detection device has been described, the configuration of the object detection device that detects an object is not limited to the configuration shown in the embodiment for carrying out the present invention. In the embodiment for carrying out the present invention, the radar apparatus 100 outputs distance information. However, any information that can determine the position of a detected object is used to implement the present invention. It is not limited to the information shown in the form.

  Moreover, although the form for implementing this invention demonstrated the structure which changes the setting of a vehicle control apparatus according to the reliability which the vehicle control object determination apparatus determined, it is not limited to this structure. For example, the structure provided with the function of the control object determination apparatus for vehicles of this invention in a vehicle control apparatus may be sufficient. Further, the vehicle equipped with the vehicle control target determination device of the present invention is not limited to the four-wheeled vehicle as shown in the embodiment for carrying out the present invention. For example, the vehicle (own vehicle) in the embodiment for carrying out the present invention includes not only a four-wheel vehicle, but also a three-wheel vehicle (including a front two-wheel vehicle and a rear one-wheel vehicle in addition to a front wheel and two rear wheels), or This includes all types of vehicles such as saddle-riding type vehicles such as motorcycles in which a driver rides across a vehicle body.

  Note that the detection object determination unit 210, the fixed object position storage unit 220, and the moving object, which are components of the vehicle control target determination device 200 according to the first embodiment or the vehicle control target determination device 201 according to the second embodiment. A program for realizing processing by the type determination unit 230 or the moving object type determination unit 231, the moving object width setting unit 240, the overlap amount calculation unit 250, and the reliability determination unit 260 is recorded on a computer-readable recording medium. Then, the above-described various processes using the vehicle control target determination device may be performed by causing the computer system to read and execute the program recorded on the recording medium. Here, the “computer system” may include an OS and hardware such as peripheral devices. Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used. The “computer-readable recording medium” means a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a CD-ROM, a hard disk built in a computer system, etc. This is a storage device.

  Further, the “computer-readable recording medium” refers to a volatile memory (for example, DRAM (Dynamic) in a computer system serving as a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. Random Access Memory)) that holds a program for a certain period of time is also included. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  The embodiment of the present invention has been described above with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes various modifications within the scope of the present invention. It is.

1 ... Own vehicle (vehicle)
2, 3 ... Moving objects (objects)
10, 20 ... Fixed object (object)
100: Radar device (object detection device)
200, 201: Vehicle control target determination device 210: Detection object determination unit (determination unit, detection object determination unit)
220: Fixed object position storage unit 230, 231: Moving object type determination unit (determination unit, type determination unit)
240 ... Moving object width setting unit (suppression unit, width setting unit)
250 ... overlap amount calculation unit (suppression unit, overlap amount calculation unit)
260 ... reliability determination unit (suppression unit, reliability determination unit)
300 ... Vehicle control device (control device)
400: Camera device (object detection device)

Claims (13)

A vehicle control target determination device (200, 201) that determines a control target object based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). ,
Whether the second object (2, 3) detected by the object detection device (100, 400) has passed through the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination unit (210, 230, 231) for determining whether or not,
When it is determined that the second object (2, 3) has passed through the vicinity of the first object (10, 20), the position where the first object (10, 20) exists and the second object As the amount of overlap with the range of the object (2, 3) increases, the suppression unit (240, 240) further suppresses the control amount when the first object (10, 20) is the control target object in a plurality of stages . 250, 260),
A vehicle control target determination device comprising: A vehicle control target determination device (200, 201) that determines a control target object based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). ,
Whether the second object (2, 3) detected by the object detection device (100, 400) has passed through the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination unit (210, 230, 231) for determining whether or not,
When it is determined that the second object (2, 3) has passed through the vicinity of the first object (10, 20), the position where the first object (10, 20) exists and the second object Depending on the amount of overlap with the range of the object (2, 3), the first object (10, 20) is excluded from the control target object, or the first object (10, 20) is controlled A suppression unit (240, 250, 260) that suppresses a control amount when an object is used;
With
The determination unit (210, 230, 231)
The first object (10, 20) and the second object (2, 3) are determined from a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). A detection object determination unit (210) for performing,
A type determination unit (230, 231) for determining the type of the second object (2, 3);
Comprising
The suppression unit (240, 250, 260)
A width setting unit (240) that sets the width of the second object (2, 3) according to the type of the second object (2, 3) determined by the type determination unit (230, 231);
The width set by the width setting unit (240) is set as the range of the second object (2, 3), and the range of the second object (2, 3) and the first object (10, 20) are An overlap amount calculation unit (250) for calculating an overlap amount with an existing position;
  Reliability that suppresses the control amount of the control device (300) that controls the first object (10, 20) as an object to be controlled according to the overlap amount calculated by the overlap amount calculation unit (250). A degree determination unit (260);
Comprising
A control object determination device for a vehicle. The determination unit (210, 230, 231)
The first object (10, 20) and the second object (2, 3) are determined from a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). A detection object determination unit (210) for performing,
A type determination unit (230, 231) for determining the type of the second object (2, 3);
Comprising
The suppression unit (240, 250, 260)
A width setting unit (240) that sets the width of the second object (2, 3) according to the type of the second object (2, 3) determined by the type determination unit (230, 231);
The width set by the width setting unit (240) is set as the range of the second object (2, 3), and the range of the second object (2, 3) and the first object (10, 20) are An overlap amount calculation unit (250) for calculating an overlap amount with an existing position;
Reliability that suppresses the control amount of the control device (300) that controls the first object (10, 20) as an object to be controlled according to the overlap amount calculated by the overlap amount calculation unit (250). A degree determination unit (260);
Comprising
The vehicle control target determination device according to claim 1. The reliability determination unit (260)
If the overlap amount is greater than or equal to a predetermined amount, the first object (10, 20) is excluded from the objects to be controlled by the control device (300);
When the amount of overlap is smaller than the predetermined amount, the amount of suppression of the control amount of the control device (300) for the first object (10, 20) is changed;
The vehicle control object determination device according to claim 2 or claim 3 , wherein The reliability determination unit (260)
When the overlap amount is smaller than the predetermined amount, the amount of suppressing the control amount of the control device (300) with respect to the first object (10, 20) is changed according to the overlap amount.
The vehicle control target determination device according to claim 4 . The vehicle control target determination device (200, 201)
Mounted on the vehicle,
The object detection device (100, 400) includes at least a radar device (100),
The control amount is
The amount is in accordance with a value set in a component controlled by the control device (300) to assist the traveling of the vehicle.
The vehicle control object determination device according to claim 5 . A vehicle control target determination device (200, 201) that determines a control target object based on the size of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). And
Whether the second object (2, 3) detected by the object detection device (100, 400) has passed through the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination unit (210, 230, 231) for determining whether or not,
When it is determined that the second object (2, 3) has passed near the first object (10, 20), depending on the width or type of the second object (2, 3), Suppressing unit (240, 260) that suppresses the control amount when the first object (10, 20) is excluded from the object to be controlled or the first object (10, 20) is the object to be controlled. When,
A vehicle control target determination device comprising: Vehicle control object determination device (200, 201) for determining an object to be controlled based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400) A control object determination method,
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the first object (10 , 20) and the range of the second object (2, 3) are increased, the control amount when the first object (10, 20) is the control target object is increased. A suppression step that suppresses more in multiple stages ;
The vehicle control object determination method characterized by including. Vehicle control object determination device (200, 201) for determining an object to be controlled based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400) A control object determination method,
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the first object (10 , 20) and the first object (10, 20) are excluded from the objects to be controlled or the first object is selected according to the amount of overlap between the position where the second object (2, 3) exists and the range of the second object (2, 3). A suppression step of suppressing a control amount when the object (10, 20) is an object to be controlled;
Including
The determination step includes
The first object (10, 20) and the second object (2, 3) are determined from a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). Detecting object determination step to perform,
A type determination step of determining a type of the second object (2, 3);
Including
The suppression step includes
A width setting step for setting the width of the second object (2, 3) according to the type of the second object (2, 3) determined by the type determination step;
The width set in the width setting step is set as the range of the second object (2, 3), and the range of the second object (2, 3) and the position where the first object (10, 20) exists. An overlap amount calculating step for calculating an overlap amount with
Reliability determination that suppresses the control amount of the control device (300) that controls the first object (10, 20) as an object to be controlled according to the overlap amount calculated by the overlap amount calculating step. Steps,
The vehicle control object determination method characterized by including. Vehicle in vehicle control object determination device (200, 201) for determining an object to be controlled based on the size of a plurality of objects (2, 3, 10, 20) detected by object detection device (100, 400) Control object determination method for
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the second object (2 , 3) Depending on the width or type, control when the first object (10, 20) is excluded from the control target object, or the first object (10, 20) is the control target object. A suppression step to suppress the amount;
The vehicle control object determination method characterized by including. Vehicle control object determination device (200, 201) for determining an object to be controlled based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400) A control object determination program,
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the first object (10 , 20) and the range of the second object (2, 3) are increased, the control amount when the first object (10, 20) is the control target object is increased. A suppression step that suppresses more in multiple stages ;
The vehicle control object determination program characterized by including. Vehicle control object determination device (200, 201) for determining an object to be controlled based on the positions of a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400) A control object determination program,
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the first object (10 , 20) and the first object (10, 20) are excluded from the objects to be controlled or the first object is selected according to the amount of overlap between the position where the second object (2, 3) exists and the range of the second object (2, 3). A suppression step of suppressing a control amount when the object (10, 20) is an object to be controlled;
Including
The determination step includes
The first object (10, 20) and the second object (2, 3) are determined from a plurality of objects (2, 3, 10, 20) detected by the object detection device (100, 400). Detecting object determination step to perform,
A type determination step of determining a type of the second object (2, 3);
Including
The suppression step includes
A width setting step for setting the width of the second object (2, 3) according to the type of the second object (2, 3) determined by the type determination step;
The width set in the width setting step is set as the range of the second object (2, 3), and the range of the second object (2, 3) and the position where the first object (10, 20) exists. An overlap amount calculating step for calculating an overlap amount with
Reliability determination that suppresses the control amount of the control device (300) that controls the first object (10, 20) as an object to be controlled according to the overlap amount calculated by the overlap amount calculating step. Steps,
The vehicle control object determination program characterized by including. Vehicle in vehicle control object determination device (200, 201) for determining an object to be controlled based on the size of a plurality of objects (2, 3, 10, 20) detected by object detection device (100, 400) Control object determination program for
The determination unit (210, 230, 231) is the second detected by the object detection device (100, 400) in the vicinity of the first object (10, 20) detected by the object detection device (100, 400). A determination step of determining whether or not the object (2, 3) has passed;
When the suppression unit (240, 250, 260) determines that the second object (2, 3) has passed near the first object (10, 20), the second object (2 , 3) Depending on the width or type, control when the first object (10, 20) is excluded from the control target object, or the first object (10, 20) is the control target object. A suppression step to suppress the amount;
The vehicle control object determination program characterized by including.

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