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WO2022009522A1 - External environment recognition device - Google Patents

External environment recognition device Download PDF

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Publication number
WO2022009522A1
WO2022009522A1 PCT/JP2021/018457 JP2021018457W WO2022009522A1 WO 2022009522 A1 WO2022009522 A1 WO 2022009522A1 JP 2021018457 W JP2021018457 W JP 2021018457W WO 2022009522 A1 WO2022009522 A1 WO 2022009522A1
Authority
WO
WIPO (PCT)
Prior art keywords
recognition device
world recognition
communication
external environment
environment recognition
Prior art date
Application number
PCT/JP2021/018457
Other languages
French (fr)
Japanese (ja)
Inventor
有毅 磯谷
Original Assignee
日立Astemo株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立Astemo株式会社 filed Critical 日立Astemo株式会社
Priority to DE112021002483.3T priority Critical patent/DE112021002483T5/en
Priority to JP2022534925A priority patent/JP7474851B2/en
Publication of WO2022009522A1 publication Critical patent/WO2022009522A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations

Definitions

  • the present invention relates to an outside world recognition device in a vehicle peripheral monitoring system.
  • Patent Document 1 aims to switch to an operation mode according to a mounting position in a radar device mounted on a vehicle (see the same document, paragraph 0037, etc.).
  • Patent Document 1 detects the presence or absence of peripheral circuits, and outputs the position and speed information of the target detected by the radar when the peripheral circuits are not connected. , When the peripheral circuit is connected, the operation mode for controlling the peripheral circuit is switched. As a result, the same radar device can be used as the radar device installed in the front and the radar device installed in the rear. Therefore, by reducing the number of product numbers, the increase in management cost and manufacturing cost of the radar device manufacturer can be suppressed. , It is possible to reduce the management cost of the vehicle manufacturer that installs the radar device (see the same document, paragraph 0046, etc.).
  • the present invention has been made in view of the above points, and an object of the present invention is to automatically set the mounting position in a device for front / side / rear, left / right, which is considered as a vehicle peripheral monitoring system, for example. It is an object of the present invention to provide an outside world recognition device that performs processing according to the mounting position.
  • the uniformity of the present disclosure is a pair of external recognition device components connected to a control device, each of which is attached to a predetermined position of the object to be attached, and outputs an output with the reference point of the object to be attached as the origin.
  • An external world recognition device including at least one external world recognition device structure, the first external world recognition device structure having a first communication terminal and a second communication terminal, and a second having a first communication terminal and a second communication terminal.
  • the device configuration and the fourth external world recognition device configuration include at least one pair of external world recognition device configurations connected by the same communication terminal, and the pair of external world recognition device configurations include the above. It is characterized in that the mounting position of the external world recognition device configuration is determined based on whether or not communication is established between the first communication terminal and the second communication terminal and the communication content thereof, and processing according to the mounting position is executed. It is an outside world recognition device.
  • an outside world recognition device with a single part number in a maximum of four outside world recognition devices attached to, for example, front, side, rear, left side, center, and right side.
  • FIG. 1 is a block diagram showing a configuration in the outside world recognition device 1 according to the first embodiment of the present disclosure.
  • the external world recognition device 1 includes a transmission / reception antenna / analog unit 2, a digital signal processing unit 3, a storage unit 4, a communication unit 5, and a determination unit 6.
  • the transmitting / receiving antenna / analog unit 2 includes a frequency generator VCO, a transmitting antenna TXANT1, N receiving antennas RXANT1 to RXANTN constituting N receiving channels, N frequency mixers MIX1 to MIXN, and N analogs / It has digital converters ADC1 to ADCN.
  • the receiving antennas RXANT1 to RXANTN are arranged at intervals where a phase difference occurs in the received signals between the receiving channels in order to detect the direction of the object.
  • the modulation signal generated by the frequency generator VCO is distributed to the transmission antenna TXANT1 and the frequency mixers MIX1 to MIXN, respectively.
  • the modulated signal is, for example, a signal in the 24 GHz, 77 GHz, 79 GHz band as a radar device mounted on a vehicle.
  • the transmitting antenna TXANT1 which is the first transmitting antenna, radiates the modulated signal output from the frequency generator VCO into space as a radio wave.
  • the radiated radio wave hits the object, and the reflected radio wave is received by the receiving antennas RXANT1 to RXANTN.
  • the received signal received by the receiving antennas RXANT1 to RXANTN is converted into a low frequency signal by the frequency mixers MIX1 to MIXN and sent to the analog / digital converters ADC1 to ADCN.
  • the low frequency signal converted by the frequency mixers MIX1 to MIXN contains a frequency component corresponding to the distance between the external world recognition device 1 and the object.
  • This low frequency signal is converted into a digital signal by the analog / digital converters ADC1 to ADCN, respectively, and then sent to the digital signal processing unit 3.
  • the digital signal processing unit 3 includes a distance calculation unit 10, a distance peak detection unit 11 to 1N, a speed calculation unit 20, a speed peak detection unit 21 to 2N, an angle calculation unit 30, and an angle peak detection unit 31 to 3N.
  • the distance peak detection units 11 to 1N convert the signal converted into a digital signal by the analog / digital converters ADC1 to ADCN of the transmission / reception antenna / analog unit 2 into a time domain signal by, for example, FFT (Fast Fourier Transform) processing. Is converted into a frequency domain signal and stored in the main storage unit 40 of the storage unit 4.
  • FFT Fast Fourier Transform
  • the distance calculation unit 10 obtains distance information by utilizing the fact that the peak of the frequency domain signal obtained by the distance peak detection units 11 to 1N is proportional to the detection distance, and stores it in the main storage unit 40 of the storage unit 4.
  • the speed peak detection units 21 to 2N further perform, for example, FFT processing from the frequency domain signal obtained by, for example, FFT processing of the distance peak detection units 11 to 1N with respect to the received signal obtained by radiating radio waves at regular time intervals. It is obtained as a phase difference and stored in the main storage unit 40 of the storage unit 4.
  • the speed calculation unit 20 obtains speed information by utilizing the fact that the peak of the phase difference obtained by the speed peak detection units 21 to 2N is proportional to the detection speed, and stores the speed information in the main storage unit 40 of the storage unit 4.
  • the angle peak detection units 31 to 3N are from the frequency domain signals obtained by, for example, FFT processing of the speed peak detection units 21 to 2N with respect to the received signals received by the reception antennas RXANT1 to RXANTN, and further by, for example, FFT processing. It is obtained as a phase difference and stored in the main storage unit 40 of the storage unit 4.
  • the angle calculation unit 30 obtains a detection angle (angle information) based on the positional relationship between the phase difference peaks obtained by the angle peak detection units 31 to 3N and the arrangement of the receiving antennas RXANT1 to RXANTN, and the main storage unit of the storage unit 4. Store in 40.
  • the storage unit 4 outputs the distance information obtained by the distance calculation unit 10, the speed information obtained by the speed calculation unit 20, and the angle information obtained by the angle calculation unit 30 as the outside world recognition result, so that the main storage unit 40 After converting the distance information, speed information, and angle information stored in the output signal format, the information is set in the communication buffer 41.
  • the communication unit 5 has a communication control unit 50, a first communication unit 51, and a second communication unit 52.
  • the communication control unit 50 reads out the distance information, the speed information, and the angle information converted into the output signal format from the communication buffer 41, and reads the distance information, the speed information, and the angle information, and either the first communication unit (also referred to as the first communication terminal) 51 or the second communication unit (second communication unit). It is output to the communication unit 70 of the control device 7 via the communication terminal (also referred to as a communication terminal) 52 (described later).
  • the determination unit 6 has a mounting position determination unit 60.
  • the mounting position determination unit 60 confirms the communication status (related to the first communication unit 51 and the second communication unit 52) of the communication control unit 50 of the communication unit 5, and the external world recognition device 1 determines the communication status of the external world recognition device 1 based on the communication status of the external world recognition device 1.
  • Determine the mounting position of the object to be mounted for example, a vehicle
  • the outside world recognition device 1 directed to the front of the vehicle has an inter-vehicle distance control that captures and follows a vehicle in front and a brake control that detects an obstacle to reduce collision damage, for example, toward the front left and right of the vehicle.
  • the external world recognition device 1 is a brake control that detects an oncoming vehicle or a vehicle approaching the front side and sounds an alarm or reduces collision damage. It is possible to perform control suitable for the mounting position of the object to be mounted (for example, a vehicle), such as brake control that detects a vehicle approaching to the rear side and sounds an alarm or reduces collision damage. Further, the processing amount of each external world recognition device 1 is reduced by performing only the control for each mounting position instead of performing all the control by all the external world recognition devices 1 mounted on the object to be mounted (for example, the vehicle). It will also be reduced.
  • the outside world recognition device 1 has distance information and speed information of the object outside the outside world recognition device 1 (specifically, outside the object to be attached to which the outside world recognition device 1 is attached). , The angle information (position information) of the object is transmitted to the control device 7, and the output is performed with the reference point of the object to be attached (for example, the vehicle) as the origin, and the processing according to the attachment position of the object to be attached (for example). Control).
  • FIG. 2 is an explanatory diagram showing a mounting configuration of an external world recognition device according to the first embodiment of the present invention.
  • FIG. 3 is an explanatory diagram showing a connection configuration of an outside world recognition device according to the first embodiment of the present invention.
  • FIG. 4 is a judgment flow according to the first embodiment of the present invention. Note that, in FIG. 3, among the configurations shown in FIG. 1, the configurations not related to the connection configuration are not shown.
  • the outside world recognition device 1 is composed of, for example, a radar device such as a millimeter wave radar or a laser radar, a sonar sensor, or the like, and in order to comprehensively monitor the surroundings of the vehicle, for example, the front, rear, left, and right ends of the vehicle 8 as shown in FIG. Will be installed in.
  • a radar device such as a millimeter wave radar or a laser radar, a sonar sensor, or the like
  • the outside world recognition device 1 mounted on the front left side is the first outside world recognition device 1a
  • the outside world recognition device 1 mounted on the front right side is the third outside world recognition device 1b
  • the outside world recognition device 1 mounted on the rear left side is the outside world recognition device 1 mounted on the rear left side.
  • the device 1 is defined as the second outside world recognition device 1c, the outside world recognition device 1 mounted on the rear right side is defined as the fourth outside world recognition device 1d, and the connection between the vehicle mounting position and the first to fourth outside world recognition devices is defined in advance. Keep it.
  • the first to fourth external world recognition devices have a single part number (same configuration), and the first to fourth external world recognition devices (also referred to as external world recognition device components) are used to monitor the surroundings of the vehicle.
  • the outside world recognition device 1 will be configured.
  • the control device 7 for controlling the outside world recognition device 1 is mounted in the vehicle interior of the vehicle 8, for example, as shown in FIG.
  • the outside world recognition device 1 and the control device 7 are composed of a communication unit 70 of the control device 7, a first communication unit 51a of the outside world recognition device 1a, and a first communication unit 51c of the outside world recognition device 1c. Be connected.
  • the outside world recognition device 1a and the outside world recognition device 1b are, for example, as shown in FIG. It is connected to the first communication unit 51b of 1b.
  • the outside world recognition device 1c and the outside world recognition device 1d are, for example, as shown in FIG. It is connected to the second communication unit 52d of 1d.
  • the second communication unit 52b of the outside world recognition device 1b and the first communication unit 51d of the outside world recognition device 1d are not connected.
  • the outside world recognition device 1a and the outside world recognition device 1b are connected via a communication line by different communication terminals (second communication unit 52a of the outside world recognition device 1a and first communication unit 51b of the outside world recognition device 1b).
  • the pair is connected to the control device 7 (communication unit 70) by the first communication unit 51a of the outside world recognition device 1a via a communication line.
  • the outside world recognition device 1c and the outside world recognition device 1d are connected to each other by the same communication terminal (second communication unit 52c of the outside world recognition device 1c, second communication unit 52d of the outside world recognition device 1d) via a communication line to form a pair.
  • the first communication unit 51c of the outside world recognition device 1c is connected to the control device 7 (communication unit 70) via a communication line.
  • the outside world recognition device 1 transmits the information received by the first communication unit 51 from the second communication unit 52, and transmits the information received by the second communication unit 52 from the first communication unit 51.
  • the outside world recognition device 1a, the outside world recognition device 1b, the outside world recognition device 1c, and the outside world recognition device 1d are characterized by having a single part number, all the control contents according to each mounting position are mainly used. It is held in the storage unit 40 and takes the same behavior when the mounting position is undecided.
  • the first to fourth external world recognition devices 1 (1a to 1d) can be mounted on a plurality of locations of a vehicle even though they have a single product number by performing a mounting position determination process after the start processing process as described below. Moreover, it is possible to perform processing according to the mounting position.
  • the information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like.
  • the control device 7 receives the vehicle information request transmitted by the outside world recognition device 1 (first communication unit 51) in the vehicle information request reception ST2, transmits the vehicle information in the vehicle information transmission ST3, and then performs the normal processing ST4. ..
  • the outside world recognition device 1a transmits the vehicle information received from the control device 7 in the first communication unit 51a from the second communication unit 52a.
  • the outside world recognition device 1c transmits the vehicle information received from the control device 7 in the first communication unit 51c from the second communication unit 52c.
  • the outside world recognition device 1a, the outside world recognition device 1b, and the outside world recognition device 1c communicate with each other because the communication partners exist in the first communication units 51a, 51b, 51c.
  • the communication partner does not exist in the first communication unit 51d, the communication itself is not established, and the vehicle information cannot be received by the first communication unit 51d.
  • the external world recognition device 1d which has timed out due to communication failure in the vehicle information reception ST5a, is determined (determined) that the mounting position is on the rear right side in the mounting position rear right side determination ST6 (mounting position determination unit 60). ), The mounting position is recorded in the main storage unit 40, and normal processing including the rear right side information transmission ST8 and the like is performed.
  • the outside world recognition device 1a, the outside world recognition device 1b, and the outside world recognition device 1c request the rear right side information from the second communication unit 52 in the rear right side information request transmission ST7 by the second communication unit 52, and the time-out ST9b period. Only the rear right side information reception ST9a waits for the rear right side information reception.
  • the information requested from the second communication unit 52 does not have to be the rear right side information, but it is desirable that the information is normally received from the rear right side from the viewpoint of simplification of communication processing and the like.
  • the outside world recognition device 1a and the outside world recognition device 1c communicate with each other because a communication partner exists in the second communication units 52a and 52c, and the outside world recognition device 1c.
  • the outside world recognition device 1c there is no communication partner in the second communication unit 52b, and the communication itself is unsuccessful. Since the outside world recognition device 1c is connected to the outside world recognition device 1d whose mounting position is confirmed to be the rear right side in the mounting position rear right side determination ST6, the rear right side information can be received.
  • the mounting position is recorded in the main storage unit 40, and normal processing including the front right information transmission ST11 and the like is performed.
  • the outside world recognition device 1a and the outside world recognition device 1c receive the information transmitted from the front right side outside world recognition device 1b or the rear right side outside world recognition device 1d by the second communication unit 52 in the right side information reception ST12.
  • an identifier (communication content) for discriminating the mounting position such as front right information and rear right information is provided in the address, ID, data, etc. used for communication. If the identifier included in the right side information received by the outside world recognition device 1a (second communication unit 52a) in the identifier determination ST13 is the front right side, it is confirmed that the mounting position is the front left side in the mounting position left side confirmation ST14a (determination).
  • the mounting position is recorded in the main storage unit 40, and normal processing including the front left information transmission ST15a and the like is performed.
  • the identifier included in the right side information received by the outside world recognition device 1c (second communication unit 52c) in the identifier determination ST13 is the rear right side
  • the mounting position may be the rear left side in the mounting position left side determination ST14b.
  • the mounting position is recorded in the main storage unit 40, and normal processing including the rear left side information transmission ST15b and the like is performed.
  • the outside world recognition device 1 of the present embodiment is the outside world recognition device 1 including the first communication unit 51 and the second communication unit 52, and the information received by the first communication unit 51 is received by the second communication unit 52.
  • the information transmitted and received by the second communication unit 52 is transmitted by the first communication unit 51.
  • the control device 7 that controls the outside world recognition device 1, the first communication unit 51a of the first outside world recognition device 1a, and the first communication unit 51c of the second outside world recognition device 1c are connected by a communication line, and the first outside world is connected.
  • the second communication unit 52a of the recognition device 1a and the first communication unit 51b of the third outside world recognition device 1b are connected by a communication line (by different communication terminals), and the second communication unit 52c of the second outside world recognition device 1c is connected.
  • the second communication unit 52d of the fourth outside world recognition device 1d are connected by a communication line (by the same communication terminal), and the vehicle mounting position and the connection of the first to fourth outside world recognition devices are defined in advance. I will do it.
  • the mounting position determination unit 60 communicates from the first communication unit 51, and determines that the outside world recognition device 1 for which communication is not established is the fourth outside world recognition device 1d.
  • the mounting position determination unit 60 communicates from the second communication unit 52, and determines that the outside world recognition device 1 for which communication is not established is the third outside world recognition device 1b. After determining the mounting position, the outside world recognition device 1 uses an identifier indicating the mounting position for communication.
  • the first or second outside world recognition device 1 is defined in advance by referring to an identifier (communication content) indicating a mounting position included in the information transmitted by the connected third or fourth outside world recognition device 1.
  • the outside world recognition device 1 connected to the third outside world recognition device 1b is determined to be the first outside world recognition device 1a
  • the outside world recognition device 1 connected to the fourth outside world recognition device 1d is determined to be the first outside world recognition device 1a. It is determined to be the outside world recognition device 1c of 2.
  • the communication in the first communication unit 51 and the second communication unit 52 of the first outside world recognition device 1a and the third outside world recognition device 1b or the second outside world recognition device 1c and the fourth outside world recognition device 1d is performed.
  • the mounting position of the external world recognition devices 1 (1a to 1d) mounted at a plurality of locations of the vehicle 8 is automatically determined depending on whether or not it is established and the communication content thereof, and it corresponds to the mounting position even though it is a single product number. It becomes possible to perform processing.
  • the method of determining the establishment of communication differs depending on the communication method, but in the communication method provided with the acknowledge signal, the establishment of communication may be determined depending on whether or not this can be obtained. It is possible to deal with various communication methods regardless of the communication method of.
  • the outside world recognition device 1 As described above, according to the present embodiment, it is possible to provide the outside world recognition device 1 with a single part number in a maximum of four outside world recognition devices attached to, for example, front, side, rear, left side, center, and right side. can.
  • FIG. 5 is a judgment flow in the outside world recognition device 1 according to the second embodiment of the present disclosure. The same part as in the first embodiment will be omitted.
  • the external world recognition device 1 of the second embodiment has implemented / not implemented the mounting position determination prior to the mounting position determination described in the first embodiment, in other words, in the storage area. By confirming whether the mounting position is recorded in a certain main storage unit 40, it is possible to shorten the start-up time.
  • the outside world recognition device 1 refers to the main storage unit 40 in the mounting position determination result reference ST20, and when the mounting position has been determined (the mounting position is recorded in the main storage unit 40), the mounting position is set to the mounting position. Performs normal processing including the corresponding information transmission ST22 and the like.
  • the mounting position determination result When the mounting position is not determined in ST20 (the mounting position is not recorded in the main storage unit 40), the first in the vehicle information request transmission ST1 by the first communication unit 51 in the mounting position determination process.
  • the information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like.
  • the control device 7 is in the state of vehicle information request reception ST2 only during the time-out ST2'.
  • the vehicle information request transmitted by the outside world recognition device 1 first communication unit 51
  • the vehicle information transmission ST3 transmits the vehicle information
  • the normal process ST4 is performed. If the time-out occurs without receiving the vehicle information request within the time-out period ST2', the normal processing ST4 is performed without transmitting the vehicle information by transitioning to the processing merging unit ST21.
  • the mounting position determination / recording is performed only when the mounting position determination has not been performed (when the mounting position is not recorded in the main storage unit 40 which is the storage area). Therefore, for example, it is possible to provide the outside world recognition device 1 having a single product number and a short start-up time from the second time onward in a maximum of four outside world recognition devices attached to the front, side, rear, left side, center, and right side.
  • FIG. 6 is a determination flow in the outside world recognition device 1 according to the third embodiment of the present disclosure.
  • the same parts as those in the first and second embodiments will be omitted.
  • the outside world recognition device 1 of the third embodiment performs the mounting position determination process at an arbitrary timing according to the instruction of the control device 7, for example, even when one outside world recognition device is replaced with another outside world recognition device having the same part number. It is possible to perform processing according to the mounting position.
  • the control device 7 requests the mounting position determination from the communication unit 70 in the mounting position determination request transmission ST23 at the time of activation processing.
  • the outside world recognition device 1 receives the mounting position determination request transmitted by the control device 7 (communication unit 70) in the mounting position determination request reception ST24, and then receives the vehicle information request transmission ST1 by the first communication unit 51.
  • the information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like.
  • the mounting position determination request transmission ST23 performed by the control device 7 may be performed in a normal process instead of the activation process, and the mounting position determination request reception ST24 performed by the outside world recognition device 1 may be performed in the activation process accordingly. It may be carried out in the normal processing.
  • a single external recognition device can be attached to a maximum of four external recognition devices attached to the front, side, rear, left side, center, and right side.
  • the external world recognition device 1 can be provided by the product number.
  • FIG. 7 is a connection diagram showing a connection configuration of the outside world recognition device 1 in the outside world recognition device 1 according to the fourth embodiment of the present disclosure. Note that, in FIG. 7, among the configurations shown in FIG. 1, the configurations not related to the connection configuration are not shown.
  • FIG. 8 is a determination flow in the outside world recognition device 1 according to the fourth embodiment of the present disclosure. The same parts as those in the first to third embodiments will be omitted.
  • the external world recognition device 1 of the fourth embodiment is, for example, at the time of vehicle assembly or replacement by performing the mounting position setting process at an arbitrary timing (here, at the time of activation processing) according to the instruction of the diagnostic tool 9 which is a kind of control device. It is possible to perform processing according to the mounting position even at times.
  • the outside world recognition device 1 is connected to the first communication unit 51 of the outside world recognition device 1 and the communication unit 90 of the diagnostic tool 9 as shown in FIG. 7, for example, when the vehicle is assembled or replaced.
  • the connection of the diagnostic tool 9 to the communication unit 90 may be the second communication unit 52 of the outside world recognition device 1.
  • the diagnostic tool 9 transmits the mounting position information from the communication unit 90 in the mounting position transmission ST25 at the time of activation processing. After receiving the mounting position transmitted by the diagnostic tool 9 (communication unit 90) in the mounting position receiving ST26, the external world recognition device 1 determines that the mounting position is the mounting position received in the mounting position setting ST27 in the mounting position setting process. (Designation), the mounting position is recorded in the main storage unit 40, and normal processing including the information transmission ST28 and the like according to the mounting position is performed.
  • a maximum of four external world recognition devices can be attached to, for example, the front, the side, the rear, the left side, the center, and the right side at an arbitrary timing according to the instruction of the diagnostic tool 9 as a control device.
  • the outside world recognition device 1 can be provided with a single product number.
  • the vehicle is composed of a total of four external world recognition devices (external world recognition device components) including two pairs of external world recognition devices (external world recognition device components) consisting of a pair of front left and right and a pair of rear left and right devices.
  • the outside world recognition device 1 of the peripheral monitoring system is configured, it may be composed of only one pair (one set) of the outside world recognition device, or three pairs (three sets) or more of the outside world recognition device (in other words). For example, it may be configured (including three or more pairs of external world recognition devices).
  • the mounting position of the outside world recognition device (outside world recognition device configuration) constituting the pair of outside world recognition devices (outside world recognition device configuration) is not limited to the above-mentioned example.
  • the present invention is not limited to the above-described embodiment, but includes various modified forms.
  • the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.
  • it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
  • each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • SSD Solid State Drive
  • control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

Provided is an external environment recognition device that can be installed in a plurality of locations and is capable of automatically determining the attachment position thereof and carrying out processing corresponding to the attachment position despite being assigned a single common device number. A control device 7 for controlling external environment recognition devices 1, a first communication unit 51a of a first external environment recognition device 1a, and a first communication unit 51c of a second external environment recognition device 1c are connected by communication lines. A second communication unit 52a of the first external environment recognition device 1a and a first communication unit 51b of a third external environment recognition device 1b are connected by a communication line (using different communication terminals). A second communication unit 52c of the second external environment recognition device 1c and a second communication unit 52d of a fourth external environment recognition device 1d are connected by a communication line (using the same communication terminals). Vehicle installation positions and how the first to fourth external environment recognition devices are to be connected are defined in advance. Each of the external environment recognition devices 1 comprises an attachment position determination unit 60 that attempts communication from the first communication unit 51 thereof and determines that the host external environment recognition device 1 is the fourth external environment recognition device 1d if the communication fails. In each of the external environment recognition devices 1 other than the external environment recognition device 1d, the attachment position determination unit 60 attempts communication from the second communication unit 52 thereof and determines that the host external environment recognition device 1 is the third external environment recognition device 1b if the communication fails. Each of the external environment recognition devices 1 uses, for communication, an identifier indicating the attachment position thereof after the attachment position has been determined. The first or second external environment recognition device 1 refers to the attachment-position-indicating identifier (communication content) included in information transmitted from the connected third or fourth external environment recognition device 1 and thereby uses the connection relationship that has been defined beforehand to determine that the external environment recognition device 1 is the first external environment recognition device 1a if the same is connected to the third external environment recognition device 1b and that the external environment recognition device 1 is the second external environment recognition device 1c if the same is connected to the fourth external environment recognition device 1d.

Description

外界認識装置External recognition device
　本発明は、車両周辺監視システムにおける外界認識装置に関する。 The present invention relates to an outside world recognition device in a vehicle peripheral monitoring system.
　自動車を運転するドライバの負担や事故を低減する技術として運転支援システムや自動運転が注目されている。これらの実現において、車両には自車周辺の状況を正確に認識することを目的に種々のセンシングデバイスが搭載されている。特許文献１に記載された技術は、車両に搭載されるレーダ装置において取付位置に応じた動作モードに切り替えることを目的としている（同文献、第００３７段落等を参照）。 Driving support systems and autonomous driving are attracting attention as technologies that reduce the burden and accidents on drivers who drive automobiles. In these realizations, the vehicle is equipped with various sensing devices for the purpose of accurately recognizing the situation around the vehicle. The technique described in Patent Document 1 aims to switch to an operation mode according to a mounting position in a radar device mounted on a vehicle (see the same document, paragraph 0037, etc.).
　この目的を達成するために、特許文献１に記載された技術は、周辺回路の有無を検出し、周辺回路が接続されていない場合にはレーダが検知する物標の位置及び速度情報を出力し、周辺回路が接続されている場合には前記周辺回路を制御する動作モードに切り替える。これにより、前方に設置するレーダ装置及び後方に設置するレーダ装置として同じものを使用することができるため、品番を少なくすることでレーダ装置の製造メーカの管理コスト及び製造コストの増加を抑制すると共に、レーダ装置を取り付ける車両メーカの管理コストを低減することができる（同文献、第００４６段落等を参照）。 In order to achieve this purpose, the technique described in Patent Document 1 detects the presence or absence of peripheral circuits, and outputs the position and speed information of the target detected by the radar when the peripheral circuits are not connected. , When the peripheral circuit is connected, the operation mode for controlling the peripheral circuit is switched. As a result, the same radar device can be used as the radar device installed in the front and the radar device installed in the rear. Therefore, by reducing the number of product numbers, the increase in management cost and manufacturing cost of the radar device manufacturer can be suppressed. , It is possible to reduce the management cost of the vehicle manufacturer that installs the radar device (see the same document, paragraph 0046, etc.).
特開２０１８－６６６１９号公報Japanese Unexamined Patent Publication No. 2018-66619
　ところで、例えば車両周辺監視システムにおいては、前方・側方・後方、左側・右側などより複雑な区分が求められる。しかし、前記従来の技術では、周辺回路の有無による区分であるために最大で２種にしか分けられず、より複雑な区分が求められるシステムにおいては各装置間等の接続に制約が発生し、コネクタ端子や車両ハーネスが増加してコストが上昇する恐れがある。 By the way, for example, in a vehicle peripheral monitoring system, more complicated classifications such as front / side / rear, left / right, etc. are required. However, in the above-mentioned conventional technique, since the classification is based on the presence or absence of peripheral circuits, it can be classified into only two types at the maximum, and in a system requiring more complicated classification, there are restrictions on the connection between each device. There is a risk that the cost will increase due to the increase in connector terminals and vehicle harnesses.
　本発明は、上記の点に鑑みてなされたものであり、その目的とするところは、例えば車両周辺監視システムとして考えられる、前方・側方・後方、左側・右側の装置において、取付位置を自動で判断して取付位置に応じた処理を行う外界認識装置を提供することである。 The present invention has been made in view of the above points, and an object of the present invention is to automatically set the mounting position in a device for front / side / rear, left / right, which is considered as a vehicle peripheral monitoring system, for example. It is an object of the present invention to provide an outside world recognition device that performs processing according to the mounting position.
　本開示の一様態は、制御装置と接続され、各々の外界認識装置構成体が被取付対象物の所定位置に取り付けられ、前記被取付対象物の基準点を原点とする出力を行う１対の外界認識装置構成体を少なくとも１つ備える外界認識装置であって、第１通信端子及び第２通信端子を有する第１の外界認識装置構成体と第１通信端子及び第２通信端子を有する第２の外界認識装置構成体により構成され、前記第１の外界認識装置構成体と前記第２の外界認識装置構成体との間が異なる通信端子により接続された１対の外界認識装置構成体、又は、第１通信端子及び第２通信端子を有する第３の外界認識装置構成体と第１通信端子及び第２通信端子を有する第４の外界認識装置構成体により構成され、前記第３の外界認識装置構成体と前記第４の外界認識装置構成体との間が同じ通信端子により接続された１対の外界認識装置構成体の少なくとも１つを含み、前記１対の外界認識装置構成体において前記第１通信端子及び前記第２通信端子における通信が成立したか否か及びその通信内容により前記外界認識装置構成体の取付位置を判断し、前記取付位置に応じた処理を実行することを特徴とする外界認識装置である。 The uniformity of the present disclosure is a pair of external recognition device components connected to a control device, each of which is attached to a predetermined position of the object to be attached, and outputs an output with the reference point of the object to be attached as the origin. An external world recognition device including at least one external world recognition device structure, the first external world recognition device structure having a first communication terminal and a second communication terminal, and a second having a first communication terminal and a second communication terminal. A pair of external world recognition device configurations, or a pair of external world recognition device configurations in which the first external world recognition device configuration and the second external world recognition device configuration are connected by different communication terminals. , A third external world recognition device configuration having a first communication terminal and a second communication terminal, and a fourth external world recognition device configuration having a first communication terminal and a second communication terminal, the third external world recognition. The device configuration and the fourth external world recognition device configuration include at least one pair of external world recognition device configurations connected by the same communication terminal, and the pair of external world recognition device configurations include the above. It is characterized in that the mounting position of the external world recognition device configuration is determined based on whether or not communication is established between the first communication terminal and the second communication terminal and the communication content thereof, and processing according to the mounting position is executed. It is an outside world recognition device.
　本開示の一様態によれば、例えば前方・側方・後方や左側・中央・右側に取り付けられる最大４つの外界認識装置において単一の品番で外界認識装置を提供することができる。 According to the uniform state of the present disclosure, it is possible to provide an outside world recognition device with a single part number in a maximum of four outside world recognition devices attached to, for example, front, side, rear, left side, center, and right side.
　上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 Issues, configurations and effects other than those described above will be clarified by the explanation of the following embodiments.
本発明の実施形態１に係る外界認識装置における構成体を示すブロック図。The block diagram which shows the structure in the outside world recognition apparatus which concerns on Embodiment 1 of this invention. 本発明の実施形態１による外界認識装置の取付構成を示す説明図。The explanatory view which shows the mounting structure of the outside world recognition apparatus according to Embodiment 1 of this invention. 本発明の実施形態１による外界認識装置の接続構成を示す説明図。The explanatory view which shows the connection structure of the outside world recognition apparatus by Embodiment 1 of this invention. 本発明の実施形態１による判断フロー。Judgment flow according to the first embodiment of the present invention. 本発明の実施形態２による判断フロー。Judgment flow according to the second embodiment of the present invention. 本発明の実施形態３による判断フロー。Judgment flow according to the third embodiment of the present invention. 本発明の実施形態４による外界認識装置の接続構成を示す説明図。The explanatory view which shows the connection structure of the outside world recognition apparatus according to Embodiment 4 of this invention. 本発明の実施形態４による判断フロー。Judgment flow according to the fourth embodiment of the present invention.
　以下、図面を参照して本開示に係る外界認識装置の実施形態を説明する。 Hereinafter, embodiments of the external world recognition device according to the present disclosure will be described with reference to the drawings.
（実施形態１）
　図１は、本開示の実施形態１に係る外界認識装置１における構成体を示すブロック図である。 (Embodiment 1)
FIG. 1 is a block diagram showing a configuration in the outside world recognition device 1 according to the first embodiment of the present disclosure.
　外界認識装置１は、送受信アンテナ／アナログ部２と、デジタル信号処理部３と、記憶部４と、通信部５、判断部６とを備える。送受信アンテナ／アナログ部２は、周波数生成器ＶＣＯ、送信アンテナＴＸＡＮＴ１、Ｎ個の受信チャンネルを構成するＮ個の受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮ、Ｎ個の周波数混合器ＭＩＸ１～ＭＩＸＮ、およびＮ個のアナログ／デジタル変換器ＡＤＣ１～ＡＤＣＮを有している。なお、受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮは、対象物の方位を検知するために各受信チャンネル間の受信信号に位相差が生じる間隔にて配置されている。 The external world recognition device 1 includes a transmission / reception antenna / analog unit 2, a digital signal processing unit 3, a storage unit 4, a communication unit 5, and a determination unit 6. The transmitting / receiving antenna / analog unit 2 includes a frequency generator VCO, a transmitting antenna TXANT1, N receiving antennas RXANT1 to RXANTN constituting N receiving channels, N frequency mixers MIX1 to MIXN, and N analogs / It has digital converters ADC1 to ADCN. The receiving antennas RXANT1 to RXANTN are arranged at intervals where a phase difference occurs in the received signals between the receiving channels in order to detect the direction of the object.
　周波数生成器ＶＣＯが生成した変調信号は、送信アンテナＴＸＡＮＴ１および周波数混合器ＭＩＸ１～ＭＩＸＮにそれぞれ分配される。変調信号は、車両に搭載されるレーダ装置としては例えば２４ＧＨｚ、７７ＧＨｚ、７９ＧＨｚ帯の信号である。 The modulation signal generated by the frequency generator VCO is distributed to the transmission antenna TXANT1 and the frequency mixers MIX1 to MIXN, respectively. The modulated signal is, for example, a signal in the 24 GHz, 77 GHz, 79 GHz band as a radar device mounted on a vehicle.
　第１の送信アンテナである送信アンテナＴＸＡＮＴ１は、周波数生成器ＶＣＯから出力される変調信号を電波として空間に放射する。放射された電波は対象物に当たり、反射した電波が受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮによって受信される。 The transmitting antenna TXANT1, which is the first transmitting antenna, radiates the modulated signal output from the frequency generator VCO into space as a radio wave. The radiated radio wave hits the object, and the reflected radio wave is received by the receiving antennas RXANT1 to RXANTN.
　受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮによって受信された受信信号は、周波数混合器ＭＩＸ１～ＭＩＸＮによって低周波信号に変換されて、アナログ／デジタル変換器ＡＤＣ１～ＡＤＣＮに送られる。 The received signal received by the receiving antennas RXANT1 to RXANTN is converted into a low frequency signal by the frequency mixers MIX1 to MIXN and sent to the analog / digital converters ADC1 to ADCN.
　周波数混合器ＭＩＸ１～ＭＩＸＮによって変換された低周波信号は、外界認識装置１と対象物との距離に対応した周波数成分を含んでいる。この低周波信号は、アナログ／デジタル変換器ＡＤＣ１～ＡＤＣＮによってそれぞれデジタル信号に変換された後、デジタル信号処理部３に送られる。 The low frequency signal converted by the frequency mixers MIX1 to MIXN contains a frequency component corresponding to the distance between the external world recognition device 1 and the object. This low frequency signal is converted into a digital signal by the analog / digital converters ADC1 to ADCN, respectively, and then sent to the digital signal processing unit 3.
　デジタル信号処理部３は、距離算出部１０、距離ピーク検知部１１～１Ｎ、速度算出部２０、速度ピーク検知部２１～２Ｎ、角度算出部３０、角度ピーク検知部３１～３Ｎを有する。距離ピーク検知部１１～１Ｎは、送受信アンテナ／アナログ部２のアナログ／デジタル変換器ＡＤＣ１～ＡＤＣＮによってデジタル信号に変換された信号を、例えばＦＦＴ（高速フーリエ変換：Ｆａｓｔ　Ｆｏｕｒｉｅｒ　Ｔｒａｎｓｆｏｒｍ）処理によって時間領域信号から周波数領域信号へ変換し、記憶部４の主記憶部４０に記憶する。 The digital signal processing unit 3 includes a distance calculation unit 10, a distance peak detection unit 11 to 1N, a speed calculation unit 20, a speed peak detection unit 21 to 2N, an angle calculation unit 30, and an angle peak detection unit 31 to 3N. The distance peak detection units 11 to 1N convert the signal converted into a digital signal by the analog / digital converters ADC1 to ADCN of the transmission / reception antenna / analog unit 2 into a time domain signal by, for example, FFT (Fast Fourier Transform) processing. Is converted into a frequency domain signal and stored in the main storage unit 40 of the storage unit 4.
　距離算出部１０は、距離ピーク検知部１１～１Ｎによって得られた周波数領域信号のピークと検知距離が比例することを利用して距離情報を求め、記憶部４の主記憶部４０に記憶する。 The distance calculation unit 10 obtains distance information by utilizing the fact that the peak of the frequency domain signal obtained by the distance peak detection units 11 to 1N is proportional to the detection distance, and stores it in the main storage unit 40 of the storage unit 4.
　速度ピーク検知部２１～２Ｎは、一定時間間隔で電波を放射して得られた受信信号に対して距離ピーク検知部１１～１Ｎの例えばＦＦＴ処理によって得られた周波数領域信号から、更に例えばＦＦＴ処理によって位相差として求め、記憶部４の主記憶部４０に記憶する。 The speed peak detection units 21 to 2N further perform, for example, FFT processing from the frequency domain signal obtained by, for example, FFT processing of the distance peak detection units 11 to 1N with respect to the received signal obtained by radiating radio waves at regular time intervals. It is obtained as a phase difference and stored in the main storage unit 40 of the storage unit 4.
　速度算出部２０は、速度ピーク検知部２１～２Ｎによって得られた位相差のピークと検知速度が比例することを利用して速度情報を求め、記憶部４の主記憶部４０に記憶する。 The speed calculation unit 20 obtains speed information by utilizing the fact that the peak of the phase difference obtained by the speed peak detection units 21 to 2N is proportional to the detection speed, and stores the speed information in the main storage unit 40 of the storage unit 4.
　角度ピーク検知部３１～３Ｎは、受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮのそれぞれによって受信された受信信号に対して速度ピーク検知部２１～２Ｎの例えばＦＦＴ処理によって得られた周波数領域信号から、更に例えばＦＦＴ処理によって位相差として求め、記憶部４の主記憶部４０に記憶する。 The angle peak detection units 31 to 3N are from the frequency domain signals obtained by, for example, FFT processing of the speed peak detection units 21 to 2N with respect to the received signals received by the reception antennas RXANT1 to RXANTN, and further by, for example, FFT processing. It is obtained as a phase difference and stored in the main storage unit 40 of the storage unit 4.
　角度算出部３０は、角度ピーク検知部３１～３Ｎによって得られた位相差のピークと受信アンテナＲＸＡＮＴ１～ＲＸＡＮＴＮの配置された位置関係により検知角度（角度情報）を求め、記憶部４の主記憶部４０に記憶する。 The angle calculation unit 30 obtains a detection angle (angle information) based on the positional relationship between the phase difference peaks obtained by the angle peak detection units 31 to 3N and the arrangement of the receiving antennas RXANT1 to RXANTN, and the main storage unit of the storage unit 4. Store in 40.
　記憶部４は、距離算出部１０で得られた距離情報、速度算出部２０で得られた速度情報、角度算出部３０で得られた角度情報を外界認識結果として出力するため、主記憶部４０に記憶された距離情報、速度情報、角度情報を出力信号の形式に変換した上で通信バッファ４１にセットする。 The storage unit 4 outputs the distance information obtained by the distance calculation unit 10, the speed information obtained by the speed calculation unit 20, and the angle information obtained by the angle calculation unit 30 as the outside world recognition result, so that the main storage unit 40 After converting the distance information, speed information, and angle information stored in the output signal format, the information is set in the communication buffer 41.
　通信部５は、通信制御部５０、第１通信部５１、第２通信部５２を有する。通信制御部５０は、通信バッファ４１から出力信号の形式に変換された距離情報、速度情報、角度情報を読み出し、第１通信部（第１通信端子とも呼ぶ）５１あるいは第２通信部（第２通信端子とも呼ぶ）５２を介して制御装置７の通信部７０へ出力する（後で説明）。 The communication unit 5 has a communication control unit 50, a first communication unit 51, and a second communication unit 52. The communication control unit 50 reads out the distance information, the speed information, and the angle information converted into the output signal format from the communication buffer 41, and reads the distance information, the speed information, and the angle information, and either the first communication unit (also referred to as the first communication terminal) 51 or the second communication unit (second communication unit). It is output to the communication unit 70 of the control device 7 via the communication terminal (also referred to as a communication terminal) 52 (described later).
　判断部６は、取付位置判断部６０を有する。取付位置判断部６０は、通信部５の通信制御部５０の（第１通信部５１及び第２通信部５２に関する）通信状況を確認し、外界認識装置１の通信状況から当該外界認識装置１が取り付けられる被取付対象物（例えば車両）の取付位置を判断する（後で説明）。これにより、例えば車両前方正面に向けられた外界認識装置１は、前走車を捕捉して追従する車間距離制御や障害物を検出して衝突被害を軽減するブレーキ制御、例えば車両前方左右に向けられた外界認識装置１は、対向車や前側方接近車を検出して警報を鳴らしたり衝突被害を軽減するブレーキ制御、例えば車両後方左右に向けられた外界認識装置１は、並走する車両や後側方接近車を検出して警報を鳴らしたり衝突被害を軽減するブレーキ制御のように、被取付対象物（例えば車両）の取付位置に適した制御を行うことが可能となる。また、被取付対象物（例えば車両）に取り付けられた全ての外界認識装置１で全ての制御を行うのではなく、取付位置毎の制御のみを行うことにより、各外界認識装置１の処理量を低減させることにもなる。 The determination unit 6 has a mounting position determination unit 60. The mounting position determination unit 60 confirms the communication status (related to the first communication unit 51 and the second communication unit 52) of the communication control unit 50 of the communication unit 5, and the external world recognition device 1 determines the communication status of the external world recognition device 1 based on the communication status of the external world recognition device 1. Determine the mounting position of the object to be mounted (for example, a vehicle) (described later). As a result, for example, the outside world recognition device 1 directed to the front of the vehicle has an inter-vehicle distance control that captures and follows a vehicle in front and a brake control that detects an obstacle to reduce collision damage, for example, toward the front left and right of the vehicle. The external world recognition device 1 is a brake control that detects an oncoming vehicle or a vehicle approaching the front side and sounds an alarm or reduces collision damage. It is possible to perform control suitable for the mounting position of the object to be mounted (for example, a vehicle), such as brake control that detects a vehicle approaching to the rear side and sounds an alarm or reduces collision damage. Further, the processing amount of each external world recognition device 1 is reduced by performing only the control for each mounting position instead of performing all the control by all the external world recognition devices 1 mounted on the object to be mounted (for example, the vehicle). It will also be reduced.
　以上の構成により、外界認識装置１は、当該外界認識装置１の外部（詳しくは、当該外界認識装置１が取り付けられる被取付対象物の外部）の対象物との距離情報、対象物の速度情報、対象物の角度情報（位置情報）を制御装置７に送信すると共に、被取付対象物（例えば車両）の基準点を原点とする出力を行い、被取付対象物の取付位置に応じた処理（制御）を実行する。 With the above configuration, the outside world recognition device 1 has distance information and speed information of the object outside the outside world recognition device 1 (specifically, outside the object to be attached to which the outside world recognition device 1 is attached). , The angle information (position information) of the object is transmitted to the control device 7, and the output is performed with the reference point of the object to be attached (for example, the vehicle) as the origin, and the processing according to the attachment position of the object to be attached (for example). Control).
　以下、図２乃至図４を参照して、本実施形態の外界認識装置１の構成を詳細に説明する。図２は、本発明の実施形態１による外界認識装置の取付構成を示す説明図である。図３は、本発明の実施形態１による外界認識装置の接続構成を示す説明図である。図４は、本発明の実施形態１による判断フローである。なお、図３では、図１で示す構成の内、接続構成に関係しない構成については図示を省略している。 Hereinafter, the configuration of the external world recognition device 1 of the present embodiment will be described in detail with reference to FIGS. 2 to 4. FIG. 2 is an explanatory diagram showing a mounting configuration of an external world recognition device according to the first embodiment of the present invention. FIG. 3 is an explanatory diagram showing a connection configuration of an outside world recognition device according to the first embodiment of the present invention. FIG. 4 is a judgment flow according to the first embodiment of the present invention. Note that, in FIG. 3, among the configurations shown in FIG. 1, the configurations not related to the connection configuration are not shown.
＜取付構成及び接続構成＞
　外界認識装置１は、例えばミリ波レーダやレーザーレーダなどのレーダ装置、ソナーセンサなどで構成され、車両周辺を網羅的に監視するために、例えば図２に示すように車両８の前後左右の端部に搭載される。ここで、例えば前方左側に搭載された外界認識装置１を第１の外界認識装置１ａ、前方右側に搭載された外界認識装置１を第３の外界認識装置１ｂ、後方左側に搭載された外界認識装置１を第２の外界認識装置１ｃ、後方右側に搭載された外界認識装置１を第４の外界認識装置１ｄと、予め車両搭載位置と第１乃至第４の外界認識装置の接続は定義しておく。第１乃至第４の外界認識装置は単一の品番であり（同じ構成のものであり）、第１乃至第４の外界認識装置（外界認識装置構成体とも呼ぶ）によって、車両周辺監視システムの外界認識装置１が構成されることになる。また、外界認識装置１を制御する制御装置７は、例えば図２に示すように車両８の車室内に搭載される。 <Mounting configuration and connection configuration>
The outside world recognition device 1 is composed of, for example, a radar device such as a millimeter wave radar or a laser radar, a sonar sensor, or the like, and in order to comprehensively monitor the surroundings of the vehicle, for example, the front, rear, left, and right ends of the vehicle 8 as shown in FIG. Will be installed in. Here, for example, the outside world recognition device 1 mounted on the front left side is the first outside world recognition device 1a, the outside world recognition device 1 mounted on the front right side is the third outside world recognition device 1b, and the outside world recognition device 1 mounted on the rear left side. The device 1 is defined as the second outside world recognition device 1c, the outside world recognition device 1 mounted on the rear right side is defined as the fourth outside world recognition device 1d, and the connection between the vehicle mounting position and the first to fourth outside world recognition devices is defined in advance. Keep it. The first to fourth external world recognition devices have a single part number (same configuration), and the first to fourth external world recognition devices (also referred to as external world recognition device components) are used to monitor the surroundings of the vehicle. The outside world recognition device 1 will be configured. Further, the control device 7 for controlling the outside world recognition device 1 is mounted in the vehicle interior of the vehicle 8, for example, as shown in FIG.
　外界認識装置１と制御装置７は、例えば図３に示すように制御装置７の通信部７０と、外界認識装置１ａの第１通信部５１ａと、外界認識装置１ｃの第１通信部５１ｃとにより接続される。外界認識装置１ａと外界認識装置１ｂは、例えば図３に示すように外界認識装置１ａの第２通信部５２ａ（制御装置７の通信部７０と接続されていない側の通信部）と外界認識装置１ｂの第１通信部５１ｂとにより接続される。外界認識装置１ｃと外界認識装置１ｄは、例えば図３に示すように外界認識装置１ｃの第２通信部５２ｃ（制御装置７の通信部７０と接続されていない側の通信部）と外界認識装置１ｄの第２通信部５２ｄとにより接続される。外界認識装置１ｂの第２通信部５２ｂと、外界認識装置１ｄの第１通信部５１ｄは、接続されない。言い換えれば、外界認識装置１ａと外界認識装置１ｂは、その間が異なる通信端子（外界認識装置１ａの第２通信部５２ａ、外界認識装置１ｂの第１通信部５１ｂ）により通信線を介して接続されて一対とされ、外界認識装置１ａの第１通信部５１ａにより制御装置７（の通信部７０）と通信線を介して接続されている。外界認識装置１ｃと外界認識装置１ｄは、その間が同じ通信端子（外界認識装置１ｃの第２通信部５２ｃ、外界認識装置１ｄの第２通信部５２ｄ）により通信線を介して接続されて一対とされ、外界認識装置１ｃの第１通信部５１ｃにより制御装置７（の通信部７０）と通信線を介して接続されている。 As shown in FIG. 3, for example, the outside world recognition device 1 and the control device 7 are composed of a communication unit 70 of the control device 7, a first communication unit 51a of the outside world recognition device 1a, and a first communication unit 51c of the outside world recognition device 1c. Be connected. The outside world recognition device 1a and the outside world recognition device 1b are, for example, as shown in FIG. It is connected to the first communication unit 51b of 1b. The outside world recognition device 1c and the outside world recognition device 1d are, for example, as shown in FIG. It is connected to the second communication unit 52d of 1d. The second communication unit 52b of the outside world recognition device 1b and the first communication unit 51d of the outside world recognition device 1d are not connected. In other words, the outside world recognition device 1a and the outside world recognition device 1b are connected via a communication line by different communication terminals (second communication unit 52a of the outside world recognition device 1a and first communication unit 51b of the outside world recognition device 1b). The pair is connected to the control device 7 (communication unit 70) by the first communication unit 51a of the outside world recognition device 1a via a communication line. The outside world recognition device 1c and the outside world recognition device 1d are connected to each other by the same communication terminal (second communication unit 52c of the outside world recognition device 1c, second communication unit 52d of the outside world recognition device 1d) via a communication line to form a pair. The first communication unit 51c of the outside world recognition device 1c is connected to the control device 7 (communication unit 70) via a communication line.
　外界認識装置１は、第１通信部５１において受信する情報を第２通信部５２から送信し、また、第２通信部５２において受信する情報を第１通信部５１から送信する。ここで、外界認識装置１ａと、外界認識装置１ｂと、外界認識装置１ｃと、外界認識装置１ｄは単一の品番であることを特徴とするため、各取付位置に応じた制御内容を全て主記憶部４０に保持しており、取付位置未確定時には同じ挙動をとる。 The outside world recognition device 1 transmits the information received by the first communication unit 51 from the second communication unit 52, and transmits the information received by the second communication unit 52 from the first communication unit 51. Here, since the outside world recognition device 1a, the outside world recognition device 1b, the outside world recognition device 1c, and the outside world recognition device 1d are characterized by having a single part number, all the control contents according to each mounting position are mainly used. It is held in the storage unit 40 and takes the same behavior when the mounting position is undecided.
　第１乃至第４の外界認識装置１（１ａ～１ｄ）は、以降で説明するように起動処理プロセス後に取付位置判断プロセスを行うことにより、単一品番でありながらも車両の複数箇所に取り付け可能であり且つ取付位置に応じた処理を行うことを可能とする。 The first to fourth external world recognition devices 1 (1a to 1d) can be mounted on a plurality of locations of a vehicle even though they have a single product number by performing a mounting position determination process after the start processing process as described below. Moreover, it is possible to perform processing according to the mounting position.
＜起動処理プロセス後の取付位置判断プロセス＞
　図４に示すように、まず、外界認識装置１は、取付位置判断プロセス内の第１通信部５１による車両情報リクエスト送信ＳＴ１において第１通信部５１から車両情報の要求を行い、タイムアウトＳＴ５ｂの期間だけ通信成立待ち状態（＝車両情報受信）ＳＴ５ａにおいて通信の成立を待つ。第１通信部５１からリクエストする情報は車両情報ではなくとも良いが、通信処理の簡素化等の観点から通常時に制御装置７から受信する情報であることが望ましい。 <Mounting position determination process after startup processing process>
As shown in FIG. 4, first, the outside world recognition device 1 requests vehicle information from the first communication unit 51 in the vehicle information request transmission ST1 by the first communication unit 51 in the mounting position determination process, and the time-out ST5b period. Only in the communication establishment waiting state (= vehicle information reception), the communication establishment is waited in ST5a. The information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like.
　制御装置７は、車両情報リクエスト受信ＳＴ２において外界認識装置１（の第１通信部５１）が送信した車両情報リクエストを受信し、車両情報送信ＳＴ３において車両情報を送信した後、通常処理ＳＴ４を行う。外界認識装置１ａは、第１通信部５１ａにおいて制御装置７から受信した車両情報を、第２通信部５２ａから送信する。外界認識装置１ｃは、第１通信部５１ｃにおいて制御装置７から受信した車両情報を、第２通信部５２ｃから送信する。 The control device 7 receives the vehicle information request transmitted by the outside world recognition device 1 (first communication unit 51) in the vehicle information request reception ST2, transmits the vehicle information in the vehicle information transmission ST3, and then performs the normal processing ST4. .. The outside world recognition device 1a transmits the vehicle information received from the control device 7 in the first communication unit 51a from the second communication unit 52a. The outside world recognition device 1c transmits the vehicle information received from the control device 7 in the first communication unit 51c from the second communication unit 52c.
　第１通信部５１から車両情報の要求を行った際、外界認識装置１ａと、外界認識装置１ｂと、外界認識装置１ｃは第１通信部５１ａ、５１ｂ、５１ｃに通信相手が存在することから通信が成立して車両情報を受信できるが、外界認識装置１ｄについては第１通信部５１ｄには通信相手が存在せず、通信自体が不成立となり、第１通信部５１ｄにおいて車両情報を受信できない。 When the vehicle information is requested from the first communication unit 51, the outside world recognition device 1a, the outside world recognition device 1b, and the outside world recognition device 1c communicate with each other because the communication partners exist in the first communication units 51a, 51b, 51c. However, with respect to the outside world recognition device 1d, the communication partner does not exist in the first communication unit 51d, the communication itself is not established, and the vehicle information cannot be received by the first communication unit 51d.
　車両情報受信ＳＴ５ａで通信が成立せずにタイムアウトになった外界認識装置１ｄは、取付位置後方右側確定ＳＴ６において取付位置が後方右側であることが確定（判断）された後（取付位置判断部６０）、主記憶部４０に取付位置を記録し、後方右側情報送信ＳＴ８等が含まれる通常処理を行う。 The external world recognition device 1d, which has timed out due to communication failure in the vehicle information reception ST5a, is determined (determined) that the mounting position is on the rear right side in the mounting position rear right side determination ST6 (mounting position determination unit 60). ), The mounting position is recorded in the main storage unit 40, and normal processing including the rear right side information transmission ST8 and the like is performed.
　次に、外界認識装置１ａ、外界認識装置１ｂ、外界認識装置１ｃは、第２通信部５２による後方右側情報リクエスト送信ＳＴ７において第２通信部５２から後方右側情報の要求を行い、タイムアウトＳＴ９ｂの期間だけ後方右側情報受信ＳＴ９ａにおいて後方右側情報の受信を待つ。第２通信部５２からリクエストする情報は後方右側情報ではなくとも良いが、通信処理の簡素化等の観点から通常時に後方右側から受信する情報であることが望ましい。 Next, the outside world recognition device 1a, the outside world recognition device 1b, and the outside world recognition device 1c request the rear right side information from the second communication unit 52 in the rear right side information request transmission ST7 by the second communication unit 52, and the time-out ST9b period. Only the rear right side information reception ST9a waits for the rear right side information reception. The information requested from the second communication unit 52 does not have to be the rear right side information, but it is desirable that the information is normally received from the rear right side from the viewpoint of simplification of communication processing and the like.
　第２通信部５２から後方右側情報の要求を行った際、外界認識装置１ａと、外界認識装置１ｃは第２通信部５２ａ、５２ｃに通信相手が存在することから通信が成立し、外界認識装置１ｂについては第２通信部５２ｂには通信相手が存在せず、通信自体が不成立となる。なお、外界認識装置１ｃは、取付位置後方右側確定ＳＴ６において取付位置が後方右側であることが確定された外界認識装置１ｄが接続されているため、後方右側情報を受信できる。 When the second communication unit 52 requests the rear right side information, the outside world recognition device 1a and the outside world recognition device 1c communicate with each other because a communication partner exists in the second communication units 52a and 52c, and the outside world recognition device 1c. Regarding 1b, there is no communication partner in the second communication unit 52b, and the communication itself is unsuccessful. Since the outside world recognition device 1c is connected to the outside world recognition device 1d whose mounting position is confirmed to be the rear right side in the mounting position rear right side determination ST6, the rear right side information can be received.
　後方右側情報受信ＳＴ９ａで通信が成立せずにタイムアウトになった外界認識装置１ｂは、取付位置前方右側確定ＳＴ１０において取付位置が前方右側であることが確定（判断）された後（取付位置判断部６０）、主記憶部４０に取付位置を記録し、前方右側情報送信ＳＴ１１等が含まれる通常処理を行う。 After the external world recognition device 1b, which has timed out due to communication failure in the rear right side information reception ST9a, is confirmed (determined) that the mounting position is on the front right side in the mounting position front right side confirmation ST10 (mounting position determination unit). 60), the mounting position is recorded in the main storage unit 40, and normal processing including the front right information transmission ST11 and the like is performed.
　続いて、外界認識装置１ａと、外界認識装置１ｃは、右側情報受信ＳＴ１２において第２通信部５２で前方右側の外界認識装置１ｂあるいは後方右側の外界認識装置１ｄから送信される情報を受信する。ここで、通信に利用するアドレスやＩＤ、データ等に前方右側情報と後方右側情報といった取付位置を判別するための識別子（通信内容）を設けておく。識別子判断ＳＴ１３において外界認識装置１ａ（の第２通信部５２ａ）が受信した右側情報に含まれる識別子が前方右側であれば、取付位置左側確定ＳＴ１４ａにおいて取付位置が前方左側であることが確定（判断）された後（取付位置判断部６０）、主記憶部４０に取付位置を記録し、前方左側情報送信ＳＴ１５ａ等が含まれる通常処理を行う。同様に、識別子判断ＳＴ１３において外界認識装置１ｃ（の第２通信部５２ｃ）が受信した右側情報に含まれる識別子が後方右側であれば、取付位置左側確定ＳＴ１４ｂにおいて取付位置が後方左側であることが確定（判断）された後（取付位置判断部６０）、主記憶部４０に取付位置を記録し、後方左側情報送信ＳＴ１５ｂ等が含まれる通常処理を行う。 Subsequently, the outside world recognition device 1a and the outside world recognition device 1c receive the information transmitted from the front right side outside world recognition device 1b or the rear right side outside world recognition device 1d by the second communication unit 52 in the right side information reception ST12. Here, an identifier (communication content) for discriminating the mounting position such as front right information and rear right information is provided in the address, ID, data, etc. used for communication. If the identifier included in the right side information received by the outside world recognition device 1a (second communication unit 52a) in the identifier determination ST13 is the front right side, it is confirmed that the mounting position is the front left side in the mounting position left side confirmation ST14a (determination). ) (Mounting position determination unit 60), the mounting position is recorded in the main storage unit 40, and normal processing including the front left information transmission ST15a and the like is performed. Similarly, if the identifier included in the right side information received by the outside world recognition device 1c (second communication unit 52c) in the identifier determination ST13 is the rear right side, the mounting position may be the rear left side in the mounting position left side determination ST14b. After the determination (judgment) is made (mounting position determination unit 60), the mounting position is recorded in the main storage unit 40, and normal processing including the rear left side information transmission ST15b and the like is performed.
　以上纏めると、本実施形態の外界認識装置１は、第１通信部５１と第２通信部５２を備える外界認識装置１であり、第１通信部５１で受信した情報を第２通信部５２で送信し、第２通信部５２で受信した情報を第１通信部５１で送信する。外界認識装置１を制御する制御装置７と第１の外界認識装置１ａの第１通信部５１ａと第２の外界認識装置１ｃの第１通信部５１ｃとが通信線で接続され、第１の外界認識装置１ａの第２通信部５２ａと第３の外界認識装置１ｂの第１通信部５１ｂとが（異なる通信端子により）通信線で接続され、第２の外界認識装置１ｃの第２通信部５２ｃと第４の外界認識装置１ｄの第２通信部５２ｄとが（同じ通信端子により）通信線で接続される構成をとり、予め車両搭載位置と第１乃至第４の外界認識装置の接続は定義しておく。全ての外界認識装置１において、取付位置判断部６０は、第１通信部５１から通信を行い、通信が成立しない外界認識装置１を第４の外界認識装置１ｄと判断する。外界認識装置１ｄを除く外界認識装置１において、取付位置判断部６０は、第２通信部５２から通信を行い、通信が成立しない外界認識装置１を第３の外界認識装置１ｂと判断する。外界認識装置１は取付位置判断後には取付位置を示す識別子を通信に利用する。第１あるいは第２の外界認識装置１は、接続される第３あるいは第４の外界認識装置１が送信する情報に含まれる取付位置を示す識別子（通信内容）を参照することにより、予め定義された接続関係により第３の外界認識装置１ｂと接続されている外界認識装置１を第１の外界認識装置１ａと判断し、第４の外界認識装置１ｄと接続されている外界認識装置１を第２の外界認識装置１ｃと判断する。 Summarizing the above, the outside world recognition device 1 of the present embodiment is the outside world recognition device 1 including the first communication unit 51 and the second communication unit 52, and the information received by the first communication unit 51 is received by the second communication unit 52. The information transmitted and received by the second communication unit 52 is transmitted by the first communication unit 51. The control device 7 that controls the outside world recognition device 1, the first communication unit 51a of the first outside world recognition device 1a, and the first communication unit 51c of the second outside world recognition device 1c are connected by a communication line, and the first outside world is connected. The second communication unit 52a of the recognition device 1a and the first communication unit 51b of the third outside world recognition device 1b are connected by a communication line (by different communication terminals), and the second communication unit 52c of the second outside world recognition device 1c is connected. And the second communication unit 52d of the fourth outside world recognition device 1d are connected by a communication line (by the same communication terminal), and the vehicle mounting position and the connection of the first to fourth outside world recognition devices are defined in advance. I will do it. In all the outside world recognition devices 1, the mounting position determination unit 60 communicates from the first communication unit 51, and determines that the outside world recognition device 1 for which communication is not established is the fourth outside world recognition device 1d. In the outside world recognition device 1 excluding the outside world recognition device 1d, the mounting position determination unit 60 communicates from the second communication unit 52, and determines that the outside world recognition device 1 for which communication is not established is the third outside world recognition device 1b. After determining the mounting position, the outside world recognition device 1 uses an identifier indicating the mounting position for communication. The first or second outside world recognition device 1 is defined in advance by referring to an identifier (communication content) indicating a mounting position included in the information transmitted by the connected third or fourth outside world recognition device 1. The outside world recognition device 1 connected to the third outside world recognition device 1b is determined to be the first outside world recognition device 1a, and the outside world recognition device 1 connected to the fourth outside world recognition device 1d is determined to be the first outside world recognition device 1a. It is determined to be the outside world recognition device 1c of 2.
　このように、第１の外界認識装置１ａと第３の外界認識装置１ｂ又は第２の外界認識装置１ｃと第４の外界認識装置１ｄの第１通信部５１及び第２通信部５２における通信が成立したか否か及びその通信内容により車両８の複数箇所に取り付けられた外界認識装置１（１ａ～１ｄ）の取付位置を自動で判断して、単一品番でありながらも取付位置に応じた処理を行うことを可能となる。 As described above, the communication in the first communication unit 51 and the second communication unit 52 of the first outside world recognition device 1a and the third outside world recognition device 1b or the second outside world recognition device 1c and the fourth outside world recognition device 1d is performed. The mounting position of the external world recognition devices 1 (1a to 1d) mounted at a plurality of locations of the vehicle 8 is automatically determined depending on whether or not it is established and the communication content thereof, and it corresponds to the mounting position even though it is a single product number. It becomes possible to perform processing.
　本実施形態における通信の成立について、通信方式によって通信成立の判断方法は異なるが、アクノリッジ信号が設けられている通信方式ではこれを得られるか否かで通信成立の判断をしても良く、特定の通信方式によらずに種々の通信方式で対応することが可能である。 Regarding the establishment of communication in the present embodiment, the method of determining the establishment of communication differs depending on the communication method, but in the communication method provided with the acknowledge signal, the establishment of communication may be determined depending on whether or not this can be obtained. It is possible to deal with various communication methods regardless of the communication method of.
　以上説明したように、本実施形態によれば、例えば前方・側方・後方や左側・中央・右側に取り付けられる最大４つの外界認識装置において単一の品番で外界認識装置１を提供することができる。 As described above, according to the present embodiment, it is possible to provide the outside world recognition device 1 with a single part number in a maximum of four outside world recognition devices attached to, for example, front, side, rear, left side, center, and right side. can.
（実施形態２）
　図５は、本開示の実施形態２に係る外界認識装置１における判断フローである。なお、実施形態１と同様の部分については省略する。実施形態２の外界認識装置１は、起動処理プロセス後の取付位置判断プロセスにおいて、実施形態１で説明した取付位置判断に先立って、取付位置判断の実施済み・未実施、言い換えれば、記憶領域である主記憶部４０に取付位置が記録されているかを確認することにより、起動時間の短縮を可能とする。 (Embodiment 2)
FIG. 5 is a judgment flow in the outside world recognition device 1 according to the second embodiment of the present disclosure. The same part as in the first embodiment will be omitted. In the mounting position determination process after the activation processing process, the external world recognition device 1 of the second embodiment has implemented / not implemented the mounting position determination prior to the mounting position determination described in the first embodiment, in other words, in the storage area. By confirming whether the mounting position is recorded in a certain main storage unit 40, it is possible to shorten the start-up time.
　まず、外界認識装置１は、取付位置判断結果参照ＳＴ２０において主記憶部４０を参照し、取付位置が判断済みである（主記憶部４０に取付位置が記録されている）場合、その取付位置に応じた情報送信ＳＴ２２等が含まれる通常処理を行う。取付位置判断結果参照ＳＴ２０において取付位置が未判断である（主記憶部４０に取付位置が記録されていない）場合、取付位置判断プロセス内の第１通信部５１による車両情報リクエスト送信ＳＴ１において第１通信部５１から車両情報の要求を行い、タイムアウトＳＴ５ｂの期間だけ通信成立待ち状態（＝車両情報受信）ＳＴ５ａにおいて通信の成立を待つ。第１通信部５１からリクエストする情報は車両情報ではなくとも良いが、通信処理の簡素化等の観点から通常時に制御装置７から受信する情報であることが望ましい。 First, the outside world recognition device 1 refers to the main storage unit 40 in the mounting position determination result reference ST20, and when the mounting position has been determined (the mounting position is recorded in the main storage unit 40), the mounting position is set to the mounting position. Performs normal processing including the corresponding information transmission ST22 and the like. Refer to the mounting position determination result When the mounting position is not determined in ST20 (the mounting position is not recorded in the main storage unit 40), the first in the vehicle information request transmission ST1 by the first communication unit 51 in the mounting position determination process. The communication unit 51 requests vehicle information, and waits for the establishment of communication in the communication establishment waiting state (= vehicle information reception) ST5a only during the time-out ST5b period. The information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like.
　制御装置７は、タイムアウトＳＴ２’の期間だけ車両情報リクエスト受信ＳＴ２の状態とする。タイムアウトＳＴ２’の期間内に外界認識装置１（の第１通信部５１）が送信した車両情報リクエストを受信した場合、車両情報送信ＳＴ３において車両情報を送信した後、通常処理ＳＴ４を行う。タイムアウトＳＴ２’の期間内に車両情報リクエストを受信せずにタイムアウトになった場合、処理合流部ＳＴ２１へ遷移することで車両情報を送信せずに通常処理ＳＴ４を行う。 The control device 7 is in the state of vehicle information request reception ST2 only during the time-out ST2'. When the vehicle information request transmitted by the outside world recognition device 1 (first communication unit 51) is received within the time-out ST2', the vehicle information transmission ST3 transmits the vehicle information, and then the normal process ST4 is performed. If the time-out occurs without receiving the vehicle information request within the time-out period ST2', the normal processing ST4 is performed without transmitting the vehicle information by transitioning to the processing merging unit ST21.
　以上説明したように、本実施形態によれば、取付位置判断が未実施である場合（記憶領域である主記憶部４０に取付位置が記録されていない場合）のみ取付位置判断・記録を実施するため、例えば前方・側方・後方や左側・中央・右側に取り付けられる最大４つの外界認識装置において単一の品番かつ２度目以降は起動時間が短い外界認識装置１を提供することができる。 As described above, according to the present embodiment, the mounting position determination / recording is performed only when the mounting position determination has not been performed (when the mounting position is not recorded in the main storage unit 40 which is the storage area). Therefore, for example, it is possible to provide the outside world recognition device 1 having a single product number and a short start-up time from the second time onward in a maximum of four outside world recognition devices attached to the front, side, rear, left side, center, and right side.
（実施形態３）
　図６は、本開示の実施形態３に係る外界認識装置１における判断フローである。なお、実施形態１乃至実施形態２と同様の部分については省略する。実施形態３の外界認識装置１は、制御装置７の指示による任意のタイミングにおいて取付位置判断プロセスを行うことにより、例えばある外界認識装置を同一品番の他の外界認識装置に交換した時などにおいても取付位置に応じた処理を行うことを可能とする。 (Embodiment 3)
FIG. 6 is a determination flow in the outside world recognition device 1 according to the third embodiment of the present disclosure. The same parts as those in the first and second embodiments will be omitted. The outside world recognition device 1 of the third embodiment performs the mounting position determination process at an arbitrary timing according to the instruction of the control device 7, for example, even when one outside world recognition device is replaced with another outside world recognition device having the same part number. It is possible to perform processing according to the mounting position.
　まず、制御装置７は、起動処理時に取付位置判断リクエスト送信ＳＴ２３において通信部７０から取付位置判断の要求を行う。外界認識装置１は、取付位置判断リクエスト受信ＳＴ２４において制御装置７（の通信部７０）が送信した取付位置判断リクエストを受信した後、第１通信部５１による車両情報リクエスト送信ＳＴ１において第１通信部５１から車両情報の要求を行い、タイムアウトＳＴ５ｂの期間だけ通信成立待ち状態（＝車両情報受信）ＳＴ５ａにおいて通信の成立を待つ。第１通信部５１からリクエストする情報は車両情報ではなくとも良いが、通信処理の簡素化等の観点から通常時に制御装置７から受信する情報であることが望ましい。ここで、制御装置７が行う取付位置判断リクエスト送信ＳＴ２３は、起動処理ではなく通常処理の中で実施しても良く、これに伴い外界認識装置１が行う取付位置判断リクエスト受信ＳＴ２４は起動処理ではなく通常処理の中で実施しても良い。 First, the control device 7 requests the mounting position determination from the communication unit 70 in the mounting position determination request transmission ST23 at the time of activation processing. The outside world recognition device 1 receives the mounting position determination request transmitted by the control device 7 (communication unit 70) in the mounting position determination request reception ST24, and then receives the vehicle information request transmission ST1 by the first communication unit 51. The vehicle information is requested from 51, and the establishment of communication is waited in the communication establishment waiting state (= vehicle information reception) ST5a only for the period of the timeout ST5b. The information requested from the first communication unit 51 does not have to be vehicle information, but it is desirable that the information is received from the control device 7 at normal times from the viewpoint of simplifying communication processing and the like. Here, the mounting position determination request transmission ST23 performed by the control device 7 may be performed in a normal process instead of the activation process, and the mounting position determination request reception ST24 performed by the outside world recognition device 1 may be performed in the activation process accordingly. It may be carried out in the normal processing.
　以上説明したように、本実施形態によれば、制御装置７の指示による任意のタイミングにおいて、例えば前方・側方・後方や左側・中央・右側に取り付けられる最大４つの外界認識装置において単一の品番にて外界認識装置１を提供することができる。 As described above, according to the present embodiment, at any timing according to the instruction of the control device 7, for example, a single external recognition device can be attached to a maximum of four external recognition devices attached to the front, side, rear, left side, center, and right side. The external world recognition device 1 can be provided by the product number.
（実施形態４）
　図７は、本開示の実施形態４に係る外界認識装置１における外界認識装置の接続構成を示す接続図である。なお、図７では、図１で示す構成の内、接続構成に関係しない構成については図示を省略している。図８は、本開示の実施形態４に係る外界認識装置１における判断フローである。なお、実施形態１乃至実施形態３と同様の部分については省略する。実施形態４の外界認識装置１は、制御装置の一種である診断ツール９の指示による任意のタイミング（ここでは、起動処理時）において取付位置設定プロセスを行うことにより、例えば車両組付時や交換時などにおいても取付位置に応じた処理を行うことを可能とする。 (Embodiment 4)
FIG. 7 is a connection diagram showing a connection configuration of the outside world recognition device 1 in the outside world recognition device 1 according to the fourth embodiment of the present disclosure. Note that, in FIG. 7, among the configurations shown in FIG. 1, the configurations not related to the connection configuration are not shown. FIG. 8 is a determination flow in the outside world recognition device 1 according to the fourth embodiment of the present disclosure. The same parts as those in the first to third embodiments will be omitted. The external world recognition device 1 of the fourth embodiment is, for example, at the time of vehicle assembly or replacement by performing the mounting position setting process at an arbitrary timing (here, at the time of activation processing) according to the instruction of the diagnostic tool 9 which is a kind of control device. It is possible to perform processing according to the mounting position even at times.
　外界認識装置１は、車両組付時や交換時において例えば図７に示すように外界認識装置１の第１通信部５１と診断ツール９の通信部９０とにより接続される。なお、診断ツール９の通信部９０との接続は外界認識装置１の第２通信部５２でも良い。 The outside world recognition device 1 is connected to the first communication unit 51 of the outside world recognition device 1 and the communication unit 90 of the diagnostic tool 9 as shown in FIG. 7, for example, when the vehicle is assembled or replaced. The connection of the diagnostic tool 9 to the communication unit 90 may be the second communication unit 52 of the outside world recognition device 1.
　診断ツール９は、起動処理時に取付位置送信ＳＴ２５において通信部９０から取付位置情報を送信する。外界認識装置１は、取付位置受信ＳＴ２６において診断ツール９（の通信部９０）が送信した取付位置を受信した後、取付位置設定プロセス内の取付位置設定ＳＴ２７において受信した取付位置であることを確定（指定）し、主記憶部４０に取付位置を記録し、その取付位置に応じた情報送信ＳＴ２８等が含まれる通常処理を行う。 The diagnostic tool 9 transmits the mounting position information from the communication unit 90 in the mounting position transmission ST25 at the time of activation processing. After receiving the mounting position transmitted by the diagnostic tool 9 (communication unit 90) in the mounting position receiving ST26, the external world recognition device 1 determines that the mounting position is the mounting position received in the mounting position setting ST27 in the mounting position setting process. (Designation), the mounting position is recorded in the main storage unit 40, and normal processing including the information transmission ST28 and the like according to the mounting position is performed.
　以上説明したように、本実施形態によれば、制御装置としての診断ツール９の指示による任意のタイミングにおいて、例えば前方・側方・後方や左側・中央・右側に取り付けられる最大４つの外界認識装置において単一の品番にて外界認識装置１を提供することができる。 As described above, according to the present embodiment, a maximum of four external world recognition devices can be attached to, for example, the front, the side, the rear, the left side, the center, and the right side at an arbitrary timing according to the instruction of the diagnostic tool 9 as a control device. The outside world recognition device 1 can be provided with a single product number.
　なお、上記した実施形態では、前方左右１対と後方左右１対からなる２対の外界認識装置（外界認識装置構成体）を含む合計４個の外界認識装置（外界認識装置構成体）で車両周辺監視システムの外界認識装置１を構成したが、いずれか１対の（１組の）外界認識装置のみで構成しても良いし、３対（３組）以上の外界認識装置で（換言すれば、１対の外界認識装置を３つ以上含んで）構成しても良い。また、１対の外界認識装置（外界認識装置構成体）を構成する外界認識装置（外界認識装置構成体）の取付位置は、上述した例に限られない。 In the above-described embodiment, the vehicle is composed of a total of four external world recognition devices (external world recognition device components) including two pairs of external world recognition devices (external world recognition device components) consisting of a pair of front left and right and a pair of rear left and right devices. Although the outside world recognition device 1 of the peripheral monitoring system is configured, it may be composed of only one pair (one set) of the outside world recognition device, or three pairs (three sets) or more of the outside world recognition device (in other words). For example, it may be configured (including three or more pairs of external world recognition devices). Further, the mounting position of the outside world recognition device (outside world recognition device configuration) constituting the pair of outside world recognition devices (outside world recognition device configuration) is not limited to the above-mentioned example.
　なお、本発明は上記した実施形態に限定されるものではなく、様々な変形形態が含まれる。例えば、上記した実施形態は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施形態の構成の一部を他の実施形態の構成に置き換えることが可能であり、また、ある実施形態の構成に他の実施形態の構成を加えることも可能である。また、各実施形態の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 The present invention is not limited to the above-described embodiment, but includes various modified forms. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.
　また、上記の各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等によりハードウェアで実現してもよい。また、上記の各構成、機能等は、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリや、ハードディスク、ＳＳＤ（Solid State Drive）等の記憶装置、または、ＩＣカード、ＳＤカード、ＤＶＤ等の記録媒体に置くことができる。 Further, each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
　また、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。 In addition, the control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected.
１（１ａ、１ｂ、１ｃ、１ｄ）　外界認識装置（外界認識装置構成体）
２　　　　　送受信アンテナ／アナログ部
３　　　　　デジタル信号処理部
４　　　　　記憶部
５　　　　　通信部
６　　　　　判断部
７　　　　　制御装置
８　　　　　車両
９　　　　　診断ツール（制御装置）
１０　　　　距離算出部
１１　　　　距離ピーク検知部１
１２　　　　距離ピーク検知部２
１Ｎ　　　　距離ピーク検知部Ｎ
２０　　　　速度算出部
２１　　　　速度ピーク検知部１
２２　　　　速度ピーク検知部２
２Ｎ　　　　速度ピーク検知部Ｎ
３０　　　　角度算出部
３１　　　　角度ピーク検知部１
３２　　　　角度ピーク検知部２
３Ｎ　　　　角度ピーク検知部Ｎ
４０　　　　主記憶部（記憶領域）
４１　　　　通信バッファ
５０　　　　通信制御部
５１　　　　第１通信部（第１通信端子）
５２　　　　第２通信部（第２通信端子）
６０　　　　取付位置判断部
７０　　　　通信部
９０　　　　通信部
ＶＣＯ　　　周波数生成器
ＴＸＡＮＴ　送信アンテナ
ＲＸＡＮＴ　受信アンテナ
ＭＩＸ　　　周波数混合器
ＡＤＣ　　　アナログ／デジタル変換器 1 (1a, 1b, 1c, 1d) External world recognition device (external world recognition device configuration)
2 Transmission / reception antenna / analog unit 3 Digital signal processing unit 4 Storage unit 5 Communication unit 6 Judgment unit 7 Control device 8 Vehicle 9 Diagnostic tool (control device)
10 Distance calculation unit 11 Distance peak detection unit 1
12 Distance peak detector 2
1N Distance peak detector N
20 Speed calculation unit 21 Speed peak detection unit 1
22 Speed peak detector 2
2N Speed peak detector N
30 Angle calculation unit 31 Angle peak detection unit 1
32 Angle peak detector 2
3N angle peak detector N
40 Main memory (storage area)
41 Communication buffer 50 Communication control unit 51 First communication unit (first communication terminal)
52 Second communication unit (second communication terminal)
60 Mounting position determination unit 70 Communication unit 90 Communication unit VCO Frequency generator TXANT Transmit antenna RXANT Receive antenna MIX Frequency mixer ADC Analog / digital converter

Claims (5)

  1. 　制御装置と接続され、各々の外界認識装置構成体が被取付対象物の所定位置に取り付けられ、前記被取付対象物の基準点を原点とする出力を行う１対の外界認識装置構成体を少なくとも１つ備える外界認識装置であって、
    　第１通信端子及び第２通信端子を有する第１の外界認識装置構成体と第１通信端子及び第２通信端子を有する第２の外界認識装置構成体により構成され、前記第１の外界認識装置構成体と前記第２の外界認識装置構成体との間が異なる通信端子により接続された１対の外界認識装置構成体、又は、第１通信端子及び第２通信端子を有する第３の外界認識装置構成体と第１通信端子及び第２通信端子を有する第４の外界認識装置構成体により構成され、前記第３の外界認識装置構成体と前記第４の外界認識装置構成体との間が同じ通信端子により接続された１対の外界認識装置構成体の少なくとも１つを含み、
    　前記１対の外界認識装置構成体において前記第１通信端子及び前記第２通信端子における通信が成立したか否か及びその通信内容により前記外界認識装置構成体の取付位置を判断し、前記取付位置に応じた処理を実行することを特徴とする外界認識装置。     At least a pair of external recognition device configurations that are connected to a control device, each external recognition device configuration is attached to a predetermined position of the object to be attached, and outputs with the reference point of the object to be attached as the origin. It is an external recognition device equipped with one.
    The first outside world recognition device is composed of a first outside world recognition device structure having a first communication terminal and a second communication terminal, and a second outside world recognition device structure having a first communication terminal and a second communication terminal. A pair of external world recognition device configurations connected by different communication terminals between the configuration and the second external world recognition device configuration, or a third external world recognition having a first communication terminal and a second communication terminal. It is composed of a device configuration and a fourth external world recognition device configuration having a first communication terminal and a second communication terminal, and between the third external world recognition device configuration and the fourth external world recognition device configuration. Contains at least one pair of external recognition device configurations connected by the same communication terminal.
    The mounting position of the external world recognition device configuration is determined based on whether or not communication is established between the first communication terminal and the second communication terminal in the pair of external world recognition device configurations and the communication content thereof, and the mounting position is determined. An outside world recognition device characterized by executing processing according to the above.
  2. 　前記取付位置の判断結果を記録しておく記憶領域を備えることを特徴とする請求項１に記載の外界認識装置。 The external world recognition device according to claim 1, further comprising a storage area for recording the determination result of the mounting position.
  3. 　前記記憶領域に取付位置が記録されていない場合に取付位置の判断及び記録を行うことを特徴とする請求項２に記載の外界認識装置。 The external world recognition device according to claim 2, wherein the mounting position is determined and recorded when the mounting position is not recorded in the storage area.
  4. 　前記制御装置の指示により取付位置の判断及び記録を行うことを特徴とする請求項１に記載の外界認識装置。 The external world recognition device according to claim 1, wherein the mounting position is determined and recorded according to the instruction of the control device.
  5. 　前記制御装置の指示により取付位置の指定が可能であることを特徴とする請求項１に記載の外界認識装置。 The external world recognition device according to claim 1, wherein the mounting position can be specified by the instruction of the control device.
PCT/JP2021/018457 2020-07-07 2021-05-14 External environment recognition device WO2022009522A1 (en)

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JP2000172997A (en) * 1998-12-03 2000-06-23 Hitachi Ltd Running circumstance recognition device
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JP2018042115A (en) * 2016-09-07 2018-03-15 株式会社デンソー Communication system
JP2018066619A (en) * 2016-10-18 2018-04-26 古河電気工業株式会社 Rader device and method for controlling rader device
US20190204508A1 (en) * 2017-12-30 2019-07-04 Adel A. Elsherbini Crimped mm-wave waveguide tap connector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000172997A (en) * 1998-12-03 2000-06-23 Hitachi Ltd Running circumstance recognition device
JP2010068210A (en) * 2008-09-10 2010-03-25 Mitsubishi Electric Corp Communication system
JP2018042115A (en) * 2016-09-07 2018-03-15 株式会社デンソー Communication system
JP2018066619A (en) * 2016-10-18 2018-04-26 古河電気工業株式会社 Rader device and method for controlling rader device
US20190204508A1 (en) * 2017-12-30 2019-07-04 Adel A. Elsherbini Crimped mm-wave waveguide tap connector

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