JP4639681B2 - Vehicle object detection device - Google Patents

Description

  The present invention relates to an object detection device mounted on a vehicle for detecting surrounding objects.

  In order to prevent a collision between a vehicle and an object, for example, a crossing object detection device disclosed in Patent Document 1 is used.

According to the detection apparatus described in Patent Document 1, an object that is directed to the center of the traveling path is detected as a crossing person based on the center position of the traveling path and the moving direction of the object. Then, the risk determination is performed based on the time until the crossing person reaches the traveling road, the time when the vehicle finishes passing the traveling road, and the time when the host vehicle reaches a point at the same distance as the crossing person. As a result, fixed objects such as trees and utility poles on the side of the road can be excluded from the risk determination target.
JP 9-226490 A

  However, in the detection apparatus described in Patent Document 1, even when a pedestrian or a vehicle that is not a fixed object is stopped, it is excluded from the risk determination target. Moreover, when the pedestrian is moving in a direction away from the center of the travel path, the pedestrian is excluded from the risk determination target. Therefore, for example, if a pedestrian who has finished crossing the road suddenly turns back, or if a pedestrian who has stopped suddenly jumps out to the road, it must be done after detecting that the moving direction has changed. Not included in the judgment target. As described above, there is a problem that a movable object leaks from the risk determination target.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a vehicle object detection device that reduces detection omissions for movable objects.

The invention according to claim 1 is a position detection unit that detects a position of an object, an object determination unit that determines whether or not the object is a movable object, and a movement speed detection unit that detects a movement speed of the object. A moving distance estimating means for estimating the moving distance of the object by multiplying the moving speed of the object detected by the moving speed detecting means with a predetermined time; a moving direction detecting means for detecting the moving direction of the object; A vehicle object detection device having a region setting unit that always sets a predetermined region surrounding the object, wherein the region setting unit is configured such that when the object determination unit determines that the object is a movable object, A substantially circular region centered on the position of the object detected by the position detection means and having a radius of the movement distance of the object estimated by the movement distance estimation means is further transferred to the transfer area. An area of substantially elliptical shape extending long in the direction of the movement direction of the detected object in the azimuth detection means, and sets as the predetermined region.
According to a second aspect of the present invention, there is provided position detection means for detecting the position of an object, object determination means for determining whether or not the object is a movable object, and movement speed detection for detecting the movement speed of the object. A moving distance estimating means for estimating the moving distance of the object by multiplying the moving speed of the object detected by the moving speed detecting means by a predetermined time; and an object in which the object can be moved by the object determining means; An area that, when determined, always sets a predetermined area surrounding the object based on the movement distance of the object estimated by the movement distance estimation means with reference to the position of the object detected by the position detection means When the position of the first object and the position of the second object are detected by the setting means and the position detection means, the first object set by the region setting means is detected. A duplication determination unit that determines an overlap between the first region and the second region with respect to the second object, and a first unit that includes the first region and the second region when the overlap determination unit determines that there is an overlap. An area merging means for setting three areas and a risk determining means for determining the danger of the object based on the third area are provided.

That is, when the detected object is a movable object, a two-dimensional area having freedom of movement in all directions is always set. Thereby, the position after the object suddenly changes the course can be included in the area in advance. Here, the movable object is a concept that excludes fixed objects such as trees and utility poles.
According to the configuration of the first aspect, it is possible to set the region with high accuracy even for an object moving while changing the course.
According to the configuration of the second aspect, it is possible to identify that a plurality of objects are present.
Further, according to the configuration described in claim 1 and the configuration described in claim 2, the size of the region can be appropriately determined by using the moving speed of the object and the moving distance in a predetermined time.

According to a third aspect of the present invention, there is provided an object identification unit that identifies an object type, and the region setting unit sets a region according to the type of the object identified by the object identification unit. .

  The types of objects include, for example, moving means such as bicycles, wheelchairs, and walking, and ages such as children and elderly people. Thus, by considering the characteristics of the types of objects, it is possible to set a region suitable for each object.

According to a fourth aspect of the present invention, the vehicle speed detecting means for detecting the speed of the host vehicle is provided, and the moving distance estimating means changes the predetermined time according to the speed of the host vehicle detected by the host vehicle speed detecting means. It is characterized by doing.

  That is, if the speed of the host vehicle increases, the stop distance also increases. Therefore, if the object is located in front of the host vehicle, it is considered that it is more difficult to avoid a collision. Therefore, by changing the predetermined time according to the speed of the host vehicle, it is possible to set an area suitable for the traveling state of the host vehicle.

The invention according to claim 5 is characterized in that the moving distance estimating means estimates the moving distance using a value exceeding the multiplication value when the moving speed of the object is equal to or less than a predetermined value.

  By attaching such conditions to the estimation of the moving distance, even if the moving speed of the object is zero or extremely slow, it is possible to set an area having a certain size with respect to the position of the object. . Therefore, for example, it is possible to set a certain area for a pedestrian who is stopped on a roadside belt.

In the invention described in claim 6 , the area setting means is a substantially circular area centered on the position of the object detected by the position detecting means and having the radius of the moving distance of the object estimated by the moving distance estimating means. It is characterized by setting.

  Thereby, all the movement destinations of the object within a predetermined time can be included in the substantially circular shape in all directions in which the object can move.

According to a seventh aspect of the present invention, there is provided a moving azimuth detecting means for detecting the moving azimuth of the object, and the region setting means extends long in the direction of the moving azimuth of the object detected by the moving azimuth detecting means. A substantially elliptical region is set.

  That is, since it is considered that there is a high possibility that the moving object will continue to move in the same moving direction, the area setting accuracy can be improved by providing a wide area in the moving direction. The moving direction storage means for storing the moving direction of the object detected by the moving direction detection means, and the area setting means is substantially elliptical in consideration of the past moving direction accumulated in the moving direction storage means. A shape area may be set. Thereby, it is possible to set a region with high accuracy even for an object moving while changing its course.

According to the ninth aspect of the present invention, when the position of the first object and the position of the second object are detected by the object position detecting means, the first area and the first area for the first object set by the area setting means are detected. An overlap determining means for determining overlap between the second object and the second object, and an area merging means for setting a third area including the first area and the second area when the overlap determining means determines that the object overlaps. And risk determination means for determining the risk of the object based on the third region.
In other words, when a plurality of objects are close to each other, one region larger than the single case is set. Thus, it is possible to identify that a plurality of objects are present.

According to a tenth aspect of the present invention, there is provided a risk determining means for determining the risk of an object based on a predetermined area. And a road detection unit that detects a road on which the host vehicle may travel, and the danger determination unit is configured to detect at least a part of the area on the road detected by the road detection unit. It may be judged as dangerous.

  As a result, it is possible to make a risk determination in consideration of a sudden course change of the object. In addition, it is possible to prevent generation of useless alarms and the like related to objects that do not hinder the traveling of the host vehicle.

The invention described in claim 12 is characterized by comprising a notification means for notifying an object of danger in accordance with a determination result in the danger determination means. Thereby, danger can be notified not only to the driver of the host vehicle but also to the object.

  Moreover, you may have a warning means which outputs a warning with respect to the driver | operator of the own vehicle based on an area | region. Thereby, the presence of the object can be notified to the driver of the host vehicle. Furthermore, you may have a travel control means which controls driving | running | working of the own vehicle based on an area | region. This makes it possible to control traveling so as to avoid a collision between the host vehicle and an object.

  A perimeter monitoring device according to an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited by the following Example, All the aspects which embody the idea of this invention are included.

[Example 1]
FIG. 1 is a configuration diagram of a pedestrian terminal device 100 used in the present embodiment. The terminal device 100 for pedestrians is widely used not only for pedestrians but also for people on wheelchairs and bicycles, and includes a GPS (global positioning system) 111, a gyro sensor 112, a speed sensor 113, an external connector 121, information It comprises a processing device 131, a memory 132, and a wireless device 141.

  The GPS 111 receives a GPS signal transmitted from a GPS satellite (not shown) and performs positioning. The gyro sensor 111 detects the moving direction from the rotational displacement of the pedestrian, and the speed sensor 113 detects the moving speed of the pedestrian. The information processing device 131 calculates the position of the pedestrian based on the input signals from the GPS 111, the gyro sensor 112, and the speed sensor 113 and stores it in the memory 132.

  The wireless device 141 transmits and receives data by wireless communication, and transmits data to other wireless devices based on an instruction from the information processing device 131. When the wireless device 141 receives data transmitted from another wireless device, the information processing device 131 analyzes the received data.

  The external connector 121 is an interface with an external device 122 connected as necessary, such as a mobile phone or a personal computer.

  FIG. 2 is a configuration diagram of the vehicle object detection device 200 according to the present invention. The vehicle object detection device 200 includes a GPS 211, a gyro sensor 212, a vehicle speed sensor 213, an external connector 221, an information processing device 231, a memory 232, a wireless device 241, a navigation system 251, a display device 261, and a speaker 271.

  The GPS 211 receives a GPS signal transmitted from a GPS satellite (not shown) and performs positioning. The gyro sensor 212 detects the moving direction from the rotational displacement of the vehicle, and the vehicle speed sensor 213 detects the speed of the host vehicle. The information processing device 231 calculates the position of the host vehicle based on the input signals from the GPS 211, the gyro sensor 212, and the vehicle speed sensor 213, and stores it in the memory 232.

  The wireless device 241 transmits and receives data by wireless communication. When the wireless device 241 transmits position inquiry data to the pedestrian terminal device 100 according to an instruction from the information processing device 231, the wireless device 141 of the pedestrian terminal device 100 receives the inquiry data. And the radio | wireless apparatus 141 of the terminal device 100 for pedestrians transmits the data containing the pedestrian's own positional information. The wireless device 241 receives this data, and the information processing device 231 calculates the current position of the pedestrian.

  The navigation system 251 has a database 252 in which information related to maps is accumulated. The navigation system 251 searches for and sets a route from the position of the host vehicle to the destination according to an instruction from the information processing device 231.

  The external connector 221 is an interface with an external device 222 such as a mobile phone or a personal computer. The external device 222 is connected as necessary, for example, when information cannot be acquired from the database 252.

  The display device 261 and the speaker 271 provide a map, route guidance to a destination, and a partner position such as a vehicle or a pedestrian. When a pedestrian or the like is present around the host vehicle, the display device 261 displays the position of the pedestrian and the speaker 271 emits a warning sound. Then, the information processing device 231 sends a signal to the vehicle control device 233 connected via the in-vehicle LAN as necessary. The vehicle control device 233 controls traveling of the vehicle based on the received signal so as to avoid a collision with a pedestrian or the like.

  FIG. 3 shows a message frame of response data 300 transmitted by the wireless device 141 of the pedestrian terminal device 100. The first bit range 301 indicates a type, and it is possible to identify a moving means such as a bicycle, a wheelchair, and a walk, and an age such as a child or an elderly person. The second bit range 302 indicates position information and includes information such as latitude and longitude. The third bit range 203 indicates the position positioning time, and describes the time when the position information is measured. The fourth bit range 204 indicates the moving direction and indicates the direction in which the pedestrian is moving. The fifth bit range 205 indicates the moving speed and indicates the moving speed of the pedestrian.

  The communication method in the wireless devices 141 and 241 is, for example, an ad hoc mode in a wireless LAN. This is because the real-time property for the acquisition of the position information is higher when the access point is not passed.

  FIG. 4 is an example of a situation where the vehicle object detection device 200 according to the present invention is used. The own vehicle 11 and the other vehicle 12 are traveling toward the intersection, and the pedestrians 21 to 27 are moving near the intersection. The host vehicle 11 travels in the left lane of the center line 33 in the road 30 having the width W1 from the left end 31 to the right end 32. Here, the host vehicle 11 and the other vehicle 12 each include a vehicle object detection device 200, and the pedestrians 21 to 27 each have a pedestrian terminal device 100.

  FIG. 5 is a flowchart of the object detection process according to the present embodiment. This processing is repeatedly performed at predetermined timings in the information processing apparatus 231 from the ignition switch ON to OFF.

  In S1001, the information processing apparatus 231 performs area setting processing. FIG. 6 is a flowchart of the area setting process (S1001).

  In step S <b> 1101, the wireless device 241 transmits data for requesting a response of position information to objects around the host vehicle 11. For example, when the wireless device 241 transmits this data to the pedestrian 21, the wireless device 141 of the pedestrian 21 receives the data, and the information processing device 131 analyzes the data. Then, the wireless device 141 of the pedestrian 21 transmits response data 300 to the host vehicle 11. When it is determined negative in S1102, that is, when the wireless device 241 has not received the response data 300 from the pedestrian 21, the wireless device 241 waits for the response data 300. On the other hand, if it is determined affirmative in S1102, the process proceeds to S1103.

  In step S <b> 1103, the information processing apparatus 231 determines whether the object is a movable object using the type 301 of the response data 300. For example, when the type 301 represents a pedestrian or a vehicle, it is determined that the object is a movable object, and based on the position information 302, the moving direction 304, the moving speed 305, and the like described in the response data 300, S1104. Proceed to On the other hand, if the type 301 represents a fixed object such as a roadside terminal, the process proceeds to S1105. Note that the position information, moving direction, moving speed detection, and determination of whether or not the object is movable may be performed using a camera (not shown) or a laser radar (not shown).

  In step S1104, the information processing apparatus 231 sets an area for the object. Since the area setting process (S1001) is repeated at a predetermined timing, the area setting for the movable object (S1104) is always performed as described in claim 1.

  FIG. 7 shows an area 41 for the pedestrian 21. A point p <b> 1 located in the opposite lane when viewed from the host vehicle 11 is the position of the pedestrian 21. An arrow 51 indicates that the pedestrian 21 is moving in the moving direction, that is, in a direction away from the host vehicle 11.

  The radius r1 is an estimated value of the movement distance of the pedestrian 21 in the minute time dt. The estimated value of the moving distance is a value obtained by multiplying the moving speed 305 of the received response data 300 by the minute time dt. Then, the information processing device 231 sets a circle 41 having a radius r1 centered on the point p1 as the region 41 for the pedestrian 21.

  The minute time dt is, for example, 2 seconds, and when the pedestrian 21 is moving at a speed of 1.2 [m] per second, the radius r1 is 2.4 [m]. Here, assuming that the pedestrian 21 has stopped or hardly moved, the estimated value of the movement distance is zero or a minimum value. Therefore, for example, even when the pedestrian 21 is moving at a speed of 0.5 [m] or less per second, 1 [m] is secured as the estimated value of the moving distance. Thereby, even when the pedestrian 21 has stopped, a fixed area | region can be ensured. Further, the information processing apparatus 231 may change the minute time dt according to the speed of the host vehicle 11. Since the stopping distance becomes longer as the speed increases, it is considered more difficult to avoid a collision than when the speed is low. Therefore, the information processing apparatus 231 increases the minute time dt when the speed of the host vehicle 11 is high, and provides a wide area.

  In step S1105, the information processing device 231 determines whether the processing from step S1101 to step S1104 has been completed for an object existing in the vicinity. If the determination in step S1105 is affirmative, the area setting process ends. On the other hand, if it is determined negative in S1105, the process returns to S1101.

  In step S <b> 1002, the information processing apparatus 231 calculates the position of the host vehicle 11 based on input signals from the GPS 211, the gyro sensor 212, and the vehicle speed sensor 213. In S1003, the information processing apparatus 231 acquires map data from the navigation system 251 and detects a road on which the host vehicle 11 is traveling. In the present embodiment, the left lane of the road 30, that is, the space between the left end 31 and the center line 33 is defined as a travel path. Note that the information processing device 231 may change the setting of the travel route according to the number of lanes, the distance to the sidewalk or shoulder, the speed of the host vehicle 11, the presence or absence of a median strip, and the like. Further, the information processing apparatus 231 may determine a travel path by detecting a white line from an image captured by a camera (not shown).

  In S1004, the information processing apparatus 231 determines the risk of collision with the host vehicle for the area set in S1001. For example, if a part of the area is included in the travel path detected in S1003, the information processing apparatus 231 determines that there is a risk of collision. If NO is determined in S1005, that is, if the risk determination for the area is not completed, the process returns to S1004. On the other hand, if it is determined as affirmative in S1005, that is, if the risk determination is completed for all areas, the process proceeds to S1006.

  In S1006, the display device 261 or the speaker 271 warns the driver that there is a risk of collision. The display device 261 such as a display displays the position and area of the object determined to be dangerous in S1004. The position and area of the object may be displayed overlaid on the map data acquired from the navigation system 251. The speaker 271 generates a warning sound or a sound. As a result, the driver of the host vehicle 11 can know the position of the object and the risk of collision. Then, the driver can take measures for avoiding collisions such as deceleration and steering.

  FIG. 8 shows an example of the display of the position and area of the object in the host vehicle 11. Areas 41 and 46 are displayed for pedestrians 21 and 23 to 24 determined to be dangerous. On the other hand, since it is determined that the pedestrians 22 and 25 to 27 and the other vehicle 12 are not dangerous, only their positions are displayed.

  By setting the area 41 as described above, the pedestrian 21 away from the host vehicle 11 can also be a target for risk determination. Therefore, even if the pedestrian 21 suddenly turns back toward the travel path of the host vehicle 11, the destination is displayed as the area 41 in advance, so the driver takes measures to avoid a collision at an early stage. Can be possible. Moreover, even when the pedestrian 21 is stopped, a certain area can be set as a risk determination target. Therefore, it is possible to alert the driver in advance in preparation for a sudden movement of the pedestrian 21 from the stop state.

  In the present embodiment, the alarm is performed, but the risk determination may be performed or the area may be set. It is also possible for the information processing device 231 to notify the vehicle control device 233 of the risk determination result and area information, and for the vehicle control device 233 to control deceleration, turning, and the like. Thereby, even when the driver does not take measures, the vehicle control device 233 can control the traveling of the host vehicle 11 so as to avoid a collision with the pedestrian 21.

  In the present embodiment, the display device 261 and the like warn the driver, but the wireless device 241 may warn the pedestrian terminal device 100 of the pedestrian 21. For example, the wireless device 241 includes the azimuth of the host vehicle 11 viewed from the pedestrian 21 in the transmission data, and transmits to the pedestrian terminal device 100 that there is a risk of collision. When the wireless device 141 receives this data, the pedestrian 21 can also know the risk of collision and the direction of the host vehicle 11. Thereby, it is possible to avoid a collision even when the pedestrian 21 moves.

[Example 2]
In the present embodiment, an area setting process different from the above-described embodiment will be described. The same components as those in the previous embodiment are designated by the same reference numerals and the description thereof is omitted.

  FIG. 9 shows an area 42 for the pedestrian 21. A point p <b> 1 located in the opposite lane when viewed from the host vehicle 11 is the position of the pedestrian 21. An arrow 51 indicates that the pedestrian 21 is moving in the moving direction, that is, in a direction away from the host vehicle 11. The straight line r1 is an estimated value of the moving distance of the pedestrian 21 in the minute time dt.

  The information processing device 231 sets an area using the moving direction indicated in the fourth bit range 304 of the response data 300 received in S1102. That is, an elliptical shape whose longitudinal direction is the direction of the moving direction 304 is determined. In FIG. 9, the information processing apparatus 231 sets an ellipse 42 having a length r <b> 2 with respect to the moving direction 51 around the point p <b> 1 as a region for the pedestrian 21. The length r2 in the longitudinal direction is set to a value larger than r1, for example, 1.5 times r1.

  As described above, with respect to the moving direction 51 of the pedestrian 21, a wider range can be set as a risk determination target. Thereby, the setting accuracy of the area can be improved. In the present embodiment, the ellipse 42 having the length r2 in the direction opposite to the moving direction 51 of the pedestrian 21 is used. However, only the moving direction 61 may have a circular shape having the length r2.

[Example 3]
In the present embodiment, an area setting process different from the above-described embodiment will be described. The same components as those in the previous embodiment are designated by the same reference numerals and the description thereof is omitted.

  FIG. 10 shows a region 45 for the pedestrian 22. Point p2a is the position of pedestrian 22 at time t1, point p2b is the position of pedestrian 22 at time t2, and point p2c is the position of pedestrian 22 at time t3. The pedestrian 22 has changed the course from the azimuth 52 to the azimuth 53 at the point p2b, and the movement trajectory is indicated by a broken line 61.

  The information processing device 231 stores the moving direction of the pedestrian 22 in the memory 232. Then, the information processing device 231 acquires a past moving direction from the memory 232 and sets an area 43 for the pedestrian 22. The information processing apparatus 231 determines the azimuth 54 by adding the previous moving azimuth 52 to the current moving azimuth 53. Then, the information processing apparatus 231 sets the ellipse 43 having the azimuth 54 in the longitudinal direction as an area for the pedestrian 22 as in the second embodiment. The addition may be performed after weighting according to the passage of time, such as 1/2 for the previous moving direction and 1/4 for the previous moving direction.

  As described above, by setting the area 43 in consideration of the past moving direction, it is possible to improve the setting accuracy of the area for the pedestrian 22 moving while changing the course.

[Example 4]
In this embodiment, an area setting process using the type 301 will be described. The same components as those in the previous embodiment are designated by the same reference numerals and the description thereof is omitted.

  The information processing device 231 sets an area using the type indicated in the first bit range 301 of the response data 300 received in S1004. For example, when the type 301 indicates a bicycle, the information processing apparatus 231 sets an area that extends long to the moving direction 304. This is because it is not easy to change the direction of the bicycle instantaneously in the reverse direction compared to the pedestrian. When the type 301 indicates that the child is a certain age or less, the information processing apparatus 231 sets a wide area by taking a very short time dt or the like. This is because it is considered that there is a high possibility that the child will make a sudden movement such as jumping out.

  As described above, by using the feature of each object type 301, it is possible to set a region suitable for each object, and improve the setting accuracy of the region.

[Example 5]
In the present embodiment, object detection processing different from the above-described embodiment will be described with reference to the flowchart of FIG. 11 and FIG. The same components as those in the previous embodiment are designated by the same reference numerals and the description thereof is omitted.

  In S1001, the information processing apparatus 231 performs area setting processing. In FIG. 12, the area for the pedestrian 23 is a circle 44 centered on the position p3 of the pedestrian 23. Similarly, the area for the pedestrian 24 is a circle 45 centered on the position p4 of the pedestrian 24.

  In step S <b> 1002, the information processing apparatus 231 calculates the position of the host vehicle 11 based on input signals from the GPS 211, the gyro sensor 212, and the vehicle speed sensor 213. In S1003, the information processing apparatus 231 acquires map data from the navigation system 251 and detects a road on which the host vehicle 11 is traveling.

  In step S2001, the information processing apparatus 231 determines whether the areas set in step S1001 overlap. If it is determined negative in S2001, the process proceeds to S1004. If it is determined affirmative in S2001, the information processing apparatus 231 sets one merged area including a plurality of overlapping areas in S2002. In FIG. 12, areas 44 and 45 for pedestrians 23 and 24 overlap. Therefore, the information processing apparatus 231 sets the ellipse 46 including the areas 44 and 45 as a merged area for the pedestrians 23 and 24. The merged region 46 does not have to be an ellipse, and may include a region 44 and 45 and a shape in which the region is expanded only for the overlapping portion.

  In step S1004, the information processing apparatus 231 determines whether each area has a risk of colliding with the host vehicle. If NO is determined in S1005, that is, if the risk determination for the area is not completed, the process returns to S1004. On the other hand, if it is determined as affirmative in S1005, that is, if the risk determination is completed for all areas, the process proceeds to S1006.

  In S1006, the display device 261 or the speaker 271 alerts the driver that there is a risk of collision as shown in FIG.

  Thus, by setting one wide merged area 46 for a plurality of pedestrians 23 and 24 that are close to each other, it is possible to distinguish from a case where there is a single pedestrian. In addition, by making the merged area 46 a risk determination target, it is possible to increase the possibility of being determined as dangerous compared to the case of a single area. That is, when a plurality of pedestrians are present together, the degree of alarming can be made higher than when there is a single pedestrian, and the driver can be alerted more.

It is a block diagram of the terminal device for pedestrians. It is a block diagram of the object detection apparatus for vehicles. It is a figure which shows the message frame of response data. It is a schematic diagram which shows the condition where the vehicle object detection apparatus which concerns on this invention is utilized. It is a figure which shows the flowchart of the object detection process which concerns on Example 1. FIG. FIG. 10 is a flowchart illustrating an area setting process according to the first embodiment. FIG. 3 is a diagram illustrating an object region according to the first embodiment. It is a figure which shows an example of the display of an area | region. FIG. 6 is a diagram illustrating an object region according to a second embodiment. FIG. 10 is a diagram illustrating an object region according to a third embodiment. FIG. 10 is a diagram illustrating a flowchart of object detection processing according to a fifth embodiment. FIG. 10 is a diagram illustrating an object region according to a fifth embodiment.

Explanation of symbols

11, 12 Vehicle 21, 22, 23, 24, 25, 26, 27 Pedestrian 30 Road 31 Right end 32 Left end 33 Center line 41, 42, 43, 44, 45, 46 Area 51, 52, 53, 54 Moving direction 61 Movement locus 100 Pedestrian terminal device 200 Vehicle object detection device 300 Response data 301 First bit range (type)
302 2nd bit range (positional information)
303 3rd bit range (positioning time)
304 4th bit range (movement direction)
305 5th bit range (moving speed)
111, 211 GPS
112, 211 Gyro sensor 113 Speed sensor 213 Vehicle speed sensor 121, 221 External connector 122, 222 External device 131, 231 Information processing device 132, 232 Memory 233 Vehicle control device 141, 241 Wireless device 251 Navigation system 252 Database 261 Display device 271 Speaker

Claims (14)

Position detecting means for detecting the position of the object;
Object determining means for determining whether the object is a movable object;
A moving speed detecting means for detecting a moving speed of the object;
A moving distance estimating means for estimating the moving distance of the object by multiplying the moving speed of the object detected by the moving speed detecting means by a predetermined time;
A moving direction detecting means for detecting a moving direction of the object;
A vehicle object detection device having a region setting means for always setting a predetermined region surrounding the object,
The area setting means, when the object determining means determines that the object is a movable object, centered on the position of the object detected by the position detecting means, and the object estimated by the moving distance estimating means A substantially elliptical area extending in the direction of the moving azimuth of the object detected by the moving azimuth detecting means is set as the predetermined area. A vehicle object detection device characterized by the above. Position detecting means for detecting the position of the object;
Object determining means for determining whether the object is a movable object;
A moving speed detecting means for detecting a moving speed of the object;
A moving distance estimating means for estimating the moving distance of the object by multiplying the moving speed of the object detected by the moving speed detecting means by a predetermined time;
Based on the movement distance of the object estimated by the movement distance estimation means based on the position of the object detected by the position detection means when the object determination means determines that the object is a movable object. an area setting means for setting a predetermined area surrounding the object constantly
When the position detection means detects the position of the first object and the position of the second object, the first area for the first object and the second area for the second object set by the area setting means A duplication judgment means for judging duplication;
A region merger that sets a third region that includes the first region and the second region when it is determined that the overlap is determined by the overlap determination unit;
A vehicle object detection device comprising: a risk determination unit that determines the risk of the object based on the third region. Object identifying means for identifying the type of the object,
3. The vehicle object detection device according to claim 1, wherein the area setting unit sets the area according to a type of the object identified by the object identification unit. Own vehicle speed detecting means for detecting the speed of the own vehicle,
The vehicle object detection device according to claim 2, wherein the moving distance estimation unit changes the predetermined time according to the speed of the host vehicle detected by the host vehicle speed detection unit. 5. The vehicle object according to claim 2, wherein the moving distance estimating unit estimates the moving distance using a value exceeding the multiplication value when a moving speed of the object is equal to or less than a predetermined value. Detection device. The area setting means sets a substantially circular area centered on the position of the object detected by the position detection means and having a radius of the movement distance of the object estimated by the movement distance estimation means. The vehicle object detection device according to any one of claims 2, 4, and 5 . Moving direction detecting means for detecting the moving direction of the object,
The vehicle object detection device according to claim 6, wherein the region setting unit sets a substantially elliptical region that extends long in the direction of the moving direction of the object detected by the moving direction detection unit. Moving direction storage means for accumulating the moving direction of the object detected by the moving direction detection means;
The vehicle object detection device according to claim 7, wherein the area setting unit sets the substantially elliptical area in consideration of past movement directions accumulated in the movement direction storage unit . When the position of the first object and the position of the second object are detected by the object position detection means, the first area for the first object and the second area for the second object set by the area setting means Duplication determination means for determining duplication of
A region merger that sets a third region that includes the first region and the second region when it is determined that the overlap is determined by the overlap determination unit;
The vehicle object detection device according to claim 1, further comprising a risk determination unit that determines the risk of the object based on the third region . The vehicle object detection device according to claim 1, further comprising a risk determination unit that determines the risk of the object based on the predetermined area . Road detection means for detecting a road on which the host vehicle may travel,
The vehicle according to any one of claims 2 to 10, wherein the risk determination unit determines that the vehicle is dangerous when at least a part of the region is included on a road detected by the travel path detection unit. Object detection device. The vehicle object detection device according to claim 10, further comprising notification means for notifying the object of danger according to a determination result in the danger determination means . The vehicle object detection device according to claim 1, further comprising alarm means for outputting an alarm to a driver of the host vehicle based on the region . The vehicle object detection device according to claim 1, further comprising travel control means for controlling travel of the host vehicle based on the region .

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