Source: https://patents.google.com/patent/JP6413621B2/en
Timestamp: 2020-07-05 00:13:57
Document Index: 680174210

Matched Legal Cases: ['art 11', 'art 14', 'art 16', 'art 16', 'art 17', 'art 18']

JP6413621B2 - On-vehicle object discrimination device - Google Patents
On-vehicle object discrimination device Download PDF
JP6413621B2
JP6413621B2 JP2014215713A JP2014215713A JP6413621B2 JP 6413621 B2 JP6413621 B2 JP 6413621B2 JP 2014215713 A JP2014215713 A JP 2014215713A JP 2014215713 A JP2014215713 A JP 2014215713A JP 6413621 B2 JP6413621 B2 JP 6413621B2
JP2014215713A
JP2016085037A (en
JP2016085037A5 (en
田中　秀典
秀典 田中
2014-10-22 Priority to JP2014215713A priority Critical patent/JP6413621B2/en
2016-05-19 Publication of JP2016085037A publication Critical patent/JP2016085037A/en
2016-11-04 Publication of JP2016085037A5 publication Critical patent/JP2016085037A5/ja
2018-10-31 Publication of JP6413621B2 publication Critical patent/JP6413621B2/en
230000001809 detectable Effects 0.000 claims description 12
230000000414 obstructive Effects 0.000 claims description 7
The present invention relates to an in-vehicle object discriminating apparatus that discriminates whether or not an object around a host vehicle is a moving object.
2. Description of the Related Art Conventionally, a technique for determining whether an obstacle detected using an obstacle sensor such as a laser radar or an ultrasonic sensor is a moving object is known. For example, Patent Document 1 discloses a vehicle-mounted object determination device that determines whether an object on the side of the vehicle is a moving object using an ultrasonic sensor. In the on-vehicle object discrimination device disclosed in Patent Literature 1, detection is performed by collating waveforms of distance measurement data obtained sequentially with the movement of the vehicle by each of the ultrasonic sensors arranged before and after the side of the vehicle. It is determined whether the obstacle that has been moved is a moving object.
JP 2013-20458 A
However, the on-vehicle object discrimination device disclosed in Patent Document 1 discriminates whether the obstacle detected by the obstacle sensor is a moving object using the waveform of the distance measurement data obtained as the vehicle moves. Therefore, when the host vehicle is stopped, there is a problem that it cannot be determined whether the obstacle detected by the obstacle sensor is a moving object.
The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to determine whether an obstacle detected by an obstacle sensor is a moving object regardless of whether the vehicle is running or stopped. An object of the present invention is to provide an on-vehicle object discriminating apparatus that makes it possible to discriminate whether or not.
The vehicle-mounted object discrimination device of the present invention is mounted on a vehicle, and an obstacle detected by an obstacle sensor (2a, 2b) that sequentially detects the presence of an obstacle around the vehicle and the distance to the obstacle moves. An on-vehicle object discrimination device including a discrimination unit (19) for discriminating whether an object is an object, wherein an obstacle sensor detects an obstacle and a distance to the obstacle by receiving a reflected wave of a transmitted exploration wave An obstacle position identifying unit (13) for identifying the position of the obstacle detected by the obstacle sensor with respect to the vehicle, and a sensor position storing a sensor position that is the position of the obstacle sensor with respect to the vehicle The storage unit (14), the vehicle position change specifying unit (15) for specifying a change in the position of the vehicle, the position of the obstacle with respect to the vehicle specified by the obstacle position specifying unit, and the sensor position storage unit are stored. Sensor position And if the obstacle is stationary based on the change in the position of the vehicle from the detection of the obstacle by the obstacle sensor identified by the vehicle position change specifying unit to the predetermined time A detection state estimation unit (16) for estimating the detection state of the obstacle by the obstacle sensor at a predetermined time point, a distance to the obstacle sequentially detected by the obstacle sensor, and the sensor position storage unit Based on the sensor position and the change in the position of the vehicle from the detection of the obstacle by the obstacle sensor to the predetermined time specified by the vehicle position change specifying unit. The obstacle surface identifying unit (17) that identifies the surface of the object, the obstacle surface identified by the obstacle surface identifying unit, and the sensor position stored in the sensor position storage unit, the obstacle at a predetermined time point The surface of the object is facing the sensor position Whether with judges orientation determining unit (18), and detection condition, whether the detection of the obstacle, and is at least one of the distance to the obstacle, the determination unit may detect the state estimation unit Based on the fact that the obstacle detection state estimated in step 1 deviates from the obstacle detection actual state at the obstacle sensor, it is determined that the obstacle is a moving object. in the case where while the are detectable and estimation of the obstacle in the state estimation unit, whether detection of an obstacle during real obstacle sensor at a given time point is deviated undetectable obstacle Even if it exists, when the direction determination part determines that the surface of the obstacle is not directed to the sensor position of the obstacle sensor at a predetermined time, the obstacle is not determined to be a moving object. .
According to the vehicle-mounted object discriminating apparatus of the present invention, the discriminating unit deviates from the actual obstacle detection state detected by the obstacle sensor at a predetermined time point. It is determined that the obstacle is a moving object.
The position of the obstacle detected by the obstacle sensor with respect to the vehicle, the sensor position that is the position of the obstacle sensor with respect to the vehicle, and the change in the position of the vehicle from when the obstacle is detected by the obstacle sensor to a predetermined time point Based on the above, the obstacle sensor's detection status at a given point in time when the obstacle is stationary is estimated regardless of whether the vehicle is running or stopped can do. Therefore, the detection state estimation unit determines the detection state of the obstacle by the obstacle sensor at a predetermined time when the obstacle is stationary regardless of whether the vehicle is running or stopped. Can be estimated. In addition, when the obstacle is stationary, the obstacle detection state at the obstacle sensor at a predetermined time is different from the actual obstacle detection state at the obstacle sensor at the predetermined time. If it is, the obstacle is a moving object.
Therefore, according to the vehicle-mounted object determination device of the present invention, it is possible to determine whether the obstacle detected by the obstacle sensor is a moving object regardless of whether the host vehicle is running or stopped. Become.
2 is a block diagram illustrating an example of a schematic configuration of a driving support system 100. FIG. It is a schematic diagram for demonstrating an example of the detection range of the 1st ultrasonic sensor 2a and the 2nd ultrasonic sensor 2b. FIG. 6 is a schematic diagram for explaining the determination by an orientation determination unit 18. 5 is a flowchart illustrating an example of a flow of an obstacle position holding process in the object determination device 1. 4 is a flowchart illustrating an example of a flow of object discrimination processing in the object discrimination device 1. It is a flowchart which shows an example of the flow of a 1st discrimination | determination relevant process. It is a flowchart which shows an example of the flow of a 2nd determination relevant process. It is a schematic diagram for demonstrating whether an obstruction is a moving object by the discrepancy between the estimated obstacle detection state and the actual obstacle detection state when the host vehicle is stopped. It is a schematic diagram for demonstrating whether an obstruction is a moving object by the discrepancy between the estimated obstacle detection state and the actual obstacle detection state when the host vehicle is moving. 2 is a block diagram illustrating an example of a schematic configuration of a driving support system 200. FIG.
<Schematic configuration of driving support system 100>
FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system 100 to which the present invention is applied. The driving support system 100 is mounted on a vehicle, and as shown in FIG. 1, the object discrimination device 1, the first ultrasonic sensor 2 a, the second ultrasonic sensor 2 b, the wheel speed sensor 3, and the steering angle sensor 4. Is included. Hereinafter, a vehicle equipped with the driving support system 100 is referred to as a host vehicle.
The 1st ultrasonic sensor 2a is mounted in the side of the front part of the own vehicle, and detects the obstacle which exists in the side of the front part of the own vehicle. The second ultrasonic sensor 2b is mounted on the side surface of the rear portion of the own vehicle and detects an obstacle present on the side of the rear portion of the own vehicle. The first ultrasonic sensor 2a and the second ultrasonic sensor 2b correspond to the obstacle sensor in the claims.
The first ultrasonic sensor 2a and the second ultrasonic sensor 2b may be arranged on the left and right side surfaces of the own vehicle, may be arranged on the left side surface of the own vehicle, Although it is good also as a structure arrange | positioned at a right side surface, in this embodiment, subsequent description is continued as what is arrange | positioned at the right side surface of the own vehicle.
In addition, the first ultrasonic sensor 2a and the second ultrasonic sensor 2b transmit a search wave and receive a reflected wave of the search wave reflected by the obstacle, so that the distance from itself to the obstacle (hereinafter referred to as the obstacle wave) , Obstacle distance). The first ultrasonic sensor 2a and the second ultrasonic sensor 2b are arranged so that the directivity center line is, for example, parallel to the axle direction of the own vehicle.
In the example of the present embodiment, as shown in FIG. 2, the first ultrasonic sensor 2a is mounted on the right side of the front part of the own vehicle (see HV in FIG. 2), and the second ultrasonic sensor 2b is arranged at the rear part of the own vehicle. The detection range of the first ultrasonic sensor 2a (see SAa in FIG. 2) and the detection range of the second ultrasonic sensor 2b (see SAb in FIG. 2) are the front-rear direction of the vehicle. Along the right side of the vehicle.
The wheel speed sensor 3 sequentially outputs a pulse signal corresponding to the rotation speed of each rolling wheel. The rudder angle sensor 4 is a sensor that detects the steering angle of the steering of the host vehicle. The steering angle when the host vehicle travels in a straight traveling state is set to the neutral position (0 degree), and the rotation angle from the neutral position is steered. Output sequentially as corners.
The object discriminating apparatus 1 is mainly configured as a microcomputer, and each includes a known CPU, a memory such as a ROM and a RAM, an I / O, and a bus connecting them. The object discriminating apparatus 1 is based on various information input from the first ultrasonic sensor 2a, the second ultrasonic sensor 2b, the wheel speed sensor 3, the steering angle sensor 4, and the like, which will be described later on obstacle position holding processing and object discrimination processing. Etc. are executed. This object discriminating apparatus 1 corresponds to an in-vehicle object discriminating apparatus.
Note that part or all of the functions executed by the object discrimination device 1 may be configured by hardware using one or a plurality of ICs.
<Detailed Configuration of Object Discriminating Apparatus 1>
As shown in FIG. 1, the object discrimination device 1 includes a first signal acquisition unit 11, a second signal acquisition unit 12, an obstacle position specification unit 13, a sensor position storage unit 14, a vehicle position change specification unit 15, and a detection state estimation. Unit 16, obstacle surface identification unit 17, orientation determination unit 18, and determination unit 19.
The 1st signal acquisition part 11 acquires sequentially the signal according to the presence or absence of the detection of the obstacle in the 1st ultrasonic sensor 2a, and the detected obstacle distance outputted from the 1st ultrasonic sensor 2a. The second signal acquisition unit 12 sequentially acquires signals output from the second ultrasonic sensor 2b according to the presence or absence of an obstacle detected by the second ultrasonic sensor 2b and the detected obstacle distance.
The obstacle position specifying unit 13 uses the transmission direction of the exploration wave of the first ultrasonic sensor 2a and the signal of the first ultrasonic sensor 2a acquired by the first signal acquisition unit 11 to present an obstacle present on the right side of the host vehicle. Identify the position of the object relative to the vehicle. In more detail, the position with respect to the own vehicle of the reflective point which reflected the search wave of the 1st ultrasonic sensor 2a among obstacles is specified.
As an example, when the signal corresponding to the obstacle distance can be acquired by the first signal acquisition unit 11, the first ultrasonic sensor 2 a is installed in the direction in which the search wave from which the reflected wave is obtained is transmitted. The position separated by the obstacle distance is specified as the position of the obstacle with respect to the installation position of the first ultrasonic sensor 2a. Then, from the position of the obstacle with respect to the specified installation position of the first ultrasonic sensor 2a and the installation position of the first ultrasonic sensor 2a in the own vehicle stored in the sensor position storage unit 14, the vehicle position is determined as the origin. The position of the obstacle in the XY coordinate system (hereinafter referred to as the obstacle position) is specified. In this XY coordinate system, it is assumed that the X axis and the Y axis are in a horizontal plane. For example, the own vehicle position is the rear wheel axle center position.
Further, the obstacle position specifying unit 13 is present on the right side of the vehicle using the transmission direction of the exploration wave of the second ultrasonic sensor 2b and the signal of the second ultrasonic sensor 2b acquired by the second signal acquisition unit 12. Identify the position of the obstacle to the vehicle.
As an example, when the signal corresponding to the obstacle distance can be acquired by the second signal acquisition unit 12, the direction from the installation position of the second ultrasonic sensor 2b in the direction in which the search wave from which the reflected wave is obtained is transmitted. The position separated by the obstacle distance is specified as the position of the obstacle with respect to the installation position of the second ultrasonic sensor 2b. Then, from the position of the obstacle with respect to the specified installation position of the second ultrasonic sensor 2 b and the installation position of the second ultrasonic sensor 2 b in the own vehicle stored in the sensor position storage unit 14, the vehicle position is determined as the origin. The obstacle position in the XY coordinate system is specified.
In addition, the installation position of the 1st ultrasonic sensor 2a in the own vehicle memorize | stored in the sensor position memory | storage part 14 and the 2nd ultrasonic sensor 2b is equivalent to the sensor position of a claim.
The vehicle position change specifying unit 15 changes the position of the host vehicle from the travel distance of the host vehicle obtained from the pulse signal of the wheel speed sensor 3 and the change in the steering angle of the host vehicle sequentially detected by the steering angle sensor 4. Is identified.
The detection state estimation unit 16 includes the obstacle position specified by the obstacle position specification unit 13, the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b stored in the sensor position storage unit 14, and the vehicle. Based on the change in the position of the vehicle specified by the position change specifying unit 15, the obstacle position at a predetermined time when the previously detected obstacle is stationary is estimated. Then, based on the estimated obstacle position, the detection state of the obstacle by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is estimated. In the present embodiment, the case where the first ultrasonic sensor 2a and the second ultrasonic sensor 2b at the present time can detect the obstacle and the obstacle distance to be detected is estimated as an example. .
As an example, the detection state estimation unit 16 detects the obstacle position specified by the obstacle position specification unit 13 for the obstacle detected by the first ultrasonic sensor 2a in the past, and the obstacle detected by the first ultrasonic sensor 2a. Then, from the change in the position of the vehicle specified by the vehicle position change specifying unit 15 up to the current time, the current obstacle position when the obstacle is stationary is estimated. Then, based on the positional relationship between the estimated current obstacle position and the detection range determined from the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, the first ultrasonic sensor 2a and the second Whether the obstacle can be detected by the ultrasonic sensor 2b and the obstacle distance to be detected are estimated.
For example, if the estimated current obstacle position is not included in the detection range of the first ultrasonic sensor 2a, but is included in the detection range of the second ultrasonic sensor 2b, the first ultrasonic sensor 2a. The detection state at is estimated as undetectable, and the detection state at the second ultrasonic sensor 2b is estimated as detectable. When the estimated current obstacle position is included in the detection range of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b, the estimated current obstacle position and the first ultrasonic sensor The obstacle distance detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is also estimated from the installation position of 2a and the second ultrasonic sensor 2b.
As the detection range, it is assumed that, for example, a range extending in a fan shape from the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b toward the search wave transmission direction is determined. The information of the detection range may be stored in the sensor position storage unit 14 together with the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, for example.
For the obstacle detected by the second ultrasonic sensor 2b, whether or not the obstacle can be detected and the obstacle distance to be detected are estimated in the same manner as described for the obstacle detected by the first ultrasonic sensor 2a. Moreover, the detection state estimation part 16 shall update the position in the above-mentioned XY coordinate system of the obstacle position specified in the past one by one by estimating the obstacle at the present time one by one.
The obstacle surface specifying unit 17 includes the distance to the obstacle sequentially detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, and the first ultrasonic sensor 2a and the first ultrasonic sensor 2a stored in the sensor position storage unit 14. 2 Based on the installation position of the ultrasonic sensor 2b and the change in the position of the vehicle specified by the vehicle position change specifying unit 15, the surface of the obstacle relative to the vehicle at a predetermined time (hereinafter referred to as an obstacle surface) Is identified. In the present embodiment, the case where the current obstacle plane is specified will be described as an example.
As an example, in the obstacle surface identification unit 17, the detection state estimation unit 16 sequentially updates the obstacle positions sequentially identified by the obstacle position identification unit 13 (that is, the position of the reflection point of the obstacle with respect to the vehicle position). Based on the point sequence of the obstacle position in the above-mentioned XY coordinate system obtained at the present time, the line segment connecting the consecutive point sequences with a distance of not more than a predetermined distance is defined as the current segment. Identified as an obstacle surface for the car.
In addition, it is good not only as a structure which uses the line which connected each point row | line as an obstruction surface, but it is good also as a structure which uses the approximate line and approximate curve with respect to each point row | line as an obstruction surface.
The direction determination unit 18 determines a predetermined value from the obstacle surface specified by the obstacle surface specification unit 17 and the installation positions of the first ultrasonic sensor 2 a and the second ultrasonic sensor 2 b stored in the sensor position storage unit 14. At this point, it is determined whether or not the obstacle surface is facing the installation position. In the present embodiment, the case where it is determined whether or not the obstacle surface is facing the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b at the present time will be described as an example.
As an example, in the direction determination unit 18, the first ultrasonic sensor 2 a and the second ultrasonic sensor 2 b stored in the sensor position storage unit 14 on the line segment indicating the obstacle surface specified by the obstacle surface specification unit 17. When the perpendicular line can be lowered from the installation position, it is determined that the obstacle surface faces the installation position of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b. On the other hand, when the perpendicular line cannot be drawn from the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b to the line segment indicating the obstacle surface, the obstacle surface is the first ultrasonic sensor 2a or the second ultrasonic sensor 2a. 2. It determines with not being suitable for the installation position of the ultrasonic sensor 2b.
Here, the determination in the direction determination unit 18 will be described with reference to FIG. In FIG. 3, a case where it is determined whether or not the obstacle surface is directed to the installation position of the first ultrasonic sensor 2a is taken as an example. In FIG. 3, SAa indicates a detection range of the first ultrasonic sensor 2a, Ob1 and Ob2 indicate obstacles, and black squares indicate obstacle positions. Further, A is a line segment indicating the obstacle surface of the obstacle Ob1, and B is a line segment indicating the obstacle surface of the obstacle Ob2.
As shown in FIG. 3, the obstacle Ob1 that can be perpendicular to the line A indicating the obstacle surface from the installation position of the first ultrasonic sensor 2a has the obstacle surface of the first ultrasonic sensor 2a installed. It is determined that it is facing the position. On the other hand, the obstacle Ob2 that cannot be perpendicular to the line segment B indicating the obstacle surface from the installation position of the first ultrasonic sensor 2a does not have the obstacle surface facing the installation position of the first ultrasonic sensor 2a. It is determined.
In addition, the direction determination unit 18 passes the detection range of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b through the line segment indicating the obstacle surface specified by the obstacle surface specification unit 17, and stores the sensor position. When the perpendicular line can be drawn from the installation position of the first ultrasonic sensor 2a or the second ultrasonic sensor 2b stored in the unit 14, the obstacle surface is the first ultrasonic sensor 2a or the second ultrasonic sensor. It is good also as a structure determined to be suitable for the installation position of 2b. That is, it is good also as a structure which determines whether the part contained in the detection range of an obstacle sensor among the surfaces of an obstacle is suitable for the sensor position.
Note that whether or not the obstacle surface is directed to the installation position of the second ultrasonic sensor 2b is the same as when determining whether or not the obstacle surface is directed to the installation position of the first ultrasonic sensor 2a. To make a decision.
The determination unit 19 determines whether the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b is a moving object. Details of the determination unit 19 will be described later.
<Obstacle position retention processing>
Here, an example of the obstacle position holding process in the object determination device 1 will be described with reference to the flowchart of FIG. The obstacle position holding process is a process of specifying the obstacle position of the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b and holding the obstacle position while updating the vehicle position as the vehicle moves. It is. The flowchart in FIG. 4 may be configured to be started when, for example, the ignition power of the own vehicle is turned on.
First, in step S1, when the first signal acquisition unit 11 acquires a signal indicating that an obstacle has been detected from the first ultrasonic sensor 2a, the first ultrasonic sensor 2a detects the obstacle ( (YES in S1), the process proceeds to step S2. On the other hand, if the first signal acquisition unit 11 has not acquired a signal indicating that an obstacle has been detected from the first ultrasonic sensor 2a, it is assumed that no obstacle has been detected by the first ultrasonic sensor 2a. (NO in S1), the process proceeds to step S5.
In step S2, the obstacle position specifying unit 13 transmits the search wave of the first ultrasonic sensor 2a, the signal of the first ultrasonic sensor 2a acquired by the first signal acquisition unit 11, and the first ultrasonic sensor 2a. The obstacle position in the XY coordinate system with the vehicle position as the origin is specified from the installation position of the vehicle. The identified obstacle position is stored in a memory such as a RAM of the object discrimination device 1, for example.
In step S3, when the own vehicle is moving (YES in S3), the process proceeds to step S4. On the other hand, when the own vehicle is stopped (NO in S3), the process proceeds to step S5. For example, the detection state estimation unit 16 may determine whether the host vehicle is moving or stopped based on a pulse signal from the wheel speed sensor 3.
In step S4, the detection state estimation part 16 updates the obstacle position memorize | stored in memory according to the movement of the own vehicle. As an example, for the obstacle position specified and stored in S2, only the change in the reverse direction of the change in the position of the own vehicle specified by the vehicle position change specifying unit 15 from the detection of the obstacle in S1 to the present time. The moved position is estimated as the current obstacle position when the obstacle is stationary, and updated to the estimated obstacle position.
In step S5, when the second signal acquisition unit 12 acquires a signal indicating that an obstacle has been detected from the second ultrasonic sensor 2b, it is assumed that the obstacle has been detected by the second ultrasonic sensor 2b (in S5). YES), the process moves to step S6. On the other hand, when the second signal acquisition unit 12 has not acquired a signal indicating that an obstacle has been detected from the second ultrasonic sensor 2b, it is assumed that no obstacle has been detected by the second ultrasonic sensor 2b. (NO in S5), the process proceeds to step S7.
In step S6, the obstacle position specifying unit 13 transmits the exploration wave transmission direction of the second ultrasonic sensor 2b, the signal of the second ultrasonic sensor 2b acquired by the second signal acquisition unit 12, and the second ultrasonic sensor 2b. The obstacle position in the XY coordinate system with the vehicle position as the origin is specified from the installation position of the vehicle. If the identified obstacle position is a position that approximates the obstacle position updated in S4, the obstacle position updated in S4 is integrated and stored in the memory.
In step S7, if the vehicle is moving (YES in S7), the process proceeds to step S8. On the other hand, if the vehicle is stopped (NO in S7), the process proceeds to step S9. What is necessary is just to make it the structure which discriminate | determines similarly to S3 whether the own vehicle is moving or is stopped.
In step S8, similarly to S4, the detection state estimation unit 16 updates the obstacle position stored in the memory in accordance with the movement of the host vehicle. As an example, for the obstacle position specified and stored in S2, the change in the reverse direction of the change in the position of the own vehicle specified by the vehicle position change specifying unit 15 from the detection of the obstacle in S1 to the present time. The position moved only by this is estimated as the current obstacle position when the obstacle is stationary, and the obstacle position is updated. In addition, the obstacle position updated in S4 is moved by a change in the opposite direction of the change in the position of the own vehicle specified by the vehicle position change specifying unit 15 from the update of the obstacle position in S4 to the current time. The position is estimated as the current obstacle position, and the obstacle position is updated. Further, the obstacle position specified and stored in S6 is moved by a change in the opposite direction of the change in the position of the own vehicle specified by the vehicle position change specifying unit 15 from the detection of the obstacle in S5 to the current time. The estimated position is estimated as the current obstacle position when the obstacle is stationary, and the obstacle position is updated.
In step S9, when it is the end timing of the obstacle position holding process (YES in step S9), the obstacle position holding process is ended. On the other hand, if it is not the end timing of the obstacle position holding process (NO in step S9), the process returns to S1 and the process is repeated. As the end timing of the obstacle position holding process, for example, when the ignition power of the own vehicle is turned off.
<Object discrimination processing>
Next, an example of object discrimination processing in the object discrimination device 1 will be described using the flowchart of FIG. The object discrimination process is a process for discriminating whether the obstacle detected by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b is a moving object. The flowchart in FIG. 5 may be configured to be started when, for example, the ignition power of the own vehicle is turned on. Further, it is assumed that the obstacle position holding process described above is executed in parallel.
First, in step S21, the first state ultrasonic sensor 2a and the second ultrasonic sensor at the present time are detected by the detection state estimation unit 16 based on the current obstacle position stored in the memory in the obstacle position holding process. The detection state such as whether or not an obstacle can be detected in 2b and the obstacle distance to be detected are estimated.
In step S22, the obstacle surface specifying unit 17 specifies the obstacle surface for the current vehicle based on the point sequence of the current obstacle position obtained by sequentially updating the detection state estimating unit 16. .
In step S23, when it is estimated that the first ultrasonic sensor 2a can detect in S21 (YES in S23), the process proceeds to step S24. On the other hand, when it is estimated that the first ultrasonic sensor 2a cannot detect (NO in S23), the process proceeds to step S25.
In step S24, a first discrimination related process is performed. Here, an outline of the first discrimination-related process will be described using the flowchart of FIG.
First, in step S241, when the first signal acquisition unit 11 has acquired a signal indicating that an obstacle has been detected from the first ultrasonic sensor 2a, the first ultrasonic sensor 2a has detected the obstacle. (YES in S241), the process proceeds to step S242. On the other hand, when the first signal acquisition unit 11 has not acquired a signal indicating that an obstacle has been detected from the first ultrasonic sensor 2a, it is assumed that no obstacle has been detected by the first ultrasonic sensor 2a. (NO in S241), the process proceeds to step S245.
In step S242, whether the obstacle distance of the obstacle detected by the determination unit 19 in S241 matches the obstacle distance estimated in S21 for the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21. Determine whether or not. The term “match” as used herein is not limited to a configuration in which a match is determined when the match is complete, but may be determined as a match with an allowable range of an error level. If it is determined that they match (YES in S242), the process proceeds to step S243. On the other hand, if it is determined that they do not match (NO in S242), the process proceeds to step S244.
In step S243, the determination unit 19 determines that the obstacle detected in S241 is a stationary object, and proceeds to step S25. In step S244, the determination unit 19 determines that the obstacle detected in S241 is a moving object, and proceeds to step S25. The obstacle detected in S241 can be paraphrased as the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 among the obstacles whose obstacle position is specified by the obstacle position specifying unit 13.
In step S245 when no obstacle is detected by the first ultrasonic sensor 2a, the obstacle surface of the obstacle that the direction determination unit 18 has estimated that can be detected by the first ultrasonic sensor 2a in S21 at this time is It is determined whether it is suitable for the installation position of the first ultrasonic sensor 2a. If it is determined that it is facing (YES in S245), the process proceeds to step S246. On the other hand, if it is determined that it is not suitable (NO in S245), the process proceeds to step S247.
In step S246, the determination unit 19 determines that the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 is a moving object, and proceeds to step S25. In step S247, the determination unit 19 determines that the obstacle estimated to be detectable by the first ultrasonic sensor 2a in S21 is a stationary object, and proceeds to step S25. In S247, the determination unit 19 may move to Step S25 without performing the determination.
Returning to FIG. 5, in step S25, when it is estimated that the second ultrasonic sensor 2b can detect in S21 (YES in S25), the process proceeds to step S26. On the other hand, when it is estimated that the second ultrasonic sensor 2b cannot detect (NO in S25), the process proceeds to step S27.
In step S26, a second discrimination related process is performed. Here, an outline of the second discrimination-related process will be described using the flowchart of FIG.
First, in step S261, when the second signal acquisition unit 12 has acquired a signal indicating that an obstacle has been detected from the second ultrasonic sensor 2b, the second ultrasonic sensor 2b has detected the obstacle. (YES in S261), the process proceeds to step S262. On the other hand, when the second signal acquisition unit 12 has not acquired a signal indicating that an obstacle has been detected from the second ultrasonic sensor 2b, the second ultrasonic sensor 2b has not detected an obstacle. (NO in S261), the process proceeds to step S265.
In step S262, whether the obstacle distance of the obstacle detected by the determination unit 19 in S261 matches the obstacle distance estimated in S21 for the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21. Determine whether or not. The matching here is not limited to a configuration in which it is determined that there is a complete match, but a configuration in which it is determined that there is a tolerance within an error range. If it is determined that they match (YES in S262), the process proceeds to step S263. On the other hand, if it is determined that they do not match (NO in S262), the process proceeds to step S264.
In step S263, the determination unit 19 determines that the obstacle detected in S261 is a stationary object, and proceeds to step S30. In step S264, the determination unit 19 determines that the obstacle detected in S261 is a moving object, and proceeds to step S30. The obstacle detected in S261 can be paraphrased as the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 among the obstacles whose obstacle position is specified by the obstacle position specifying unit 13.
In step S265 when no obstacle is detected by the second ultrasonic sensor 2b, the obstacle surface of the obstacle that the direction determination unit 18 has estimated that can be detected by the second ultrasonic sensor 2b in S21 at the present time is It is determined whether it is suitable for the installation position of the second ultrasonic sensor 2b. If it is determined that it is facing (YES in S265), the process proceeds to step S266. On the other hand, if it is determined that it is not suitable (NO in S265), the process proceeds to step S267.
In step S266, the determination unit 19 determines that the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 is a moving object, and proceeds to step S30. In step S267, the determination unit 19 determines that the obstacle estimated to be detectable by the second ultrasonic sensor 2b in S21 is a stationary object, and proceeds to step S30. In S267, the determination unit 19 may move to Step S30 without performing the determination.
In step S30, when it is the end timing of the object determination process (YES in step S30), the object determination process is ended. On the other hand, if it is not the end timing of the object discrimination process (NO in step S30), the process returns to S21 and the process is repeated. As an end timing of the object discrimination process, for example, when the ignition power of the own vehicle is turned off.
Here, using FIG. 8 and FIG. 9, it will be described that whether or not an obstacle is a moving object can be determined based on the difference between the estimated obstacle detection state and the actual obstacle detection state. First, with reference to FIG. 8, it will be described that it is possible to determine whether an obstacle is a moving object based on the difference between the estimated obstacle detection state and the actual obstacle detection state when the host vehicle is stopped. .
In FIG. 8, HV is the own vehicle, Ob1 is moving, Ob2 is stationary, Ob is the obstacle Ob1 specified when the obstacle Ob1 is located in the detection range SAa of the first ultrasonic sensor 2a. The obstacle position, Pa2, indicates the obstacle position of the obstacle Ob2.
When the host vehicle HV is stopped, the stationary obstacle Ob2 once detected at the obstacle position Pa2 is continuously detected by the second ultrasonic sensor 2b, and the same obstacle distance is continuously detected. On the other hand, the moving obstacle Ob1 once detected at the obstacle position Pa1 cannot be detected by the first ultrasonic sensor 2a or a different obstacle distance is detected as the obstacle Ob1 moves. Become.
Therefore, when the host vehicle HV is stopped, whether or not the obstacle is detected again by the first ultrasonic sensor 2a or the second ultrasonic sensor 2b once detecting the obstacle is detected and the obstacle distance. When the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object.
Next, with reference to FIG. 9, an explanation will be given of whether or not the obstacle is a moving object by the difference between the estimated obstacle detection state and the actual obstacle detection state when the host vehicle is moving. Do.
In FIG. 9, HV is the own vehicle, Ob3 is the stationary obstacle, Pa3 is the obstacle position of the obstacle Ob3 specified when the obstacle Ob3 is located in the detection range SAa of the first ultrasonic sensor 2a, and Pa4 is the own vehicle. A position where the obstacle position Pa3 as viewed from the vehicle is moved by a change in the opposite direction of the change in the position of the own vehicle is shown.
When the host vehicle HV is moving, the obstacle position Pa3 of the stationary obstacle Ob3 once detected by the first ultrasonic sensor 2a is a change in the opposite direction of the change in the position of the host vehicle when viewed from the host vehicle. It will move to the position moved only. Therefore, when the position Pa4 obtained by moving the obstacle position Pa3 by the amount opposite to the change in the position of the own vehicle as viewed from the own vehicle is located in the detection range SAb of the second ultrasonic sensor 2b, the second The obstacle Ob3 is detected by the ultrasonic sensor 2b, and the same obstacle distance as the distance from the second ultrasonic sensor 2b to the position Pa4 is detected.
On the other hand, when the obstacle Ob3 is a moving obstacle, a position Pa4 obtained by moving the obstacle position Pa3 by the amount opposite to the change in the position of the own vehicle as viewed from the own vehicle is the second ultrasonic sensor. Even if it is located in the detection range SAb of 2b, the obstacle Ob3 is not detected by the second ultrasonic sensor 2b, or an obstacle distance different from the distance from the second ultrasonic sensor 2b to the position Pa4 is detected. Will be. In this case, the 1st ultrasonic sensor 2a is equivalent to the 1st obstacle sensor of a claim, and the 2nd ultrasonic sensor 2b is equivalent to the 2nd obstacle sensor of a claim.
Therefore, when the host vehicle HV is moving, the detection state such as detection possibility and obstacle distance when the obstacle is detected again by an ultrasonic sensor different from the ultrasonic sensor that once detected the obstacle is estimated. When the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object. When the vehicle passes twice the same place, such as when the vehicle moves backward after moving forward or moves forward after moving backward, the obstacle is again detected with the same ultrasonic sensor as the ultrasonic sensor that once detected the obstacle. It is also possible to estimate a detection state such as detection possibility and obstacle distance when it is detected, and to determine that the obstacle is a moving object when the estimated detection state deviates from the actual detection state.
Therefore, the obstacle is a moving object regardless of whether the vehicle is stopped or moving due to the difference between the obstacle detection state estimated by the detection state estimation unit 16 and the actual obstacle detection state. Can be determined.
In the present embodiment, the case where two ultrasonic sensors are used has been described as an example, but the same applies to the case where a plurality of ultrasonic sensors other than two are used.
<Summary of Embodiment 1>
According to the configuration of the first embodiment, the determination unit 19 has the first ultrasonic sensor 2a and the second ultrasonic sensor at the current detection state such as the obstacle detection possibility and obstacle distance estimated by the detection state estimation unit 16. Based on the deviation from the actual detection state of the obstacle in 2b, it is determined that the obstacle is a moving object. As described above, due to the difference between the obstacle detection state estimated by the detection state estimation unit 16 and the actual obstacle detection state, the obstacle moves regardless of whether the vehicle is stopped or moving. Since it can be determined whether the object is an object, according to the configuration of the first embodiment, it is determined whether the obstacle detected by the obstacle sensor is a moving object regardless of whether the vehicle is running or stopped. It becomes possible.
Furthermore, according to the configuration of the first embodiment, since the detection status and the obstacle distance are used as the detection state for determining the deviation, it is difficult to detect the azimuth within the detection range. It is possible to determine whether an obstacle detected by an obstacle sensor is a moving object, regardless of whether the vehicle is running or stopped even if the ultrasonic sensor has a lower resolution than become.
Further, even if the obstacle is located in the detection range of the ultrasonic sensor such as the first ultrasonic sensor 2a or the second ultrasonic sensor 2b, the obstacle surface is not facing the installation position of the ultrasonic sensor. The reflected wave obtained by reflecting the exploration wave from the ultrasonic sensor on the obstacle surface is not received by the ultrasonic sensor, and the obstacle is not detected. In such a case, as estimated by the detection state estimation unit 16, even if the obstacle is located in the detection range of the ultrasonic sensor, it is actually determined that detection is impossible. Here, if the obstacle detection state estimated by the detection state estimation unit 16 deviates from the actual obstacle detection state, and it is determined that the obstacle is a moving object, the stationary object is mistakenly detected as a moving object. It will be determined.
On the other hand, according to the configuration of the first embodiment, when the obstacle surface of the obstacle estimated to be detectable by the ultrasonic sensor is not directed to the installation position of the ultrasonic sensor, the ultrasonic wave is actually used. Even if the obstacle cannot be detected by the sensor, since the obstacle is not determined as a moving object, it is possible to reduce errors that determine a stationary object as a moving object.
In the above-described embodiment, the first ultrasonic sensor 2a or the second ultrasonic sensor 2b serving as an obstacle sensor for detecting an obstacle is mounted on the side surface of the own vehicle and detects an obstacle present on the side of the own vehicle. However, the present invention is not limited to this. For example, it is good also as a structure which detects the obstruction which is mounted in places other than the side surface of the own vehicle, and exists in directions other than the side of the own vehicle.
In the above-described embodiment, a configuration in which a plurality of obstacle sensors that detect an obstacle is used is shown, but the configuration is not necessarily limited thereto. For example, a configuration in which only one obstacle sensor is used (hereinafter, modified example 2) may be used. Hereinafter, Modification 2 will be described. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the embodiments up to this point are denoted by the same reference numerals in the following description of the second modification, and the description thereof is omitted. Omitted.
The driving support system 200 according to the second modification is the same as the driving support system 100 according to the first embodiment except that the driving support system 200 includes only one obstacle sensor and the object determination apparatus 1a is used instead of the object determination apparatus 1. It is.
<Schematic configuration of driving support system 200>
Here, the driving support system 200 according to the second modification will be described with reference to FIG. A driving support system 200 according to the second modification is mounted on a vehicle, and includes an object discrimination device 1a, a first ultrasonic sensor 2a, a wheel speed sensor 3, and a rudder angle sensor 4 as shown in FIG. Yes.
<Detailed Configuration of Object Discriminating Apparatus 1a>
As shown in FIG. 10, the object discrimination device 1a includes a first signal acquisition unit 11, an obstacle position specifying unit 13, a sensor position storage unit 14, a vehicle position change specifying unit 15, a detection state estimating unit 16, and an obstacle surface specifying. Unit 17, orientation determination unit 18, and determination unit 19.
The object discriminating apparatus 1a is the same as the object discriminating apparatus 1 except that the second signal acquisition unit 12 is not provided. In the obstacle position holding process in the object discriminating apparatus 1a, the processes of S5 to S8 may be omitted in the flowchart of FIG. Further, in the object discrimination process in the object discrimination device 1a, the process of S25 to S26 is omitted in the flowchart of FIG. 5 described above, and the process proceeds to S27 when NO in S23 or when the process of S24 is completed. do it.
<Summary of Modification 2>
Even in the configuration of the second modification example, when the host vehicle is stopped, detection such as detection possibility and obstacle distance when the obstacle is detected again by the first ultrasonic sensor 2a once detecting the obstacle is detected. The state is estimated, and when the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object. Even when the vehicle is moving, if it passes through the same place twice, whether or not the obstacle is detected again by the first ultrasonic sensor 2a that once detected the obstacle, and whether or not the obstacle is detected. A detection state such as an object distance is estimated, and when the estimated detection state deviates from the actual detection state, it can be determined that the obstacle is a moving object. Therefore, it is possible to determine whether the obstacle detected by the first ultrasonic sensor 2a is a moving object regardless of whether the vehicle is running or stopped.
In the second modification, as an example, a configuration in which only one first ultrasonic sensor 2a is provided as an obstacle sensor is shown, but a configuration in which only one second ultrasonic sensor 2b is provided as an obstacle sensor may be used. Good.
In the above-described embodiment, the configuration in which the ultrasonic sensor such as the first ultrasonic sensor 2a and the second ultrasonic sensor 2b is used as the obstacle sensor for detecting the obstacle is shown, but the configuration is not necessarily limited thereto. For example, an obstacle sensor other than the ultrasonic sensor may be used as long as it is a sensor that can specify the position of the obstacle. For example, an obstacle sensor such as a laser radar or a millimeter wave radar that detects the obstacle and the distance to the obstacle by receiving a reflected wave of the transmitted exploration wave may be used.
In the first embodiment described above, even when the obstacle detection state estimated by the detection state estimation unit 16 by the determination unit 19 deviates from the actual detection state, the obstacle surface is the first ultrasonic wave. In the case where the orientation determination unit 18 determines that the sensor 2a or the second ultrasonic sensor 2b is not directed to the installation position, the configuration in which the obstacle is not determined to be a moving object is shown, but the configuration is not necessarily limited thereto. . For example, it is good also as a structure which is not provided with the obstruction surface specific | specification part 17 and the direction determination part 18 in the object discrimination | determination apparatus 1 and 1a.
In this case, as an obstacle sensor for detecting an obstacle, an obstacle sensor other than an obstacle sensor such as a laser radar or a millimeter wave radar that detects an obstacle and a distance to the obstacle by receiving a reflected wave of the transmitted survey wave In addition, a configuration using a stereo camera or the like may be used.
In the above-described embodiment, the obstacle position in the XY coordinate system with the own vehicle position as the origin is specified, and the obstacle position in the XY coordinate system is updated according to the movement of the own vehicle. However, the present invention is not limited to this. For example, the obstacle position in the XY coordinate system with the vehicle position at a certain point in time as the origin is specified by the obstacle position relative to the vehicle specified by the obstacle position specifying unit 13 and the vehicle position change specifying unit 15. A configuration may be adopted in which the vehicle is sequentially identified based on a change in the position of the vehicle from that point in time.
In the above-described embodiment, the configuration in which the obstacle distance is used as the obstacle detection state is described, but the present invention is not necessarily limited thereto. For example, when using an obstacle sensor that can detect the position of an obstacle with respect to the vehicle, such as a laser radar that can detect the direction in addition to the distance of the obstacle by sweeping irradiation with a laser beam with narrow directivity, It is good also as a structure which uses the obstacle position with respect to the own vehicle as a detection state.
In the above-described embodiment, the configuration in which the change in the position of the own vehicle is specified from the change in the steering angle of the own vehicle and the travel distance is shown, but the present invention is not necessarily limited thereto. For example, the configuration may be such that the change in the position of the host vehicle is specified based on the change in the steering angle and the vehicle speed of the host vehicle, the yaw rate of the host vehicle, and the like.
DESCRIPTION OF SYMBOLS 1 Object discrimination device (vehicle-mounted object discrimination device), 1b Object discrimination device (vehicle-mounted object discrimination device), 2a 1st ultrasonic sensor (obstacle sensor), 2b 2nd ultrasonic sensor (obstacle sensor), 13 obstacle Object position specifying unit, 14 sensor position storage unit, 15 vehicle position change specifying unit, 16 detection state estimating unit, 17 obstacle surface specifying unit, 18 direction determining unit, 19 determining unit, 100 driving support system, 200 driving support system
Mounted on the vehicle,
The vehicle is equipped with a determination unit (19) for determining whether an obstacle detected by an obstacle sensor (2a, 2b) that sequentially detects the presence of an obstacle around the vehicle and the distance to the obstacle is a moving object. Object discrimination device,
The obstacle sensor is an obstacle sensor that detects an obstacle and a distance to the obstacle by receiving a reflected wave of the transmitted exploration wave,
An obstacle position specifying unit (13) for specifying the position of the obstacle detected by the obstacle sensor with respect to the vehicle;
A sensor position storage unit (14) storing a sensor position which is a position of the obstacle sensor with respect to the vehicle;
A vehicle position change specifying unit (15) for specifying a change in the position of the vehicle;
The position of the obstacle specified by the obstacle position specifying unit with respect to the vehicle, the sensor position stored in the sensor position storage unit, and the obstacle specified by the vehicle position change specifying unit as the obstacle The obstacle at the obstacle sensor at the predetermined time when the obstacle is stationary based on the change in the position of the vehicle from the detection by the obstacle sensor to the predetermined time A detection state estimation unit (16) for estimating the detection state of
The obstacle detected by the obstacle sensor is the distance to the obstacle sequentially detected by the obstacle sensor, the sensor position stored in the sensor position storage unit, and the obstacle specified by the vehicle position change specifying unit. An obstacle surface specifying unit (17) for specifying a surface of the obstacle relative to the vehicle at the predetermined time point based on a change in the position of the vehicle from the detection to the predetermined time point;
Whether the surface of the obstacle is directed to the sensor position at the predetermined time point from the surface of the obstacle specified by the obstacle surface specifying unit and the sensor position stored in the sensor position storage unit A direction determination unit (18) for determining whether or not,
The detection state is at least one of the possibility of detection of the obstacle and the distance to the obstacle,
The discrimination unit is based on the fact that the obstacle detection state estimated by the detection state estimation unit deviates from the obstacle detection actual state at the obstacle sensor at the predetermined time point. , the one obstacle is determined to be the moving object, whereas is detectable and the estimated before Symbol obstacle by the detecting state estimating unit, the actual in the obstacle sensor in the predetermined time Even if the detection of the obstacle is different from the detection failure of the obstacle, the surface of the obstacle does not face the sensor position of the obstacle sensor at the predetermined time. The vehicle-mounted object discriminating apparatus characterized by not determining that the obstacle is a moving object when the direction determining unit determines.
The obstacle sensor is a plurality of obstacle sensors (2a, 2b) having different detection ranges,
The detection state estimation unit is configured to detect the obstacle at the predetermined time point by using the second obstacle sensor different from the first obstacle sensor that has detected the obstacle whose position relative to the vehicle has been specified by the obstacle position specifying unit. Estimate the detection state when the obstacle is detected,
The determination unit is configured to determine whether the detection state of the obstacle by the second obstacle sensor estimated by the detection state estimation unit is an actual state of the obstacle by the second obstacle sensor at the predetermined time point. An in-vehicle object discriminating apparatus that discriminates that the obstacle is a moving object based on deviation from a detection state.
In the case where the detection state estimation unit detects the obstacle again at the predetermined time point by the first obstacle sensor that has detected the obstacle whose position relative to the vehicle has been specified by the obstacle position specifying unit. Estimate the detection state,
The determination unit is configured to determine whether the detection state of the obstacle by the first obstacle sensor estimated by the detection state estimation unit is an actual state of the obstacle by the first obstacle sensor at the predetermined time point. An in-vehicle object discriminating apparatus that discriminates that the obstacle is a moving object based on deviation from a detection state.
In claim 2 or 3 ,
The detection state estimating unit detects the obstacle at the predetermined time by the first obstacle sensor that has detected the obstacle whose position relative to the vehicle is specified by the obstacle position specifying unit when the vehicle is stopped. Estimate the detection state when it is detected again,
The obstacle sensor is one obstacle sensor (2a),
The detection state estimation unit estimates a detection state when the obstacle sensor that has determined the position relative to the vehicle by the obstacle position specification unit is detected again by the obstacle sensor at the predetermined time point,
The determination unit is configured such that the obstacle detection state of the obstacle sensor estimated by the detection state estimation unit deviates from the obstacle detection actual state of the obstacle sensor at the predetermined time point. The vehicle-mounted object discriminating apparatus which discriminate | determines that the said obstruction is a moving object based on being.
In any one of Claims 1-5 ,
The on-vehicle object discrimination device, wherein the obstacle sensor detects an obstacle on a side of the vehicle.
In any one of Claims 1-6 ,
The on-vehicle object discrimination device, wherein the obstacle sensor is an ultrasonic sensor.
JP2014215713A 2014-10-22 2014-10-22 On-vehicle object discrimination device Active JP6413621B2 (en)
JP2014215713A JP6413621B2 (en) 2014-10-22 2014-10-22 On-vehicle object discrimination device
CN201580055005.7A CN106796291B (en) 2014-10-22 2015-10-21 Vehicle-mounted object discrimination device
PCT/JP2015/005303 WO2016063532A1 (en) 2014-10-22 2015-10-21 In-vehicle object determining apparatus
US15/520,323 US10451722B2 (en) 2014-10-22 2015-10-21 In-vehicle object determining apparatus
DE112015004823.5T DE112015004823T5 (en) 2014-10-22 2015-10-21 Vehicle object detection device
JP2016085037A JP2016085037A (en) 2016-05-19
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JP6413621B2 true JP6413621B2 (en) 2018-10-31
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JP2014215713A Active JP6413621B2 (en) 2014-10-22 2014-10-22 On-vehicle object discrimination device
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CN (1) CN106796291B (en)
DE (1) DE112015004823T5 (en)
WO (1) WO2016063532A1 (en)
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