WO2012140769A1 - Dispositif et procédé de détection d'objet pour véhicule - Google Patents

Dispositif et procédé de détection d'objet pour véhicule Download PDF

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Publication number
WO2012140769A1
WO2012140769A1 PCT/JP2011/059295 JP2011059295W WO2012140769A1 WO 2012140769 A1 WO2012140769 A1 WO 2012140769A1 JP 2011059295 W JP2011059295 W JP 2011059295W WO 2012140769 A1 WO2012140769 A1 WO 2012140769A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
distance
obstacle
positional relationship
movement
Prior art date
Application number
PCT/JP2011/059295
Other languages
English (en)
Japanese (ja)
Inventor
竜路 岡村
有華 祖父江
悠 日栄
愛 吉岡
Original Assignee
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to PCT/JP2011/059295 priority Critical patent/WO2012140769A1/fr
Publication of WO2012140769A1 publication Critical patent/WO2012140769A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination

Definitions

  • the present invention relates to a vehicle object detection apparatus and method that are mounted on a vehicle and detect obstacles around the vehicle.
  • Patent Document 1 A technology for detecting obstacles around the vehicle by mounting an ultrasonic sonar or laser radar on the vehicle is known.
  • the technique disclosed in Patent Document 1 is an example of such an obstacle detection technique, and sets a warning level for a vehicle occupant in consideration of a distance to an obstacle detected by a sensor.
  • an object of the present invention is to provide a vehicle object detection apparatus and method that can accurately determine the spatial position of an obstacle.
  • an object detection apparatus for a vehicle includes at least two distance measurement units that measure a distance to an obstacle, a movement distance acquisition unit that acquires a movement distance of the vehicle, Obstacles and vehicles based on the distance to the obstacle measured by each distance measurement unit before and after the straight movement, the movement distance between the movements acquired by the movement distance acquisition unit, and the distance between the distance measurement units And a position calculation unit that calculates the positional relationship between
  • the distance from two points on the vehicle to the obstacle is measured before and after the vehicle travels straight, and the travel distance of the vehicle during the straight travel is also obtained. Based on the measured distance from the two points on the vehicle to the obstacle before and after the straight movement of the vehicle, the obtained movement distance of the vehicle during the straight movement, and the distance between the two points on the vehicle Each step is provided to calculate the positional relationship between the obstacle and the vehicle.
  • the position calculation unit stores the calculated positional relationship, and calculates the positional relationship between the vehicle and the obstacle based on the stored past positional relationship and the movement distance of the vehicle acquired by the movement distance acquisition unit. It may be a thing.
  • the positional relationship between the obstacle and the vehicle calculated by the position calculating unit includes height information, and the position calculating unit stores the height information in the calculated positional relationship, and thus stores the past The positional relationship between the vehicle and the obstacle may be calculated based on the height information in the positional relationship and the distance to the obstacle measured by each distance measuring unit.
  • the spatial position of the object in an arbitrary plane including both distance measuring unit positions can be obtained by the triangulation principle. Since the plane itself is not limited, a possible spatial position of the object may be located on an arc having a predetermined radius centered on the midpoint of the distance measuring unit. Based on the distance information obtained at two places before and after the vehicle movement, the spatial position of the obstacle can be obtained as the intersection of two arcs having different centers. As a result, it is possible to accurately grasp the spatial position of the obstacle.
  • the obstacle can be tracked with high accuracy.
  • FIG. 1 It is a block diagram which shows the structure of the object detection apparatus which concerns on this invention. It is a flowchart which shows the obstruction detection process by the apparatus of FIG. It is the figure which looked at the relationship between arrangement
  • FIG. 1 shows a configuration of a first embodiment of a vehicle object detection device according to the present invention.
  • This object detection apparatus is mainly configured by an obstacle detection ECU (Electric Control Unit) 1 serving as a control unit.
  • the obstacle detection ECU 1 includes a RAM, a ROM, a CPU, and the like, and includes an obstacle detection unit 11, a vehicle position detection unit 12, a detection information storage unit 13, and an obstacle position calculation unit 14 therein.
  • Each part in the obstacle detection ECU 1 may be divided by hardware, but may be configured as software that shares part or all of the hardware. In this case, the software constituting each part is one.
  • the functions may be shared, and a plurality of functions may be realized in the same software.
  • the obstacle detection ECU 1 is inputted with outputs of two ultrasonic sensors 21a and 21b as objective sensors, a wheel speed sensor 22 for detecting the rotational speed of the wheel, and a steering angle sensor 23 for detecting the steering angle. .
  • the ultrasonic sensors 21a and 21b function as a distance measuring unit.
  • the ultrasonic sensors 21a and 21b radiate ultrasonic waves, receive reflected waves reflected on the object surface, and detect the object based on the time from irradiation to reception of the reflected waves. The distance is calculated.
  • the wheel speed sensor 22 functions as a sensor of the movement distance acquisition unit. For example, a sensor of a type that generates a predetermined number of pulse signals per rotation in synchronization with the rotation of the wheel can be used.
  • the wheel speed sensor 22 can be used to detect wheel rotation speed, travel distance, and vehicle speed.
  • the steering angle sensor 23 is disposed in the steering system and detects the steering angle.
  • the obstacle detection processing by this object detection device will be described with reference to the flowchart of FIG. This process is repeatedly executed by the obstacle detection ECU 1 at a predetermined timing during the obstacle detection operation.
  • the case where the ultrasonic sensors 21a and 21b are arranged at the same height (on the same horizontal plane) symmetrically to the vehicle center line as shown in FIG. 3 is described as an example.
  • An orthogonal coordinate system is used in which the vehicle longitudinal direction is the x-axis, the horizontal direction is the y-axis, and the height direction is the z-axis.
  • the obstacle detection unit 11 reads the detection results of the ultrasonic sensors 21a and 21b and calculates distance information (step S1).
  • This distance information is obtained from the distance between the ultrasonic sensors 21a and 21b, the distance from each sensor 21a and 21b to the obstacle obtained from the detection result, and the positional relationship between the sensors 21a and 21b. Can be requested.
  • the distance measured by the ultrasonic sensors 21a and 21b is specifically the shortest distance from each sensor 21a (21b) to the portion closest to the sensor 21a (21b) on the surface of the obstacle. Distance.
  • the following process is not performed, and a loop process for performing the process of step S1 is performed until the obstacle is detected.
  • the process proceeds to step S2 and the distance information is stored in the detection information storage unit 13.
  • step S3 the obstacle detection unit 11 reads the detection results of the ultrasonic sensors 21a and 21b again and calculates the distance.
  • This second distance detection may be performed after traveling a predetermined distance or more from the distance detection in step S1. This determination is performed by the vehicle position detection unit 12 calculating the travel distance from the output of the wheel speed sensor 22. Instead of the travel distance, the second distance detection condition may be a case where traveling at a predetermined speed or more continues for a predetermined time or more. If the second distance detection cannot be performed, the process returns to step S1 and starts again from the first distance detection. If the second distance detection is successful, the process proceeds to step S4. As described above, the distance detection twice is performed at each of the time when the movement is started and the time when the movement is completed, and includes any two time points during the movement. In the present invention, “before and after movement” represents before and after movement for an arbitrary period during movement.
  • step S4 the trajectory of the vehicle is determined from the first distance detection (step S1) to the second distance detection (step S3). This trajectory determination can be made based on whether or not the steering angle neutral state has been continued from the output of the steering angle sensor 23 during traveling by the vehicle position detection unit 12. If the trajectory determination result is a straight trajectory, the process proceeds to step S5, where the obstacle position calculation unit 14 calculates the lateral distance Y from the current sensor distance information and the distance between the sensors.
  • the lateral distance Y to the obstacle 200 can be obtained by trilateral survey.
  • the obstacle position calculation unit 14 outputs the first distance information stored in the detection information storage unit 13 and the current second distance information, and the vehicle position detection unit 12 outputs the wheel speed sensor 22.
  • the horizontal distance X to the obstacle at the time of step S3 and the height position Z are calculated (see FIG. 4).
  • the distance to the obstacle 200 on the ZX plane obtained by the first distance information is A
  • the distance to the obstacle 200 on the ZX plane obtained by the second distance information is B.
  • a and B can be calculated on the basis of the triangulation principle in the same manner as Y described above. The relationship between A, B, D, X, and Z is illustrated in FIG.
  • D, X, and Z can also be calculated based on the triangulation principle.
  • the distance information thus obtained is stored in the detection information storage unit 13. 4 and 5 show the case of the backward movement approaching the obstacle, the same applies to the case of the forward movement away from the obstacle.
  • the obstacle position calculation unit 14 may store the positional relationship between the obstacle and the vehicle as a relative position with respect to the vehicle, but may store the positional relationship using absolute coordinates in a coordinate system in which a reference point is placed outside the vehicle. Good.
  • the distance information that the vehicle has traveled before and after the movement may be grasped as a movement amount (vector amount) for each axial component in the space coordinates or the plane coordinates, or as a scalar amount.
  • step S4 If it is determined in step S4 that the vehicle track is not in a straight traveling state, that is, that the vehicle is being steered, the process proceeds to step S7, where the past height information Z is stored in the detection information storage unit 13. Determine whether or not.
  • step S8 the process proceeds to step S8, and the lateral distance Y is calculated from the current sensor distance information B and the distance between the sensors by the same processing as in step S5. Subsequently, the obstacle position calculation unit 14 calculates the horizontal distance X from the current distance information B and height information Z to the obstacle based on the trilateral survey principle (step S9).
  • step S10 the process proceeds to step S10, and the lateral distance Y is calculated from the current sensor distance information B and the distance between the sensors by the same process as step S5. To do. Subsequently, the obstacle position calculation unit 14 calculates the horizontal distance X to the obstacle assuming that the current distance information B and the height information Z are 0 (step S11). X at this time is assumed to be equal to B.
  • the driver can easily determine the possibility of contact with the obstacle.
  • automatically determining the possibility of contact with the obstacle based on the spatial position of the obstacle, and when issuing an obstacle approach warning to the occupant it is possible to suppress unnecessary warnings, Improves system reliability. Furthermore, you may use for the collision avoidance control with an obstruction.
  • the current positional relationship with the obstacle may be saved by the same method as the process of step S9.
  • the movement of the vehicle in this case is not limited to turning, and the present invention can also be applied to a case where the vehicle is moving with any movement locus of linear movement, turning movement, or movement combining these.
  • the height information Z obtained by this method cannot be distinguished until the obstacle is above or below the sensor position. Therefore, as shown in FIG. 6, if two sets of ultrasonic sensors 25 and 26 are arranged at different height positions, obstacles that exist below the curb etc. based on the difference in height information. Can be distinguished from obstacles existing above. Furthermore, a plurality of sets of ultrasonic sensors 21, 25, 26, 28, and 29 may be arranged as shown in FIG.
  • the present invention can also be applied when the object is a moving object such as a pedestrian (see FIG. 8).
  • the object is a moving object such as a pedestrian (see FIG. 8).
  • the relative speed of the moving object is calculated, and if necessary, the height and speed are corrected by multiple measurements. Good.
  • the position of the obstacle based on the positional relationship information at the position where the distance information can be acquired and the subsequent trajectory of the vehicle even for the position of the stationary object close to the vehicle where it is difficult to acquire the distance information with the ultrasonic sensor. Track relationship changes and determine the current obstacle location.
  • the present invention is suitable as an obstacle sensor mounted on a vehicle.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention porte sur un dispositif de détection d'objet pour un véhicule, lequel dispositif rend possible d'estimer avec précision l'emplacement spatial d'un obstacle. Au moins deux capteurs d'ultrasons (21a, 21b), par exemple, sont disposés sous la forme d'unités de mesure de distance, et, sur la base de la distance par rapport à un objet qui est mesurée avant et après qu'un véhicule se déplace directement vers l'avant, et de la distance de déplacement quand le véhicule se déplace directement vers l'avant, qui est mesurée par une unité d'acquisition de distance de déplacement (capteur de vitesse de roue (22)) qui détecte la distance de déplacement du véhicule, l'emplacement spatial de l'obstacle qui est détecté à partir de la relation géométrique des distances est calculé.
PCT/JP2011/059295 2011-04-14 2011-04-14 Dispositif et procédé de détection d'objet pour véhicule WO2012140769A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/JP2011/059295 WO2012140769A1 (fr) 2011-04-14 2011-04-14 Dispositif et procédé de détection d'objet pour véhicule

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PCT/JP2011/059295 WO2012140769A1 (fr) 2011-04-14 2011-04-14 Dispositif et procédé de détection d'objet pour véhicule

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014215283A (ja) * 2013-04-30 2014-11-17 株式会社デンソー 障害物検出装置
CN105008955A (zh) * 2013-03-04 2015-10-28 松下知识产权经营株式会社 车辆障碍物检测设备和车辆障碍物检测***
WO2017191201A1 (fr) * 2016-05-06 2017-11-09 Audi Ag Véhicule automobile comprenant au moins deux capteurs radars
GB2564232A (en) * 2017-05-18 2019-01-09 Jaguar Land Rover Ltd A system for use in a vehicle
CN109910009A (zh) * 2019-03-13 2019-06-21 浙江华消科技有限公司 消防侦察机器人的路径生成方法、装置、***和机器人
US11536073B2 (en) 2019-02-14 2022-12-27 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Adjustment assembly for a vehicle with an ultrasonic system and method for obstacle detection
WO2023282098A1 (fr) * 2021-07-09 2023-01-12 株式会社アイシン Dispositif de détection d'objet et procédé de détection d'objet
DE102021208072A1 (de) 2021-07-27 2023-02-02 Continental Autonomous Mobility Germany GmbH Verfahren zur Höhenschätzung von Objekten mittels Ultraschallsensorik

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007140852A (ja) * 2005-11-17 2007-06-07 Aisin Seiki Co Ltd 障害物位置検出装置及び障害物位置検出方法
WO2007111130A1 (fr) * 2006-03-27 2007-10-04 Murata Manufacturing Co., Ltd. Dispositif de radar et unite mobile

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007140852A (ja) * 2005-11-17 2007-06-07 Aisin Seiki Co Ltd 障害物位置検出装置及び障害物位置検出方法
WO2007111130A1 (fr) * 2006-03-27 2007-10-04 Murata Manufacturing Co., Ltd. Dispositif de radar et unite mobile

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105008955A (zh) * 2013-03-04 2015-10-28 松下知识产权经营株式会社 车辆障碍物检测设备和车辆障碍物检测***
EP2966472A4 (fr) * 2013-03-04 2016-04-20 Panasonic Ip Man Co Ltd Dispositif de détection d'obstacle véhiculaire et système de détection d'obstacle véhiculaire
US9507023B2 (en) 2013-03-04 2016-11-29 Panasonic Intellectual Property Management Co., Ltd. Obstacle detection device for vehicle and obstacle detection system for vehicle
JP2014215283A (ja) * 2013-04-30 2014-11-17 株式会社デンソー 障害物検出装置
WO2017191201A1 (fr) * 2016-05-06 2017-11-09 Audi Ag Véhicule automobile comprenant au moins deux capteurs radars
GB2564232A (en) * 2017-05-18 2019-01-09 Jaguar Land Rover Ltd A system for use in a vehicle
US11536073B2 (en) 2019-02-14 2022-12-27 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Adjustment assembly for a vehicle with an ultrasonic system and method for obstacle detection
CN109910009A (zh) * 2019-03-13 2019-06-21 浙江华消科技有限公司 消防侦察机器人的路径生成方法、装置、***和机器人
WO2023282098A1 (fr) * 2021-07-09 2023-01-12 株式会社アイシン Dispositif de détection d'objet et procédé de détection d'objet
DE102021208072A1 (de) 2021-07-27 2023-02-02 Continental Autonomous Mobility Germany GmbH Verfahren zur Höhenschätzung von Objekten mittels Ultraschallsensorik

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