WO2020105093A1 - Obstacle detection device - Google Patents

Obstacle detection device

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Publication number
WO2020105093A1
WO2020105093A1 PCT/JP2018/042677 JP2018042677W WO2020105093A1 WO 2020105093 A1 WO2020105093 A1 WO 2020105093A1 JP 2018042677 W JP2018042677 W JP 2018042677W WO 2020105093 A1 WO2020105093 A1 WO 2020105093A1
Authority
WO
WIPO (PCT)
Prior art keywords
obstacle
average range
range
average
distance
Prior art date
Application number
PCT/JP2018/042677
Other languages
French (fr)
Japanese (ja)
Inventor
侑己 浦川
井上　悟
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020552060A priority Critical patent/JP6808113B2/en
Priority to PCT/JP2018/042677 priority patent/WO2020105093A1/en
Publication of WO2020105093A1 publication Critical patent/WO2020105093A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an obstacle detection device.
  • Patent Document 1 calculates a difference value between a first distance value (a1) corresponding to the primary reflected wave and a second distance value (a2) corresponding to the secondary reflected wave, and the difference with respect to time.
  • the height of the obstacle is determined based on the change in the value of.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide an obstacle detection device capable of accurately determining the height of an obstacle.
  • the obstacle detection device of the present invention groups a direct wave and an indirect wave transmitted / received by a distance sensor to calculate a range between a rising time and a falling time of a received signal in each group, and a range.
  • An averaging processing unit that calculates an average range by averaging, and a height determination unit that determines the height of an obstacle by comparing the average range with a threshold value are provided.
  • FIG. 1A is an explanatory diagram showing an example of an installation position of a distance sensor in a vehicle, and is a diagram showing a state seen from the rear of the vehicle.
  • FIG. 1B is an explanatory diagram illustrating an example of installation positions of distance sensors in a vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle.
  • FIG. 3 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle.
  • FIG. 3A is an explanatory diagram illustrating an example of groups including direct waves and indirect waves.
  • FIG. 3B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 4A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 4B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 5A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 5B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 6A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 6B is an explanatory diagram showing an example of transmission signals and reception signals in the group. It is explanatory drawing which shows the example of the direct wave and indirect wave used as the object of grouping. It is explanatory drawing which shows the example of an average range.
  • FIG. 10A is a block diagram showing a hardware configuration of an electronic control unit including the obstacle detection device according to the first embodiment.
  • FIG. 10B is a block diagram showing another hardware configuration of the electronic control unit.
  • 3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment.
  • 3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment.
  • 7 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle.
  • 9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment. 9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment.
  • FIG. 1A is an explanatory diagram showing an example of the installation position of a distance sensor in a vehicle, and is an explanatory diagram showing a state seen from the rear of the vehicle.
  • FIG. 1B is an explanatory diagram illustrating an example of the installation position of the distance sensor in the vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle.
  • the distance sensor 2 will be described with reference to FIG.
  • a vehicle 1 is provided with a plurality of distance sensors 2. More specifically, four distance sensors 2_roll, 2_ril, 2_rr, 2_or are provided at the rear end of the vehicle 1.
  • Each of the distance sensors 2 is composed of, for example, an ultrasonic type distance sensor or a radio wave type distance sensor.
  • the distance sensors 2_roll, 2_rr and the distance sensors 2_ril, 2_rr are installed at different positions in the left-right direction of the vehicle 1 (hereinafter referred to as “vehicle width direction”, which is the direction along the Y axis in the drawing). is there.
  • vehicle width direction which is the direction along the Y axis in the drawing.
  • the distance sensors 2_roll and 2_lor installed outside in the vehicle width direction may be referred to as “outside installed distance sensors”.
  • the distance sensors 2_ril and 2_rr installed on the inner side in the vehicle width direction may be referred to as “inside installed distance sensors”.
  • the distance sensors 2_roll, 2_orr and the distance sensors 2_ril, 2_rr are installed at different positions in the vertical direction of the vehicle 1 (hereinafter referred to as “vehicle height direction”, which is the direction along the Z axis in the drawing). ..
  • vehicle height direction which is the direction along the Z axis in the drawing.
  • the distance sensors 2_roll, 2_or installed at higher positions may be referred to as “high-side installed distance sensors”.
  • the distance sensors 2_ril and 2_rr installed at lower positions may be referred to as “low side installation distance sensors”.
  • the ultrasonic waves or radio waves transmitted and received by the individual distance sensors 2 are collectively referred to as “search waves”.
  • the search wave reflected by the obstacle O outside the vehicle 1 is referred to as “reflected wave”.
  • the transmission wave and the reception wave are referred to as “direct wave”.
  • the transmission wave and the reception wave are referred to as “indirect waves”.
  • the obstacle O when the height of the obstacle O is high enough to contact the bumper portion of the vehicle 1, the obstacle O is referred to as a "running obstacle".
  • the traveling obstacle is, for example, a wall or a pole.
  • the obstacle O when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the obstacle O is high enough to be overcome by the vehicle 1, the obstacle O is Road obstacles ".
  • the road obstacle is, for example, a curb or a wheel stopper.
  • the obstacle O when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the vehicle 1 is easy to get over the obstacle O, the obstacle O is " Road obstacles ".
  • the road surface obstacle is, for example, a step.
  • FIG. 2 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle.
  • the obstacle detection device 100 of the first embodiment will be described with reference to FIG.
  • the transmission control unit 11 supplies a predetermined signal (hereinafter referred to as “transmission signal”) TS to each distance sensor 2 to cause each distance sensor 2 to transmit a search wave. More specifically, the transmission control unit 11 sequentially supplies the transmission signals TS_rol, TS_ril, TS_rr, and TS_lor to the four distance sensors 2_roll, 2_ril, 2_rr, and 2_or when the vehicle 1 is moving backward. The four distance sensors 2_roll, 2_ril, 2_rir, and 2_ror sequentially transmit search waves.
  • transmission signal a predetermined signal
  • the reception control unit 12 acquires a signal RS (hereinafter, referred to as “reception signal”) RS corresponding to a reception wave by each distance sensor 2.
  • a signal RS hereinafter, referred to as “reception signal”
  • detection threshold value a predetermined threshold value
  • the time T_down at which the individual reception signal RS falls below the detection threshold is referred to as the “falling time”.
  • the reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with a detection threshold value.
  • the grouping processing unit 13 sets a plurality of groups G by grouping the direct wave DW and the indirect wave IW transmitted and received by the plurality of distance sensors 2.
  • the range calculator 14 calculates the range R between the times T_up_first and T_down_last in each group G based on the rising time T_up_first of the first received signal RS and the falling time T_down_last of the last received signal RS in each group G. It is a thing.
  • the distance calculation unit 15 calculates the average value T_up_ave of the rising times T_up_ril, T_up_rir of the reception signal RS corresponding to the reception waves by the inside installation distance sensors 2_ril, 2_rr in each group G.
  • the distance calculation unit 15 calculates the distance D corresponding to the calculated average value T_up_ave by the so-called “TOF method”. That is, the distance D corresponds to an estimated value of the distance between the vehicle 1 and the obstacle O.
  • TOF method so-called “TOF method”.
  • the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll.
  • the distance sensor 2_roll transmits the search wave.
  • the distance sensor 2_roll can receive the direct wave DW_roll_roll.
  • the distance sensor 2_ril can receive the indirect wave IW_ril_roll
  • the distance sensor 2_rr can receive the indirect wave IW_rr_rol
  • the distance sensor 2_or can receive the indirect wave IW_ror_roll. It is a thing.
  • the reception control unit 12 can acquire the reception signal RS_roll_roll corresponding to the direct wave DW_roll_roll.
  • the reception control unit 12 is capable of acquiring the reception signal RS_ril_roll corresponding to the indirect wave IW_ril_rol, and capable of acquiring the reception signal RS_rr_rol corresponding to the indirect wave IW_rr_rol, and indirect. It is possible to obtain the reception signal RS_ror_roll corresponding to the wave IW_ror_roll.
  • the grouping processing unit 13 sets a group G_roll including the direct wave DW_roll_roll and the indirect waves IW_ril_roll, IW_rr_roll (see FIG. 3A). That is, the grouping processing unit 13 excludes the indirect wave IW_lor_roll (not shown) from the group G_roll.
  • the indirect wave IW_ror_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_roll that transmitted the search wave among the plurality of distance sensors 2.
  • the range calculation unit 14 calculates the range R_roll in the group G_roll based on the rising time T_up_first of the received signal RS_rol_rol and the falling time T_down_last of the received signal RS_rr_rol.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the received signal RS_ril_rol and the rising time T_up_rr of the received signal RS_ril_rol.
  • the distance calculation unit 15 calculates the distance D in the group G_roll, that is, the distance D corresponding to the range R_roll, based on the calculated average value T_up_ave.
  • the transmission controller 11 supplies the transmission signal TS_ril to the distance sensor 2_ril.
  • the distance sensor 2_ril transmits a search wave.
  • the distance sensor 2_ril can receive the direct wave DW_ril_ril.
  • the distance sensor 2_roll can receive the indirect wave IW_roll_ril
  • the distance sensor 2_rir can receive the indirect wave IW_rir_ril
  • the distance sensor 2_ror can receive the indirect wave IW_ror_ril. It is a thing.
  • the reception control unit 12 can obtain the reception signal RS_ril_ril corresponding to the direct wave DW_ril_ril.
  • the reception control unit 12 can obtain the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_ril, and can obtain the reception signal RS_rr_ril corresponding to the indirect wave IW_rr_ril, and indirectly.
  • the reception signal RS_ror_ril corresponding to the wave IW_ror_ril can be acquired.
  • the grouping processing unit 13 sets a group G_ril including the direct wave DW_ril_ril and the indirect waves IW_roll_ril, IW_rr_ril (see FIG. 4A). That is, the grouping processing unit 13 excludes the indirect wave IW_ror_ril (not shown) from the group G_ril.
  • the indirect wave IW_ror_ril to be excluded is received by the distance sensor 2_ror installed at the farthest position from the distance sensor 2_ril that has transmitted the search wave among the plurality of distance sensors 2.
  • the first reception signal RS is the reception signal RS_ril_ril and the last reception signal RS is the reception signal RS_roll_ril (see FIG. 4B).
  • the range calculation unit 14 calculates the range R_ril in the group G_ril based on the rising time T_up_first of the reception signal RS_ril_ril and the falling time T_down_last of the reception signal RS_rol_ril.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the reception signal RS_ril_ril and the rising time T_up_ril of the reception signal RS_ril_ril.
  • the distance calculation unit 15 calculates the distance D in the group G_ril, that is, the distance D corresponding to the range R_ril, based on the calculated average value T_up_ave.
  • the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr.
  • the distance sensor 2_rr transmits the search wave.
  • the distance sensor 2_rr can receive the direct wave DW_rr_rr.
  • the distance sensor 2_roll can receive the indirect wave IW_roll_ri
  • the distance sensor 2_ril can receive the indirect wave IW_ril_rir
  • the distance sensor 2_or can receive the indirect wave IW_ror_rr. It is a thing.
  • the reception control unit 12 can obtain the reception signal RS_rr_rr corresponding to the direct wave DW_rir_r.
  • the reception control unit 12 is capable of acquiring the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_rr, and capable of acquiring the reception signal RS_ril_rr corresponding to the indirect wave IW_ril_rr, and indirect. It is possible to obtain the received signal RS_ror_rr corresponding to the wave IW_ror_rir.
  • the grouping processing unit 13 sets a group G_rir including the direct wave DW_rir_rir and the indirect wave IW_rir_rir and IW_ror_rir (see FIG. 5A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_rr (not shown) from the group G_rr.
  • the indirect wave IW_roll_rr to be excluded is received by the distance sensor 2_roll installed at the farthest position with respect to the distance sensor 2_rr that transmitted the search wave among the plurality of distance sensors 2.
  • the first received signal RS is the received signal RS_rir_rr and the last received signal RS is the received signal RS_ror_rir (see FIG. 5B).
  • the range calculation unit 14 calculates the range R_rir in the group G_rir based on the rising time T_up_first of the reception signal RS_rir_r and the falling time T_down_last of the reception signal RS_ror_rir.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_rr and the rising time T_up_ril of the received signal RS_ril_rir.
  • the distance calculation unit 15 calculates the distance D in the group G_rr, that is, the distance D corresponding to the range R_rr, based on the calculated average value T_up_ave.
  • the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror.
  • the distance sensor 2_or transmits the search wave.
  • the distance sensor 2_or can receive the direct wave DW_or_or.
  • the distance sensor 2_rol can receive the indirect wave IW_roll_ror
  • the distance sensor 2_ril can receive the indirect wave IW_ril_ror
  • the distance sensor 2_rir can receive the indirect wave IW_rir_ror. It is a thing.
  • the reception control unit 12 can acquire the reception signal RS_ror_ror corresponding to the direct wave DW_ror_ror.
  • the reception control unit 12 is capable of acquiring the reception signal RS_roll_ror corresponding to the indirect wave IW_roll_ror, and is capable of acquiring the reception signal RS_ril_ror corresponding to the indirect wave IW_ril_ror, and indirectly. It is possible to acquire the reception signal RS_rr_ror corresponding to the wave IW_rir_ror.
  • the grouping processing unit 13 sets the group G_ror including the direct wave DW_ror_ror and the indirect wave IW_ril_ror, IW_rir_ror (see FIG. 6A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_ror (not shown) from the group G_ror.
  • the indirect wave IW_roll_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_lor that has transmitted the search wave among the plurality of distance sensors 2.
  • the range calculation unit 14 calculates the range R_ror in the group G_ror based on the rising time T_up_first of the received signal RS_ror_ror and the falling time T_down_last of the received signal RS_ril_rr.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_ror and the rising time T_up_ril of the received signal RS_ril_ror.
  • the distance calculation unit 15 calculates the distance D in the group G_ror, that is, the distance D corresponding to the range R_ror based on the calculated average value T_up_ave.
  • the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, and the distance calculation unit 15 repeatedly execute these processes when the vehicle 1 is moving backward. Accordingly, the plurality of ranges R_roll, the plurality of distances D corresponding to the plurality of ranges R_roll in a one-to-one relationship, the plurality of ranges R_ril, and the plurality of distances D in a one-to-one correspondence with the plurality of ranges R_ril.
  • FIG. 7 shows a list of direct waves DW and indirect waves IW that are the targets of grouping by the grouping processing unit 13.
  • the indirect waves IW_ror_roll, IW_ror_ril, IW_roll_rir, and IW_roll_ror are excluded from the grouping target by the grouping processing unit 13. Thereby, the variation of the range R calculated by the range calculation unit 14 can be reduced.
  • the estimation accuracy of the distance between the vehicle 1 and the obstacle O can be improved.
  • the rear end of the vehicle 1 usually has a curved shape. Therefore, the outer installation distance sensors 2_roll, 2_or in the front-rear direction of the vehicle 1 (hereinafter, referred to as the “vehicle length direction”, which is the direction along the X axis in the drawing) is more than the inner installation distance sensors 2_ril, 2_rr. It is arranged on the rear side, that is, on the back side. Therefore, if the rise times T_up_rol and T_up_or of the reception signal RS corresponding to the waves received by the outside installed distance sensors 2_roll and 2_or are used to calculate the distance D, an error occurs in the estimation of the distance between the vehicle 1 and the obstacle O. there's a possibility that.
  • the average range calculation unit 16 calculates an average value (hereinafter, referred to as “average range”) R_ave of the range R in each of the N distance sections ⁇ D_1 to ⁇ D_N based on the distance D calculated by the distance calculation unit 15. Is.
  • N is an integer of 2 or more.
  • the average range calculation unit 16 calculates the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or in each distance section ⁇ D. To do.
  • the average range calculation unit 16 calculates the average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
  • FIG. 8 shows an example of average values R_roll_ave, R_ril_ave, R_rir_ave, R_ror_ave and an average range R_ave_all in each of the three distance sections ⁇ D_N, ⁇ D_N-1, and ⁇ D_N-2.
  • the size of each distance section ⁇ D is set to a constant value ( ⁇ - ⁇ ).
  • the lower limit of the size is 0.05 meters
  • the upper limit of the size is 10 meters.
  • the amount of deviation between the distance sections ⁇ D adjacent to each other is set to an arbitrary value ⁇ .
  • the lower limit value of the shift amount is 0.05 meters
  • the upper limit value of the shift amount is 5 meters. That is, the distance sections ⁇ D adjacent to each other may partially overlap each other.
  • a distance section ⁇ D including a smaller distance D in a combination of two distance sections ⁇ D among the N distance sections ⁇ D_1 to ⁇ D_N is referred to as a “short distance section”, and a distance section including a larger distance D. ⁇ D is called a “long distance section”.
  • the average range R_ave in the short distance section is referred to as a “short distance section average range”
  • the average range R_ave in the long distance section is referred to as a “long distance section average range”.
  • a two-dimensional map M having a first axis (for example, a horizontal axis) corresponding to a short distance section average range and a second axis (for example, vertical axis) corresponding to a long distance section average range is referred to as “average range”. "Map”.
  • the plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
  • the distance section ⁇ D_N is a short distance section
  • the distance section ⁇ D_N -1 is a long distance section.
  • the distance section ⁇ D_N is a short distance section. Further, the distance section ⁇ D_N-2 is a long distance section.
  • the distance section ⁇ D_N-1 is close. It is a distance section
  • the distance section ⁇ D_N-2 is a long distance section.
  • the threshold comparison unit 18 determines the height of the obstacle O by comparing the average range R_ave plotted by the plot processing unit 17 with a predetermined threshold Th. More specifically, the threshold comparing unit 18 compares the plotted average range R_ave with the two thresholds Th_1 and Th_2, so that the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. It is to determine which of the two.
  • the threshold Th_1 is referred to as a “first threshold” and the threshold Th_2 is referred to as a “second threshold”.
  • FIG. 9 shows an example of a state in which the average range R_ave is plotted on the average range map M.
  • a circle ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle.
  • a triangle mark ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle.
  • the cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
  • the distribution range of the average range R_ave in the average range map M varies depending on the height of the obstacle O. Therefore, the height of the obstacle O can be determined using the threshold Th in the average range map M. More specifically, using the first threshold value Th_1 and the second threshold value Th_2, it is possible to determine whether the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. That is, the first threshold Th_1 is a threshold for determining whether or not the obstacle O is a road surface obstacle.
  • the second threshold Th_2 is a threshold for determining whether the obstacle O is a traveling obstacle.
  • the warning signal output unit 19 outputs a predetermined signal (hereinafter referred to as “warning signal”) to the warning output device 3 when the threshold comparison unit 18 determines that the obstacle O is a traveling obstacle. ..
  • the warning output device 3 outputs a warning to an occupant of the vehicle 1 when the warning signal output unit 19 outputs a warning signal.
  • the warning output device 3 includes, for example, a display or a speaker. When the warning output device 3 is configured by a display, the warning output by the warning output device 3 is based on image display on the display. When the warning output device 3 is configured by a speaker, the warning output by the warning output device 3 is a voice output from the speaker.
  • a transmission / reception control unit 21 is configured by the transmission control unit 11 and the reception control unit 12.
  • the grouping processing unit 13 and the range calculating unit 14 constitute a range measuring unit 22.
  • the distance calculation unit 15 and the average range calculation unit 16 constitute an averaging processing unit 23.
  • the plot processing unit 17 and the threshold comparison unit 18 constitute a height determination unit 24.
  • the range measurement unit 22, the averaging processing unit 23, and the height determination unit 24 constitute an obstacle detection device 100.
  • the warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100 are provided in an electronic control unit (hereinafter referred to as “ECU”) 4.
  • ECU electronice control unit
  • the ECU 4 has a processor 41 and a memory 42.
  • the ECU 4 includes a transmission control unit 11, a reception control unit 12, a grouping processing unit 13, a range calculation unit 14, a distance calculation unit 15, an average range calculation unit 16, a plot processing unit 17, a threshold value comparison unit 18, and a warning signal.
  • a program for functioning as the output unit 19 is stored.
  • the processor 41 reads and executes the program stored in the memory 42, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16, The functions of the plot processing unit 17, the threshold comparison unit 18, and the warning signal output unit 19 are realized.
  • the ECU 4 has a processing circuit 43.
  • the function is realized by the dedicated processing circuit 43.
  • the ECU 4 has a processor 41, a memory 42 and a processing circuit 43 (not shown).
  • the processor 41 and the memory 42 Some of the functions are realized by the processor 41 and the memory 42, and the remaining functions are realized by the dedicated processing circuit 43.
  • the processor 41 uses, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, and a DSP (Digital Signal Processor).
  • a CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • microprocessor a microcontroller
  • DSP Digital Signal Processor
  • the memory 42 uses, for example, at least one of a semiconductor memory and a magnetic disk. More specifically, the memory 42 is a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory-Memory), an EEPROM (Electrically Organized Memory), or an EEPROM (Electrically Accessible Memory). At least one of State Drive) or HDD (Hard Disk Drive) is used.
  • the processing circuit 43 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), or a SoC (Sonication) system. At least one of the above is used.
  • ASIC Application Specific Integrated Circuit
  • PLD Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • SoC SoC
  • the ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 11A when the vehicle 1 is moving backward.
  • the ECU 4 for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a predetermined value for example, 3 meters
  • step ST1 the transmission control unit 11 supplies the transmission signal TS to each distance sensor 2.
  • the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll.
  • the transmission control unit 11 supplies the transmission signal TS_ril to the distance sensor 2_ril.
  • the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr.
  • the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror.
  • step ST2 the reception control unit 12 acquires the reception signal RS from each distance sensor 2.
  • the reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with the detection threshold value.
  • step ST3 the grouping processing unit 13 can set the group G corresponding to the distance sensor 2 to which the transmission signal TS is supplied, that is, the group G corresponding to the distance sensor 2 that transmitted the search wave. , Such group G is set.
  • the grouping processing unit 13 sets the group G_roll corresponding to the distance sensor 2_roll.
  • the grouping processing unit 13 sets the group G_ril corresponding to the distance sensor 2_ril.
  • the grouping processing unit 13 sets the group G_rr corresponding to the distance sensor 2_rr.
  • the grouping process part 13 sets the group G_ror corresponding to the distance sensor 2_ror.
  • step ST4 the range calculation unit 14 calculates the range R in the set group G.
  • step ST5 if the distance calculation unit 15 can calculate the distance D corresponding to the calculated range R, the distance calculation unit 15 calculates the distance D.
  • the range R_roll is calculated, and the distance D corresponding to the calculated range R_roll is calculated.
  • the range R_ril is calculated and the distance D corresponding to the calculated range R_ril is calculated.
  • the range R_rr is calculated and the distance D corresponding to the calculated range R_rr is calculated.
  • the range R_ror is calculated, and the distance D corresponding to the calculated range R_ror is calculated.
  • step ST6 the average range calculation unit 16 calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N.
  • the average range calculation unit 16 calculates the average value R_rol_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rir, and the average value R_ror_ave of the range R_or in each distance section ⁇ D. To do.
  • the average range calculation unit 16 calculates the average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
  • step ST7 the plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
  • the threshold comparison unit 18 determines the height of the obstacle O by comparing the plotted average range R_ave with the threshold Th. More specifically, the threshold comparison unit 18 compares the plotted average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is a road surface obstacle, a road obstacle, or a traveling obstacle. Which of the above is to be determined.
  • step ST9 the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold value comparison unit 18. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
  • four distance sensors 2_fol, 2_fil, 2_fir, and 2_for may be provided at the front end of the vehicle 1. (Not shown).
  • the ECU 4 may execute the same processes as the above processes using the four distance sensors 2_fol, 2_fil, 2_fir, and 2_for when the vehicle 1 is moving forward.
  • the distance sensors 2_fol and 2_for are outer installation distance sensors, and the distance sensors 2_fil and 2_fir are inner installation distance sensors.
  • the distance sensors 2_fol and 2_for are high-side installation distance sensors, and the distance sensors 2_fil and 2_fir are low-side installation distance sensors.
  • the number of the distance sensors 2 installed at the rear end of the vehicle 1 may be two or more, and is not limited to four. Further, the number of the distance sensors 2 installed at the front end of the vehicle 1 may be two or more, and is not limited to four.
  • each distance section ⁇ D may be a constant value.
  • the amount of deviation between the distance sections ⁇ D adjacent to each other may be any value. That is, the distance sections ⁇ D that are adjacent to each other may not completely overlap each other.
  • the number of thresholds Th may be one or more, and is not limited to two. That is, the height determination unit 24 may determine the height of the obstacle O in two or more stages (ie, the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle). It is not limited to the judgment of which of them).
  • the threshold comparison unit 18 determines whether or not the obstacle O is a road surface obstacle by comparing the average range R_ave plotted in the average range map M with only the first threshold Th_1. Is also good.
  • the threshold comparison unit 18 determines whether the obstacle O is a traveling obstacle by comparing the average range R_ave plotted in the average range map M with only the second threshold Th_2. It may be.
  • the obstacle detection device 100 groups the direct wave DW and the indirect wave IW transmitted / received by the distance sensor 2, and the rise time T_up_first and the fall time of the reception signal RS in each group G.
  • the range measuring unit 22 that calculates the range R between the times T_down_last, the averaging processing unit 23 that calculates the average range R_ave by averaging the range R, and the obstacle O by comparing the average range R_ave with the threshold Th.
  • a height determination unit 24 that determines the height of the.
  • the threshold Th includes a first threshold Th_1 and a second threshold Th_2 that are different from each other, and the height determination unit 24 compares the average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is It is determined whether the obstacle is a road surface obstacle, a road obstacle or a traveling obstacle.
  • Th the height of the obstacle O can be determined in multiple stages.
  • the average range R_ave includes a short distance section average range and a long distance section average range corresponding to different distance sections ⁇ D, and the height determination unit 24 determines that the first axis and the long distance corresponding to the short distance section average range.
  • the height of the obstacle O is determined by plotting the average range R_ave on the average range map M having the second axis corresponding to the section average range.
  • FIG. 12 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle.
  • the obstacle detection device 100a according to the second embodiment will be described with reference to FIG. Note that in FIG. 12, the same blocks as the blocks shown in FIG.
  • the average range calculator 16a calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N based on the distance D calculated by the distance calculator 15.
  • the average range calculation unit 16a in each distance section ⁇ D, the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or. To calculate.
  • the average range calculation unit 16a averages the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave to obtain an average range (hereinafter referred to as “first average range”) R_ave_all in each distance section ⁇ D. calculate. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as “second average range”) R_ave_outer in each distance section ⁇ D by averaging the calculated average values R_roll_ave and R_ror_ave. To do.
  • the first average range R_ave_all is an average of the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the outer installation distance sensors 2_roll, 2_rr and the inner installation distance sensors 2_ril, 2_rr.
  • the second average range R_ave_outer is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the outside installation distance sensors 2_roll and 2_lor.
  • the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rr_ave, R_ror_ave. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as a “third average range”) R_ave_upper in each distance section ⁇ D by averaging the calculated average values R_roll_ave and R_ror_ave. To do.
  • the first average range R_ave_all is obtained by averaging the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the high-side installation distance sensors 2_rol, 2_rr and the low-side installation distance sensors 2_ril, 2_rr.
  • the third average range R_ave_upper is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the high side installation distance sensors 2_rol and 2_or.
  • FIG. 13 shows an example of the average values R_roll_ave, R_ril_ave, R_ril_ave, R_ror_ave, an example of the first average range R_ave_all, and an example of the second average range R_ave_outer in each of the three distance sections ⁇ D_N, ⁇ D_N-1, and ⁇ D_N-2. And an example of the third average range R_ave_upper. Note that in the example shown in FIG. 13, the outer installation distance sensors 2_roll, 2_lor and the high installation distance sensors 2_roll, 2_or are the same as each other, and the inner installation distance sensors 2_ril, 2_rr and the low installation distance sensor 2_roll. Since 2_ril and 2_ril are the same as each other, the second average range R_ave_outer and the third average range R_ave_upper in the individual distance sections ⁇ D have the same value.
  • the plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M.
  • the plot processing unit 17a has two average range maps M_1 and M_2.
  • the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (hereinafter referred to as “first average range map”) M_1.
  • the plot processing unit 17a also plots the second average range R_ave_outer calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “second average range map”) M_2.
  • the plotting method for each of the first average range map M_1 and the second average range map M_2 is the same as that described in the first embodiment, and thus the repetitive description will be omitted.
  • the plot processing unit 17a has two average range maps M_1 and M_3.
  • the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (that is, the first average range map) M_1.
  • the plot processing unit 17a also plots the third average range R_ave_upper calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “third average range map”) M_3.
  • the plotting method for each of the first average range map M_1 and the third average range map M_3 is the same as that described in the first embodiment, and therefore the repetitive description will be omitted.
  • the surface portion of the obstacle O that reflects the search wave has an inclination
  • this obstacle O is referred to as an “inclined obstacle”.
  • the tilt obstacle is, for example, a wheel stopper.
  • the type determining unit 31 determines the distribution of the first average range R_ave_all in the first average range map M_1 (hereinafter referred to as “first average range distribution”) and the distribution of the second average range R_ave_outer in the second average range map M_2 (hereinafter “ The second average range distribution ").
  • the type determining unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the second average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the second average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
  • the type determination unit 31 compares the first average range distribution with the distribution of the third average range R_ave_upper in the third average range map M_3 (hereinafter referred to as “third average range distribution”). The type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the third average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the third average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the third average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
  • the threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 when the type determination unit 31 determines that the obstacle O is not a tilted obstacle. That is, the threshold comparing unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the threshold Th (more specifically, the first threshold Th_1 and the second threshold Th_2) to thereby prevent an obstacle. Judge the height of O.
  • the threshold comparison unit 18a uses the second average range map M_2 or the third average range map M_3 to determine the height of the obstacle O. Is to judge. That is, the threshold comparison unit 18a sets the second average range R_ave_outer plotted on the second average range map M_2 or the third average range R_ave_upper plotted on the third average range map M_3 to the threshold Th (more specifically, the first average range R_ave_outer). The height of the obstacle O is determined by comparing with the threshold Th_1 and the second threshold Th_2).
  • the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the second average range map M_2 may be equal to each other or different from each other.
  • the second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the second average range map M_2 may be equal to each other or different from each other.
  • the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the third average range map M_3 may have the same value or different values.
  • the second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the third average range map M_3 may have the same value or different values.
  • FIG. 14A shows an example of a state in which the first average range R_ave_all is plotted on the first average range map M_1 when the obstacle O is a tilted obstacle.
  • FIG. 14B shows an example of a state in which the second average range R_ave_outer is plotted on the second average range map M_2 when the obstacle O is a tilted obstacle.
  • FIG. 3C shows an example of a state in which the third average range R_ave_upper is plotted on the third average range map M_3 when the obstacle O is a tilted obstacle.
  • a circle ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle.
  • a triangle mark ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle.
  • the cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
  • 1 Average range R_ave_all tends to be large. That is, the distributions of circles ( ⁇ ) and triangles ( ⁇ ) in the figure tend to be biased toward the upper right direction in the figure. Therefore, it is difficult to determine the height of the obstacle O using the first average range map M_1.
  • the second average range R_ave_outer is set when the height of the obstacle O is low even when the obstacle O is a slope obstacle (for example, when the obstacle O is a road surface obstacle or a road obstacle). ) Tends to be smaller. Therefore, by using the second average range R_ave_outer, as shown in FIG. 14B, the distribution of circles ( ⁇ ) and triangles ( ⁇ ) in the figure can be widened in the lower left direction in the figure. Therefore, by using the second average range map M_2, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the second average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
  • the third average range R_ave_upper is set even when the obstacle O is a slope obstacle when the height of the obstacle O is low (for example, when the obstacle O is a road surface obstacle or a road obstacle). Tends to be smaller. Therefore, by using the third average range R_ave_upper, as shown in FIG. 14C, the distribution of circles ( ⁇ ) and triangles ( ⁇ ) in the drawing can be widened in the lower left direction in the drawing. Therefore, by using the third average range map M_3, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the third average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
  • the distance calculating unit 15 and the average range calculating unit 16a constitute an averaging processing unit 23a.
  • a height determination unit 24a is configured by the plot processing unit 17a and the threshold value comparison unit 18a.
  • the range measurement unit 22, the averaging processing unit 23a, the height determination unit 24a, and the type determination unit 31 constitute an obstacle detection device 100a.
  • the warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100a are provided in the ECU 4.
  • Each function of the determination unit 31 may be realized by the processor 41 and the memory 42, or may be realized by a dedicated processing circuit 43.
  • the ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 15A when the vehicle 1 is moving backward.
  • the ECU 4 for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a predetermined value for example, 3 meters
  • steps ST1 to ST5 shown in FIG. 15A are the same as the processing contents of steps ST1 to ST5 shown in FIG. 11A. Therefore, the repeated description is omitted.
  • step ST6a the average range calculation unit 16a calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N. More specifically, the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ⁇ D and also calculates the second average range R_ave_outer in each distance section ⁇ D.
  • step ST7a the plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M. More specifically, the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on the first average range map M_1 and the second average calculated by the average range calculation unit 16a. The range R_ave_outer is plotted on the second average range map M_2.
  • step ST11 the type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, when the deviation is larger than the predetermined value, the type determination unit 31 determines that the obstacle O is a tilted obstacle (step ST11 “YES”). On the other hand, when the deviation is less than or equal to the predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle (step ST11 “NO”).
  • the threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 in step ST8a. .. That is, the threshold comparison unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
  • the threshold comparison unit 18a uses the second average range map M_2 to determine the height of the obstacle O in step ST8b. To judge. That is, the threshold comparison unit 18a compares the second average range R_ave_outer plotted in the second average range map M_2 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
  • step ST9 the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold comparison unit 18a. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
  • the obstacle detection device 100a can employ various modifications similar to those described in the first embodiment.
  • the distance sensor 2 includes the outer installation distance sensor and the inner installation distance sensor whose installation positions in the vehicle width direction are different from each other, and the average range R_ave is the outer installation.
  • the average range map M includes a first average range R_ave_all corresponding to a transmission wave from the distance sensor and the inside installed distance sensor, and a second average range R_ave_outer corresponding to a transmission wave from the outside installed distance sensor.
  • the obstacle detection device 100a includes the first average range map M_1 in which R_ave_all is plotted and the second average range map M_2 in which the second average range R_ave_outer is plotted, and the second average in the second average range map M_2.
  • the obstacle O is a slope obstacle.
  • the height determination unit 24a uses the second average range map M_2 to determine the height of the obstacle O when it is determined that the obstacle O is a tilted obstacle. to decide. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even if the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
  • the distance sensor 2 includes a high-side installation distance sensor and a low-side installation distance sensor whose installation positions in the vehicle height direction are different from each other, and the average range R_ave is the high-side installation distance sensor and the low-side installation distance sensor.
  • the average range map M includes the first average range R_ave_all corresponding to the transmission wave from the installation distance sensor and the third average range R_ave_upper corresponding to the transmission wave from the high side installation distance sensor, and the first average range R_ave_all is plotted.
  • the obstacle detection apparatus 100a includes the first average range map M_1 and the third average range map M_3 in which the third average range R_ave_upper is plotted, and the obstacle detection device 100a includes the third average range R_ave_upper in the third average range map M_3.
  • the deviation of the distribution (first average range distribution) of the first average range R_ave_all in the first average range map M_1 from the distribution (third average range distribution) is larger than a predetermined value
  • the obstacle O is a tilted obstacle.
  • the height determination unit 24a includes the type determination unit 31 that determines the height of the obstacle O using the third average range map M_3. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even when the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
  • the invention of the present application is capable of freely combining the embodiments, modifying any constituent element of each embodiment, or omitting any constituent element in each embodiment. ..
  • the obstacle detection device of the present invention can be used, for example, as a driving support device for a vehicle.

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Abstract

This obstacle detection device (100) comprises a range measurement unit (22) for grouping direct waves (DW) and indirect waves (IW) transmitted and received by a distance sensor (2) and calculating the ranges (R) between the rising times (T_up_first) and falling times (T_down_last) of the reception signals (RS) of the groups (G), an averaging processing unit (23) for calculating an average range (R_ave) by averaging the ranges (R), and a height determination unit (24) for determining the height of an obstacle (O) by comparing the average range (R_ave) with a threshold (Th).

Description

障害物検出装置Obstacle detection device
　本発明は、障害物検出装置に関する。 The present invention relates to an obstacle detection device.
　従来、車両に設けられているＴＯＦ（Ｔｉｍｅ　ｏｆ　Ｆｌｉｇｈｔ）方式の距離センサを用いて、車両の周囲における障害物の高さを判断する技術が開発されている（例えば、特許文献１参照。）。 Conventionally, a technology has been developed for determining the height of an obstacle around a vehicle by using a TOF (Time of Flight) type distance sensor provided in the vehicle (see, for example, Patent Document 1).
国際公開第２０１６／０５９０８７号International Publication No. 2016/059087
　特許文献１記載のシステムは、一次反射波に対応する第１距離値（ａ１）と二次反射波に対応する第２距離値（ａ２）との差の値を算出して、時間に対する当該差の値の変化に基づき障害物の高さを判断するものである。 The system described in Patent Document 1 calculates a difference value between a first distance value (a1) corresponding to the primary reflected wave and a second distance value (a2) corresponding to the secondary reflected wave, and the difference with respect to time. The height of the obstacle is determined based on the change in the value of.
　通常、一次反射波の伝搬経路は複数存在するものであり（いわゆる「マルチパス」）、これらの伝搬経路の経路長は互いに異なるものである。このため、第１距離値（ａ１）が複数回算出されたとき、これらの第１距離値（ａ１）はばらつきを有するものとなる。同様に、二次反射波の伝搬経路は複数存在するものであり、これらの伝搬経路の経路長は互いに異なるものである。このため、第２距離値（ａ２）が複数回算出されたとき、これらの第２距離値（ａ２）はばらつきを有するものとなる。特許文献１記載のシステムは、かかる距離値（ａ１，ａ２）のばらつきにより、すなわちマルチパスの影響により、障害物の高さの判断精度が低いという問題があった。 Normally, there are multiple primary reflection wave propagation paths (so-called “multipath”), and the path lengths of these propagation paths are different from each other. Therefore, when the first distance value (a1) is calculated a plurality of times, these first distance values (a1) have variations. Similarly, there are a plurality of secondary reflected wave propagation paths, and the path lengths of these propagation paths are different from each other. Therefore, when the second distance value (a2) is calculated a plurality of times, the second distance value (a2) has variations. The system described in Patent Document 1 has a problem that the accuracy of determining the height of an obstacle is low due to the variation in the distance values (a1, a2), that is, due to the influence of multipath.
　本発明は、上記のような課題を解決するためになされたものであり、障害物の高さを精度良く判断することができる障害物検出装置を提供することを目的とする。 The present invention has been made to solve the above problems, and an object of the present invention is to provide an obstacle detection device capable of accurately determining the height of an obstacle.
　本発明の障害物検出装置は、距離センサにより送受信された直接波及び間接波をグルーピングして、各グループにおける受信信号の立ち上がり時刻と立ち下がり時刻間のレンジを算出するレンジ測定部と、レンジを平均化することにより平均レンジを算出する平均化処理部と、平均レンジを閾値と比較することにより障害物の高さを判断する高さ判断部と、を備えるものである。 The obstacle detection device of the present invention groups a direct wave and an indirect wave transmitted / received by a distance sensor to calculate a range between a rising time and a falling time of a received signal in each group, and a range. An averaging processing unit that calculates an average range by averaging, and a height determination unit that determines the height of an obstacle by comparing the average range with a threshold value are provided.
　本発明によれば、上記のように構成したので、障害物の高さを精度良く判断することができる。 According to the present invention, since it is configured as described above, it is possible to accurately determine the height of an obstacle.
図１Ａは、車両における距離センサの設置位置の例を示す説明図であって、車両の後方から見た状態を示す説明図である。図１Ｂは、車両における距離センサの設置位置の例を示す説明図であって、車両の上方から見た状態を示す説明図である。FIG. 1A is an explanatory diagram showing an example of an installation position of a distance sensor in a vehicle, and is a diagram showing a state seen from the rear of the vehicle. FIG. 1B is an explanatory diagram illustrating an example of installation positions of distance sensors in a vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle. 実施の形態１に係る障害物検出装置を含む電子制御ユニットが車両に設けられている状態を示すブロック図である。FIG. 3 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle. 図３Ａは、直接波及び間接波を含むグループの例を示す説明図である。図３Ｂは、当該グループにおける送信信号及び受信信号の例を示す説明図である。FIG. 3A is an explanatory diagram illustrating an example of groups including direct waves and indirect waves. FIG. 3B is an explanatory diagram showing an example of transmission signals and reception signals in the group. 図４Ａは、直接波及び間接波を含む他のグループの例を示す説明図である。図４Ｂは、当該グループにおける送信信号及び受信信号の例を示す説明図である。FIG. 4A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave. FIG. 4B is an explanatory diagram showing an example of transmission signals and reception signals in the group. 図５Ａは、直接波及び間接波を含む他のグループの例を示す説明図である。図５Ｂは、当該グループにおける送信信号及び受信信号の例を示す説明図である。FIG. 5A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave. FIG. 5B is an explanatory diagram showing an example of transmission signals and reception signals in the group. 図６Ａは、直接波及び間接波を含む他のグループの例を示す説明図である。図６Ｂは、当該グループにおける送信信号及び受信信号の例を示す説明図である。FIG. 6A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave. FIG. 6B is an explanatory diagram showing an example of transmission signals and reception signals in the group. グルーピングの対象となる直接波及び間接波の例を示す説明図である。It is explanatory drawing which shows the example of the direct wave and indirect wave used as the object of grouping. 平均レンジの例を示す説明図である。It is explanatory drawing which shows the example of an average range. 平均レンジマップの例を示す説明図である。It is explanatory drawing which shows the example of an average range map. 図１０Ａは、実施の形態１に係る障害物検出装置を含む電子制御ユニットのハードウェア構成を示すブロック図である。図１０Ｂは、当該電子制御ユニットの他のハードウェア構成を示すブロック図である。FIG. 10A is a block diagram showing a hardware configuration of an electronic control unit including the obstacle detection device according to the first embodiment. FIG. 10B is a block diagram showing another hardware configuration of the electronic control unit. 実施の形態１に係る障害物検出装置を含む電子制御ユニットの動作を示すフローチャートである。3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment. 実施の形態１に係る障害物検出装置を含む電子制御ユニットの動作を示すフローチャートである。3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment. 実施の形態２に係る障害物検出装置を含む電子制御ユニットが車両に設けられている状態を示すブロック図である。7 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle. FIG. 第１平均レンジ、第２平均レンジ及び第３平均レンジの例を示す説明図である。It is explanatory drawing which shows the example of a 1st average range, a 2nd average range, and a 3rd average range. 第１平均レンジマップの例を示す説明図である。It is explanatory drawing which shows the example of a 1st average range map. 第２平均レンジマップの例を示す説明図である。It is explanatory drawing which shows the example of a 2nd average range map. 第３平均レンジマップの例を示す説明図である。It is explanatory drawing which shows the example of a 3rd average range map. 実施の形態２に係る障害物検出装置を含む電子制御ユニットの動作を示すフローチャートである。9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment. 実施の形態２に係る障害物検出装置を含む電子制御ユニットの動作を示すフローチャートである。9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment.
　以下、この発明をより詳細に説明するために、この発明を実施するための形態について、添付の図面に従って説明する。 Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
実施の形態１．
　図１Ａは、車両における距離センサの設置位置の例を示す説明図であって、車両の後方から見た状態を示す説明図である。図１Ｂは、車両における距離センサの設置位置の例を示す説明図であって、車両の上方から見た状態を示す説明図である。図１を参照して、距離センサ２について説明する。 Embodiment 1.
FIG. 1A is an explanatory diagram showing an example of the installation position of a distance sensor in a vehicle, and is an explanatory diagram showing a state seen from the rear of the vehicle. FIG. 1B is an explanatory diagram illustrating an example of the installation position of the distance sensor in the vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle. The distance sensor 2 will be described with reference to FIG.
　図１に示す如く、車両１に複数個の距離センサ２が設けられている。より具体的には、車両１の後端部に４個の距離センサ２＿ｒｏｌ，２＿ｒｉｌ，２＿ｒｉｒ，２＿ｒｏｒが設けられている。個々の距離センサ２は、例えば、超音波式の距離センサ又は電波式の距離センサにより構成されている。 As shown in FIG. 1, a vehicle 1 is provided with a plurality of distance sensors 2. More specifically, four distance sensors 2_roll, 2_ril, 2_rr, 2_or are provided at the rear end of the vehicle 1. Each of the distance sensors 2 is composed of, for example, an ultrasonic type distance sensor or a radio wave type distance sensor.
　ここで、距離センサ２＿ｒｏｌ，２＿ｒｏｒと距離センサ２＿ｒｉｌ，２＿ｒｉｒとは、車両１の左右方向（以下「車幅方向」という。図中Ｙ軸に沿う方向である。）に対する設置位置が互いに異なるものである。以下、複数個の距離センサ２のうち、車幅方向におけるより外側に設置された距離センサ２＿ｒｏｌ，２＿ｒｏｒを「外側設置距離センサ」ということがある。また、複数個の距離センサ２のうち、車幅方向におけるより内側に設置された距離センサ２＿ｒｉｌ，２＿ｒｉｒを「内側設置距離センサ」ということがある。 Here, the distance sensors 2_roll, 2_rr and the distance sensors 2_ril, 2_rr are installed at different positions in the left-right direction of the vehicle 1 (hereinafter referred to as “vehicle width direction”, which is the direction along the Y axis in the drawing). is there. Hereinafter, among the plurality of distance sensors 2, the distance sensors 2_roll and 2_lor installed outside in the vehicle width direction may be referred to as “outside installed distance sensors”. Further, among the plurality of distance sensors 2, the distance sensors 2_ril and 2_rr installed on the inner side in the vehicle width direction may be referred to as “inside installed distance sensors”.
　また、距離センサ２＿ｒｏｌ，２＿ｒｏｒと距離センサ２＿ｒｉｌ，２＿ｒｉｒとは、車両１の上下方向（以下「車高方向」という。図中Ｚ軸に沿う方向である。）に対する設置位置が互いに異なるものである。以下、複数個の距離センサ２のうち、より高い位置に設置された距離センサ２＿ｒｏｌ，２＿ｒｏｒを「高側設置距離センサ」ということがある。また、複数個の距離センサ２のうち、より低い位置に設置された距離センサ２＿ｒｉｌ，２＿ｒｉｒを「低側設置距離センサ」ということがある。 Further, the distance sensors 2_roll, 2_orr and the distance sensors 2_ril, 2_rr are installed at different positions in the vertical direction of the vehicle 1 (hereinafter referred to as “vehicle height direction”, which is the direction along the Z axis in the drawing). .. Hereinafter, among the plurality of distance sensors 2, the distance sensors 2_roll, 2_or installed at higher positions may be referred to as “high-side installed distance sensors”. Further, among the plurality of distance sensors 2, the distance sensors 2_ril and 2_rr installed at lower positions may be referred to as “low side installation distance sensors”.
　以下、個々の距離センサ２により送受信される超音波又は電波などを総称して「探索波」という。また、車両１外の障害物Ｏにより反射された探索波を「反射波」という。また、いずれかの距離センサ２が探索波を送信した場合において、この距離センサ２が反射波を受信したとき、当該送信波及び当該受信波を「直接波」という。また、いずれかの距離センサ２が探索波を送信した場合において、他の距離センサ２が反射波を受信したとき、当該送信波及び当該受信波を「間接波」という。 Hereafter, the ultrasonic waves or radio waves transmitted and received by the individual distance sensors 2 are collectively referred to as “search waves”. Further, the search wave reflected by the obstacle O outside the vehicle 1 is referred to as “reflected wave”. Further, when any one of the distance sensors 2 transmits the search wave, when the distance sensor 2 receives the reflected wave, the transmission wave and the reception wave are referred to as “direct wave”. Further, when any one of the distance sensors 2 transmits a search wave and another distance sensor 2 receives a reflected wave, the transmission wave and the reception wave are referred to as “indirect waves”.
　また、障害物Ｏの高さが車両１のバンパ部に接触し得る程度に高いものである場合、この障害物Ｏを「走行障害物」という。走行障害物は、例えば、壁又はポールである。また、障害物Ｏの高さが、車両１のバンパ部に接触し得ない程度に低いものであり、かつ、車両１による乗り越えが困難である程度に高いものである場合、この障害物Ｏを「路上障害物」という。路上障害物は、例えば、縁石又は輪止めである。また、障害物Ｏの高さが、車両１のバンパ部に接触し得ない程度に低いものであり、かつ、車両１による乗り越えが容易である程度に低いものである場合、この障害物Ｏを「路面障害物」という。路面障害物は、例えば、段差である。 Also, when the height of the obstacle O is high enough to contact the bumper portion of the vehicle 1, the obstacle O is referred to as a "running obstacle". The traveling obstacle is, for example, a wall or a pole. Further, when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the obstacle O is high enough to be overcome by the vehicle 1, the obstacle O is Road obstacles ". The road obstacle is, for example, a curb or a wheel stopper. Further, when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the vehicle 1 is easy to get over the obstacle O, the obstacle O is " Road obstacles ". The road surface obstacle is, for example, a step.
　図２は、実施の形態１に係る障害物検出装置を含む電子制御ユニットが車両に設けられている状態を示すブロック図である。図２を参照して、実施の形態１の障害物検出装置１００について説明する。 FIG. 2 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle. The obstacle detection device 100 of the first embodiment will be described with reference to FIG.
　送信制御部１１は、個々の距離センサ２に所定の信号（以下「送信信号」という。）ＴＳを供給することにより、個々の距離センサ２に探索波を送信させるものである。より具体的には、送信制御部１１は、車両１が後退しているとき、４個の距離センサ２＿ｒｏｌ，２＿ｒｉｌ，２＿ｒｉｒ，２＿ｒｏｒに送信信号ＴＳ＿ｒｏｌ，ＴＳ＿ｒｉｌ，ＴＳ＿ｒｉｒ，ＴＳ＿ｒｏｒを順次供給することにより、４個の距離センサ２＿ｒｏｌ，２＿ｒｉｌ，２＿ｒｉｒ，２＿ｒｏｒに探索波を順次送信させるものである。 The transmission control unit 11 supplies a predetermined signal (hereinafter referred to as “transmission signal”) TS to each distance sensor 2 to cause each distance sensor 2 to transmit a search wave. More specifically, the transmission control unit 11 sequentially supplies the transmission signals TS_rol, TS_ril, TS_rr, and TS_lor to the four distance sensors 2_roll, 2_ril, 2_rr, and 2_or when the vehicle 1 is moving backward. The four distance sensors 2_roll, 2_ril, 2_rir, and 2_ror sequentially transmit search waves.
　受信制御部１２は、個々の距離センサ２による受信波に対応する信号（以下「受信信号」という。）ＲＳを取得するものである。以下、個々の受信信号ＲＳが所定の閾値（以下「検出閾値」という。）を超える時刻Ｔ＿ｕｐを「立ち上がり時刻」という。また、個々の受信信号ＲＳが検出閾値を下回る時刻Ｔ＿ｄｏｗｎを「立ち下がり時刻」という。受信制御部１２は、個々の受信信号ＲＳを検出閾値と比較することにより、立ち上がり時刻Ｔ＿ｕｐ及び立ち下がり時刻Ｔ＿ｄｏｗｎを検出するものである。 The reception control unit 12 acquires a signal RS (hereinafter, referred to as “reception signal”) RS corresponding to a reception wave by each distance sensor 2. Hereinafter, the time T_up at which each received signal RS exceeds a predetermined threshold value (hereinafter referred to as “detection threshold value”) is referred to as “rise time”. Further, the time T_down at which the individual reception signal RS falls below the detection threshold is referred to as the “falling time”. The reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with a detection threshold value.
　グルーピング処理部１３は、複数個の距離センサ２により送受信された直接波ＤＷ及び間接波ＩＷをグルーピングすることにより、複数個のグループＧを設定するものである。 The grouping processing unit 13 sets a plurality of groups G by grouping the direct wave DW and the indirect wave IW transmitted and received by the plurality of distance sensors 2.
　レンジ算出部１４は、個々のグループＧにおける最初の受信信号ＲＳの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ及び最後の受信信号ＲＳの立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔに基づき、個々のグループＧにおける時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ，Ｔ＿ｄｏｗｎ＿ｌａｓｔ間のレンジＲを算出するものである。 The range calculator 14 calculates the range R between the times T_up_first and T_down_last in each group G based on the rising time T_up_first of the first received signal RS and the falling time T_down_last of the last received signal RS in each group G. It is a thing.
　距離算出部１５は、個々のグループＧにおける、内側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒによる受信波に対応する受信信号ＲＳの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌ，Ｔ＿ｕｐ＿ｒｉｒの平均値Ｔ＿ｕｐ＿ａｖｅを算出するものである。距離算出部１５は、いわゆる「ＴＯＦ法」により、当該算出された平均値Ｔ＿ｕｐ＿ａｖｅに対応する距離Ｄを算出するものである。すなわち、距離Ｄは、車両１と障害物Ｏ間の距離の推定値に相当するものである。距離Ｄの算出には公知の種々の方法を用いることができるものであり、これらの方法についての詳細な説明は省略する。 The distance calculation unit 15 calculates the average value T_up_ave of the rising times T_up_ril, T_up_rir of the reception signal RS corresponding to the reception waves by the inside installation distance sensors 2_ril, 2_rr in each group G. The distance calculation unit 15 calculates the distance D corresponding to the calculated average value T_up_ave by the so-called “TOF method”. That is, the distance D corresponds to an estimated value of the distance between the vehicle 1 and the obstacle O. Various known methods can be used to calculate the distance D, and detailed description of these methods will be omitted.
　ここで、図３～図６を参照して、送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４及び距離算出部１５による処理の具体例について説明する。 Here, a specific example of processing by the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, and the distance calculation unit 15 will be described with reference to FIGS. 3 to 6.
　まず、送信制御部１１が距離センサ２＿ｒｏｌに送信信号ＴＳ＿ｒｏｌを供給する。これにより、距離センサ２＿ｒｏｌが探索波を送信する。当該送信波が障害物Ｏにより反射された場合、距離センサ２＿ｒｏｌが直接波ＤＷ＿ｒｏｌ＿ｒｏｌを受信し得るものである。これに加えて、距離センサ２＿ｒｉｌが間接波ＩＷ＿ｒｉｌ＿ｒｏｌを受信し得るものであり、かつ、距離センサ２＿ｒｉｒが間接波ＩＷ＿ｒｉｒ＿ｒｏｌを受信し得るものであり、かつ、距離センサ２＿ｒｏｒが間接波ＩＷ＿ｒｏｒ＿ｒｏｌを受信し得るものである。 First, the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll. As a result, the distance sensor 2_roll transmits the search wave. When the transmission wave is reflected by the obstacle O, the distance sensor 2_roll can receive the direct wave DW_roll_roll. In addition to this, the distance sensor 2_ril can receive the indirect wave IW_ril_roll, the distance sensor 2_rr can receive the indirect wave IW_rr_rol, and the distance sensor 2_or can receive the indirect wave IW_ror_roll. It is a thing.
　したがって、受信制御部１２は、直接波ＤＷ＿ｒｏｌ＿ｒｏｌに対応する受信信号ＲＳ＿ｒｏｌ＿ｒｏｌを取得し得るものである。これに加えて、受信制御部１２は、間接波ＩＷ＿ｒｉｌ＿ｒｏｌに対応する受信信号ＲＳ＿ｒｉｌ＿ｒｏｌを取得し得るものであり、かつ、間接波ＩＷ＿ｒｉｒ＿ｒｏｌに対応する受信信号ＲＳ＿ｒｉｒ＿ｒｏｌを取得し得るものであり、かつ、間接波ＩＷ＿ｒｏｒ＿ｒｏｌに対応する受信信号ＲＳ＿ｒｏｒ＿ｒｏｌを取得し得るものである。 Therefore, the reception control unit 12 can acquire the reception signal RS_roll_roll corresponding to the direct wave DW_roll_roll. In addition to this, the reception control unit 12 is capable of acquiring the reception signal RS_ril_roll corresponding to the indirect wave IW_ril_rol, and capable of acquiring the reception signal RS_rr_rol corresponding to the indirect wave IW_rr_rol, and indirect. It is possible to obtain the reception signal RS_ror_roll corresponding to the wave IW_ror_roll.
　このとき、グルーピング処理部１３は、直接波ＤＷ＿ｒｏｌ＿ｒｏｌ及び間接波ＩＷ＿ｒｉｌ＿ｒｏｌ，ＩＷ＿ｒｉｒ＿ｒｏｌを含むグループＧ＿ｒｏｌを設定する（図３Ａ参照）。すなわち、グルーピング処理部１３は、間接波ＩＷ＿ｒｏｒ＿ｒｏｌ（不図示）をグループＧ＿ｒｏｌから除外する。除外対象となる間接波ＩＷ＿ｒｏｒ＿ｒｏｌは、複数個の距離センサ２のうちの探索波を送信した距離センサ２＿ｒｏｌに対して最も遠い位置に設置された距離センサ２＿ｒｏｒにより受信されたものである。 At this time, the grouping processing unit 13 sets a group G_roll including the direct wave DW_roll_roll and the indirect waves IW_ril_roll, IW_rr_roll (see FIG. 3A). That is, the grouping processing unit 13 excludes the indirect wave IW_lor_roll (not shown) from the group G_roll. The indirect wave IW_ror_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_roll that transmitted the search wave among the plurality of distance sensors 2.
　グループＧ＿ｒｏｌにおいて、最初の受信信号ＲＳが受信信号ＲＳ＿ｒｏｌ＿ｒｏｌであり、かつ、最後の受信信号ＲＳが受信信号ＲＳ＿ｒｉｒ＿ｒｏｌであるものとする（図３Ｂ参照）。この場合、レンジ算出部１４は、受信信号ＲＳ＿ｒｏｌ＿ｒｏｌの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ及び受信信号ＲＳ＿ｒｉｒ＿ｒｏｌの立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔに基づき、グループＧ＿ｒｏｌにおけるレンジＲ＿ｒｏｌを算出する。 In the group G_roll, it is assumed that the first received signal RS is the received signal RS_rol_rol and the last received signal RS is the received signal RS_rr_rol (see FIG. 3B). In this case, the range calculation unit 14 calculates the range R_roll in the group G_roll based on the rising time T_up_first of the received signal RS_rol_rol and the falling time T_down_last of the received signal RS_rr_rol.
　また、距離算出部１５は、受信信号ＲＳ＿ｒｉｌ＿ｒｏｌの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌと受信信号ＲＳ＿ｒｉｒ＿ｒｏｌの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｒとの平均値Ｔ＿ｕｐ＿ａｖｅを算出する。距離算出部１５は、当該算出された平均値Ｔ＿ｕｐ＿ａｖｅに基づき、グループＧ＿ｒｏｌにおける距離Ｄ、すなわちレンジＲ＿ｒｏｌに対応する距離Ｄを算出する。 The distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the received signal RS_ril_rol and the rising time T_up_rr of the received signal RS_ril_rol. The distance calculation unit 15 calculates the distance D in the group G_roll, that is, the distance D corresponding to the range R_roll, based on the calculated average value T_up_ave.
　次いで、送信制御部１１が距離センサ２＿ｒｉｌに送信信号ＴＳ＿ｒｉｌを供給する。これにより、距離センサ２＿ｒｉｌが探索波を送信する。当該送信波が障害物Ｏにより反射された場合、距離センサ２＿ｒｉｌが直接波ＤＷ＿ｒｉｌ＿ｒｉｌを受信し得るものである。これに加えて、距離センサ２＿ｒｏｌが間接波ＩＷ＿ｒｏｌ＿ｒｉｌを受信し得るものであり、かつ、距離センサ２＿ｒｉｒが間接波ＩＷ＿ｒｉｒ＿ｒｉｌを受信し得るものであり、かつ、距離センサ２＿ｒｏｒが間接波ＩＷ＿ｒｏｒ＿ｒｉｌを受信し得るものである。 Next, the transmission controller 11 supplies the transmission signal TS_ril to the distance sensor 2_ril. As a result, the distance sensor 2_ril transmits a search wave. When the transmission wave is reflected by the obstacle O, the distance sensor 2_ril can receive the direct wave DW_ril_ril. In addition to this, the distance sensor 2_roll can receive the indirect wave IW_roll_ril, the distance sensor 2_rir can receive the indirect wave IW_rir_ril, and the distance sensor 2_ror can receive the indirect wave IW_ror_ril. It is a thing.
　したがって、受信制御部１２は、直接波ＤＷ＿ｒｉｌ＿ｒｉｌに対応する受信信号ＲＳ＿ｒｉｌ＿ｒｉｌを取得し得るものである。これに加えて、受信制御部１２は、間接波ＩＷ＿ｒｏｌ＿ｒｉｌに対応する受信信号ＲＳ＿ｒｏｌ＿ｒｉｌを取得し得るものであり、かつ、間接波ＩＷ＿ｒｉｒ＿ｒｉｌに対応する受信信号ＲＳ＿ｒｉｒ＿ｒｉｌを取得し得るものであり、かつ、間接波ＩＷ＿ｒｏｒ＿ｒｉｌに対応する受信信号ＲＳ＿ｒｏｒ＿ｒｉｌを取得し得るものである。 Therefore, the reception control unit 12 can obtain the reception signal RS_ril_ril corresponding to the direct wave DW_ril_ril. In addition to this, the reception control unit 12 can obtain the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_ril, and can obtain the reception signal RS_rr_ril corresponding to the indirect wave IW_rr_ril, and indirectly. The reception signal RS_ror_ril corresponding to the wave IW_ror_ril can be acquired.
　このとき、グルーピング処理部１３は、直接波ＤＷ＿ｒｉｌ＿ｒｉｌ及び間接波ＩＷ＿ｒｏｌ＿ｒｉｌ，ＩＷ＿ｒｉｒ＿ｒｉｌを含むグループＧ＿ｒｉｌを設定する（図４Ａ参照）。すなわち、グルーピング処理部１３は、間接波ＩＷ＿ｒｏｒ＿ｒｉｌ（不図示）をグループＧ＿ｒｉｌから除外する。除外対象となる間接波ＩＷ＿ｒｏｒ＿ｒｉｌは、複数個の距離センサ２のうちの探索波を送信した距離センサ２＿ｒｉｌに対して最も遠い位置に設置された距離センサ２＿ｒｏｒにより受信されたものである。 At this time, the grouping processing unit 13 sets a group G_ril including the direct wave DW_ril_ril and the indirect waves IW_roll_ril, IW_rr_ril (see FIG. 4A). That is, the grouping processing unit 13 excludes the indirect wave IW_ror_ril (not shown) from the group G_ril. The indirect wave IW_ror_ril to be excluded is received by the distance sensor 2_ror installed at the farthest position from the distance sensor 2_ril that has transmitted the search wave among the plurality of distance sensors 2.
　グループＧ＿ｒｉｌにおいて、最初の受信信号ＲＳが受信信号ＲＳ＿ｒｉｌ＿ｒｉｌであり、かつ、最後の受信信号ＲＳが受信信号ＲＳ＿ｒｏｌ＿ｒｉｌであるものとする（図４Ｂ参照）。この場合、レンジ算出部１４は、受信信号ＲＳ＿ｒｉｌ＿ｒｉｌの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ及び受信信号ＲＳ＿ｒｏｌ＿ｒｉｌの立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔに基づき、グループＧ＿ｒｉｌにおけるレンジＲ＿ｒｉｌを算出する。 In the group G_ril, the first reception signal RS is the reception signal RS_ril_ril and the last reception signal RS is the reception signal RS_roll_ril (see FIG. 4B). In this case, the range calculation unit 14 calculates the range R_ril in the group G_ril based on the rising time T_up_first of the reception signal RS_ril_ril and the falling time T_down_last of the reception signal RS_rol_ril.
　また、距離算出部１５は、受信信号ＲＳ＿ｒｉｌ＿ｒｉｌの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌと受信信号ＲＳ＿ｒｉｒ＿ｒｉｌの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｒとの平均値Ｔ＿ｕｐ＿ａｖｅを算出する。距離算出部１５は、当該算出された平均値Ｔ＿ｕｐ＿ａｖｅに基づき、グループＧ＿ｒｉｌにおける距離Ｄ、すなわちレンジＲ＿ｒｉｌに対応する距離Ｄを算出する。 The distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the reception signal RS_ril_ril and the rising time T_up_ril of the reception signal RS_ril_ril. The distance calculation unit 15 calculates the distance D in the group G_ril, that is, the distance D corresponding to the range R_ril, based on the calculated average value T_up_ave.
　次いで、送信制御部１１が距離センサ２＿ｒｉｒに送信信号ＴＳ＿ｒｉｒを供給する。これにより、距離センサ２＿ｒｉｒが探索波を送信する。当該送信波が障害物Ｏにより反射された場合、距離センサ２＿ｒｉｒが直接波ＤＷ＿ｒｉｒ＿ｒｉｒを受信し得るものである。これに加えて、距離センサ２＿ｒｏｌが間接波ＩＷ＿ｒｏｌ＿ｒｉｒを受信し得るものであり、かつ、距離センサ２＿ｒｉｌが間接波ＩＷ＿ｒｉｌ＿ｒｉｒを受信し得るものであり、かつ、距離センサ２＿ｒｏｒが間接波ＩＷ＿ｒｏｒ＿ｒｉｒを受信し得るものである。 Next, the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr. As a result, the distance sensor 2_rr transmits the search wave. When the transmitted wave is reflected by the obstacle O, the distance sensor 2_rr can receive the direct wave DW_rr_rr. In addition to this, the distance sensor 2_roll can receive the indirect wave IW_roll_ri, the distance sensor 2_ril can receive the indirect wave IW_ril_rir, and the distance sensor 2_or can receive the indirect wave IW_ror_rr. It is a thing.
　したがって、受信制御部１２は、直接波ＤＷ＿ｒｉｒ＿ｒｉｒに対応する受信信号ＲＳ＿ｒｉｒ＿ｒｉｒを取得し得るものである。これに加えて、受信制御部１２は、間接波ＩＷ＿ｒｏｌ＿ｒｉｒに対応する受信信号ＲＳ＿ｒｏｌ＿ｒｉｒを取得し得るものであり、かつ、間接波ＩＷ＿ｒｉｌ＿ｒｉｒに対応する受信信号ＲＳ＿ｒｉｌ＿ｒｉｒを取得し得るものであり、かつ、間接波ＩＷ＿ｒｏｒ＿ｒｉｒに対応する受信信号ＲＳ＿ｒｏｒ＿ｒｉｒを取得し得るものである。 Therefore, the reception control unit 12 can obtain the reception signal RS_rr_rr corresponding to the direct wave DW_rir_r. In addition to this, the reception control unit 12 is capable of acquiring the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_rr, and capable of acquiring the reception signal RS_ril_rr corresponding to the indirect wave IW_ril_rr, and indirect. It is possible to obtain the received signal RS_ror_rr corresponding to the wave IW_ror_rir.
　このとき、グルーピング処理部１３は、直接波ＤＷ＿ｒｉｒ＿ｒｉｒ及び間接波ＩＷ＿ｒｉｌ＿ｒｉｒ，ＩＷ＿ｒｏｒ＿ｒｉｒを含むグループＧ＿ｒｉｒを設定する（図５Ａ参照）。すなわち、グルーピング処理部１３は、間接波ＩＷ＿ｒｏｌ＿ｒｉｒ（不図示）をグループＧ＿ｒｉｒから除外する。除外対象となる間接波ＩＷ＿ｒｏｌ＿ｒｉｒは、複数個の距離センサ２のうちの探索波を送信した距離センサ２＿ｒｉｒに対して最も遠い位置に設置された距離センサ２＿ｒｏｌにより受信されたものである。 At this time, the grouping processing unit 13 sets a group G_rir including the direct wave DW_rir_rir and the indirect wave IW_rir_rir and IW_ror_rir (see FIG. 5A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_rr (not shown) from the group G_rr. The indirect wave IW_roll_rr to be excluded is received by the distance sensor 2_roll installed at the farthest position with respect to the distance sensor 2_rr that transmitted the search wave among the plurality of distance sensors 2.
　グループＧ＿ｒｉｒにおいて、最初の受信信号ＲＳが受信信号ＲＳ＿ｒｉｒ＿ｒｉｒであり、かつ、最後の受信信号ＲＳが受信信号ＲＳ＿ｒｏｒ＿ｒｉｒであるものとする（図５Ｂ参照）。この場合、レンジ算出部１４は、受信信号ＲＳ＿ｒｉｒ＿ｒｉｒの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ及び受信信号ＲＳ＿ｒｏｒ＿ｒｉｒの立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔに基づき、グループＧ＿ｒｉｒにおけるレンジＲ＿ｒｉｒを算出する。 In the group G_rr, the first received signal RS is the received signal RS_rir_rr and the last received signal RS is the received signal RS_ror_rir (see FIG. 5B). In this case, the range calculation unit 14 calculates the range R_rir in the group G_rir based on the rising time T_up_first of the reception signal RS_rir_r and the falling time T_down_last of the reception signal RS_ror_rir.
　また、距離算出部１５は、受信信号ＲＳ＿ｒｉｒ＿ｒｉｒの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｒと受信信号ＲＳ＿ｒｉｌ＿ｒｉｒの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌとの平均値Ｔ＿ｕｐ＿ａｖｅを算出する。距離算出部１５は、当該算出された平均値Ｔ＿ｕｐ＿ａｖｅに基づき、グループＧ＿ｒｉｒにおける距離Ｄ、すなわちレンジＲ＿ｒｉｒに対応する距離Ｄを算出する。 The distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_rr and the rising time T_up_ril of the received signal RS_ril_rir. The distance calculation unit 15 calculates the distance D in the group G_rr, that is, the distance D corresponding to the range R_rr, based on the calculated average value T_up_ave.
　次いで、送信制御部１１が距離センサ２＿ｒｏｒに送信信号ＴＳ＿ｒｏｒを供給する。これにより、距離センサ２＿ｒｏｒが探索波を送信する。当該送信波が障害物Ｏにより反射された場合、距離センサ２＿ｒｏｒが直接波ＤＷ＿ｒｏｒ＿ｒｏｒを受信し得るものである。これに加えて、距離センサ２＿ｒｏｌが間接波ＩＷ＿ｒｏｌ＿ｒｏｒを受信し得るものであり、かつ、距離センサ２＿ｒｉｌが間接波ＩＷ＿ｒｉｌ＿ｒｏｒを受信し得るものであり、かつ、距離センサ２＿ｒｉｒが間接波ＩＷ＿ｒｉｒ＿ｒｏｒを受信し得るものである。 Next, the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror. As a result, the distance sensor 2_or transmits the search wave. When the transmission wave is reflected by the obstacle O, the distance sensor 2_or can receive the direct wave DW_or_or. In addition to this, the distance sensor 2_rol can receive the indirect wave IW_roll_ror, the distance sensor 2_ril can receive the indirect wave IW_ril_ror, and the distance sensor 2_rir can receive the indirect wave IW_rir_ror. It is a thing.
　したがって、受信制御部１２は、直接波ＤＷ＿ｒｏｒ＿ｒｏｒに対応する受信信号ＲＳ＿ｒｏｒ＿ｒｏｒを取得し得るものである。これに加えて、受信制御部１２は、間接波ＩＷ＿ｒｏｌ＿ｒｏｒに対応する受信信号ＲＳ＿ｒｏｌ＿ｒｏｒを取得し得るものであり、かつ、間接波ＩＷ＿ｒｉｌ＿ｒｏｒに対応する受信信号ＲＳ＿ｒｉｌ＿ｒｏｒを取得し得るものであり、かつ、間接波ＩＷ＿ｒｉｒ＿ｒｏｒに対応する受信信号ＲＳ＿ｒｉｒ＿ｒｏｒを取得し得るものである。 Therefore, the reception control unit 12 can acquire the reception signal RS_ror_ror corresponding to the direct wave DW_ror_ror. In addition to this, the reception control unit 12 is capable of acquiring the reception signal RS_roll_ror corresponding to the indirect wave IW_roll_ror, and is capable of acquiring the reception signal RS_ril_ror corresponding to the indirect wave IW_ril_ror, and indirectly. It is possible to acquire the reception signal RS_rr_ror corresponding to the wave IW_rir_ror.
　このとき、グルーピング処理部１３は、直接波ＤＷ＿ｒｏｒ＿ｒｏｒ及び間接波ＩＷ＿ｒｉｌ＿ｒｏｒ，ＩＷ＿ｒｉｒ＿ｒｏｒを含むグループＧ＿ｒｏｒを設定する（図６Ａ参照）。すなわち、グルーピング処理部１３は、間接波ＩＷ＿ｒｏｌ＿ｒｏｒ（不図示）をグループＧ＿ｒｏｒから除外する。除外対象となる間接波ＩＷ＿ｒｏｌ＿ｒｏｒは、複数個の距離センサ２のうちの探索波を送信した距離センサ２＿ｒｏｒに対して最も遠い位置に設置された距離センサ２＿ｒｏｌにより受信されたものである。 At this time, the grouping processing unit 13 sets the group G_ror including the direct wave DW_ror_ror and the indirect wave IW_ril_ror, IW_rir_ror (see FIG. 6A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_ror (not shown) from the group G_ror. The indirect wave IW_roll_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_lor that has transmitted the search wave among the plurality of distance sensors 2.
　グループＧ＿ｒｏｒにおいて、最初の受信信号ＲＳが受信信号ＲＳ＿ｒｏｒ＿ｒｏｒであり、かつ、最後の受信信号ＲＳが受信信号ＲＳ＿ｒｉｌ＿ｒｏｒであるものとする（図６Ｂ参照）。この場合、レンジ算出部１４は、受信信号ＲＳ＿ｒｏｒ＿ｒｏｒの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔ及び受信信号ＲＳ＿ｒｉｌ＿ｒｏｒの立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔに基づき、グループＧ＿ｒｏｒにおけるレンジＲ＿ｒｏｒを算出する。 In the group G_ror, it is assumed that the first received signal RS is the received signal RS_ror_ror and the last received signal RS is the received signal RS_ril_ror (see FIG. 6B). In this case, the range calculation unit 14 calculates the range R_ror in the group G_ror based on the rising time T_up_first of the received signal RS_ror_ror and the falling time T_down_last of the received signal RS_ril_rr.
　また、距離算出部１５は、受信信号ＲＳ＿ｒｉｒ＿ｒｏｒの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｒと受信信号ＲＳ＿ｒｉｌ＿ｒｏｒの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌとの平均値Ｔ＿ｕｐ＿ａｖｅを算出する。距離算出部１５は、当該算出された平均値Ｔ＿ｕｐ＿ａｖｅに基づき、グループＧ＿ｒｏｒにおける距離Ｄ、すなわちレンジＲ＿ｒｏｒに対応する距離Ｄを算出する。 The distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_ror and the rising time T_up_ril of the received signal RS_ril_ror. The distance calculation unit 15 calculates the distance D in the group G_ror, that is, the distance D corresponding to the range R_ror based on the calculated average value T_up_ave.
　送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４及び距離算出部１５は、車両１が後退しているとき、これらの処理を繰り返し実行する。これにより、複数個のレンジＲ＿ｒｏｌ、当該複数個のレンジＲ＿ｒｏｌと一対一に対応する複数個の距離Ｄ、複数個のレンジＲ＿ｒｉｌ、当該複数個のレンジＲ＿ｒｉｌと一対一に対応する複数個の距離Ｄ、複数個のレンジＲ＿ｒｉｒ、当該複数個のレンジＲ＿ｒｉｒと一対一に対応する複数個の距離Ｄ、複数個のレンジＲ＿ｒｏｒ、及び当該複数個のレンジＲ＿ｒｏｒと一対一に対応する複数個の距離Ｄが算出される。 The transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, and the distance calculation unit 15 repeatedly execute these processes when the vehicle 1 is moving backward. Accordingly, the plurality of ranges R_roll, the plurality of distances D corresponding to the plurality of ranges R_roll in a one-to-one relationship, the plurality of ranges R_ril, and the plurality of distances D in a one-to-one correspondence with the plurality of ranges R_ril. , A plurality of ranges R_rr, a plurality of distances D corresponding to the plurality of ranges R_rr in a one-to-one relationship, a plurality of ranges R_ror, and a plurality of distances D in a one-to-one correspondence with the plurality of ranges R_ror. Is calculated.
　図７は、グルーピング処理部１３によるグルーピングの対象となる直接波ＤＷ及び間接波ＩＷの一覧を示している。上記のとおり、間接波ＩＷ＿ｒｏｒ＿ｒｏｌ，ＩＷ＿ｒｏｒ＿ｒｉｌ，ＩＷ＿ｒｏｌ＿ｒｉｒ，ＩＷ＿ｒｏｌ＿ｒｏｒは、グルーピング処理部１３によるグルーピングの対象から除外されるものである。これにより、レンジ算出部１４により算出されるレンジＲのばらつきを低減することができる。 FIG. 7 shows a list of direct waves DW and indirect waves IW that are the targets of grouping by the grouping processing unit 13. As described above, the indirect waves IW_ror_roll, IW_ror_ril, IW_roll_rir, and IW_roll_ror are excluded from the grouping target by the grouping processing unit 13. Thereby, the variation of the range R calculated by the range calculation unit 14 can be reduced.
　また、内側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒによる受信波に対応する受信信号ＲＳの立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌ，Ｔ＿ｕｐ＿ｒｉｒを距離Ｄの算出に用いることにより、車両１と障害物Ｏ間の距離の推定精度を向上することができる。 Further, by using the rising times T_up_ril, T_up_rr of the reception signal RS corresponding to the reception waves by the inside installation distance sensors 2_ril, 2_rr for calculating the distance D, the estimation accuracy of the distance between the vehicle 1 and the obstacle O can be improved. You can
　すなわち、通常、車両１の後端部は曲線形状を有している。このため、外側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒは、内側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒに比して、車両１の前後方向（以下「車長方向」という。図中Ｘ軸に沿う方向である。）における後側、すなわち奥側に配置されている。したがって、仮に外側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒによる受信波に対応する受信信号ＲＳの立ち上がり時刻Ｔ＿ｕｐ＿ｒｏｌ，Ｔ＿ｕｐ＿ｒｏｒを距離Ｄの算出に用いた場合、車両１と障害物Ｏ間の距離の推定に誤差が発生する可能性がある。これに対して、立ち上がり時刻Ｔ＿ｕｐ＿ｒｉｌ，Ｔ＿ｕｐ＿ｒｉｒを距離Ｄの算出に用いることにより、当該誤差の発生を回避することができる。この結果、車両１と障害物Ｏ間の距離の推定精度を向上することができる。 That is, the rear end of the vehicle 1 usually has a curved shape. Therefore, the outer installation distance sensors 2_roll, 2_or in the front-rear direction of the vehicle 1 (hereinafter, referred to as the “vehicle length direction”, which is the direction along the X axis in the drawing) is more than the inner installation distance sensors 2_ril, 2_rr. It is arranged on the rear side, that is, on the back side. Therefore, if the rise times T_up_rol and T_up_or of the reception signal RS corresponding to the waves received by the outside installed distance sensors 2_roll and 2_or are used to calculate the distance D, an error occurs in the estimation of the distance between the vehicle 1 and the obstacle O. there's a possibility that. On the other hand, by using the rising times T_up_ril and T_up_rr for calculating the distance D, it is possible to avoid the occurrence of the error. As a result, the accuracy of estimating the distance between the vehicle 1 and the obstacle O can be improved.
　平均レンジ算出部１６は、距離算出部１５により算出された距離Ｄに基づき、Ｎ個の距離区間ΔＤ＿１～ΔＤ＿Ｎの各々におけるレンジＲの平均値（以下「平均レンジ」という。）Ｒ＿ａｖｅを算出するものである。ここで、Ｎは２以上の整数である。 The average range calculation unit 16 calculates an average value (hereinafter, referred to as “average range”) R_ave of the range R in each of the N distance sections ΔD_1 to ΔD_N based on the distance D calculated by the distance calculation unit 15. Is. Here, N is an integer of 2 or more.
　より具体的には、平均レンジ算出部１６は、個々の距離区間ΔＤにおける、レンジＲ＿ｒｏｌの平均値Ｒ＿ｒｏｌ＿ａｖｅ、レンジＲ＿ｒｉｌの平均値Ｒ＿ｒｉｌ＿ａｖｅ、レンジＲ＿ｒｉｒの平均値Ｒ＿ｒｉｒ＿ａｖｅ、及びレンジＲ＿ｒｏｒの平均値Ｒ＿ｒｏｒ＿ａｖｅを算出する。平均レンジ算出部１６は、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける平均レンジＲ＿ａｖｅ＿ａｌｌを算出する。 More specifically, the average range calculation unit 16 calculates the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or in each distance section ΔD. To do. The average range calculation unit 16 calculates the average range R_ave_all in each distance section ΔD by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
　図８は、３個の距離区間ΔＤ＿Ｎ，ΔＤ＿Ｎ－１，ΔＤ＿Ｎ－２の各々における、平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅの例、及び平均レンジＲ＿ａｖｅ＿ａｌｌの例を示している。図８に示す如く、個々の距離区間ΔＤの大きさは、一定値（β－α）に設定されている。ここで、当該大きさの下限値は０．０５メートルであり、かつ、当該大きさの上限値は１０メートルである。また、互いに隣接する距離区間ΔＤ間のずれ量は、任意の値γに設定されている。ここで、当該ずれ量の下限値は０．０５メートルであり、かつ、当該ずれ量の上限値は５メートルである。すなわち、互いに隣接する距離区間ΔＤは、その一部が互いに重複するものであっても良い。 FIG. 8 shows an example of average values R_roll_ave, R_ril_ave, R_rir_ave, R_ror_ave and an average range R_ave_all in each of the three distance sections ΔD_N, ΔD_N-1, and ΔD_N-2. As shown in FIG. 8, the size of each distance section ΔD is set to a constant value (β-α). Here, the lower limit of the size is 0.05 meters, and the upper limit of the size is 10 meters. Further, the amount of deviation between the distance sections ΔD adjacent to each other is set to an arbitrary value γ. Here, the lower limit value of the shift amount is 0.05 meters, and the upper limit value of the shift amount is 5 meters. That is, the distance sections ΔD adjacent to each other may partially overlap each other.
　以下、Ｎ個の距離区間ΔＤ＿１～ΔＤ＿Ｎのうちの各２個の距離区間ΔＤの組合せにおける、より小さい距離Ｄを含む距離区間ΔＤを「近距離区間」といい、より大きい距離Ｄを含む距離区間ΔＤを「遠距離区間」という。また、近距離区間における平均レンジＲ＿ａｖｅを「近距離区間平均レンジ」といい、遠距離区間における平均レンジＲ＿ａｖｅを「遠距離区間平均レンジ」という。また、近距離区間平均レンジに対応する第１軸（例えば横軸）を有し、かつ、遠距離区間平均レンジに対応する第２軸（例えば縦軸）を有する２次元マップＭを「平均レンジマップ」という。プロット処理部１７は、平均レンジ算出部１６により算出された平均レンジＲ＿ａｖｅを平均レンジマップＭにプロットするものである。 Hereinafter, a distance section ΔD including a smaller distance D in a combination of two distance sections ΔD among the N distance sections ΔD_1 to ΔD_N is referred to as a “short distance section”, and a distance section including a larger distance D. ΔD is called a “long distance section”. In addition, the average range R_ave in the short distance section is referred to as a “short distance section average range”, and the average range R_ave in the long distance section is referred to as a “long distance section average range”. In addition, a two-dimensional map M having a first axis (for example, a horizontal axis) corresponding to a short distance section average range and a second axis (for example, vertical axis) corresponding to a long distance section average range is referred to as “average range”. "Map". The plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
　ここで、図８を参照して、プロット処理部１７によるプロットの具体例について説明する。距離区間ΔＤ＿Ｎ（Ｄ＝α～β［ｍ］）と距離区間ΔＤ＿Ｎ－１（Ｄ＝α＋γ～β＋γ［ｍ］）との組合せにおいては、距離区間ΔＤ＿Ｎが近距離区間であり、かつ、距離区間ΔＤ＿Ｎ－１が遠距離区間である。当該組合せにより、横軸９．３ｃｍかつ縦軸８．４ｃｍの位置にプロットが得られる。また、距離区間ΔＤ＿Ｎ（Ｄ＝α～β［ｍ］）と距離区間ΔＤ＿Ｎ－２（Ｄ＝α＋２×γ～β＋２×γ［ｍ］）との組合せにおいては、距離区間ΔＤ＿Ｎが近距離区間であり、かつ、距離区間ΔＤ＿Ｎ－２が遠距離区間である。当該組合せにより、横軸９．３ｃｍかつ縦軸９．４ｃｍの位置にプロットが得られる。さらに、距離区間ΔＤ＿Ｎ－１（Ｄ＝α＋γ～β＋γ［ｍ］）と距離区間ΔＤ＿Ｎ－２（Ｄ＝α＋２×γ～β＋２×γ［ｍ］）との組合せにおいては、距離区間ΔＤ＿Ｎ－１が近距離区間であり、かつ、距離区間ΔＤ＿Ｎ－２が遠距離区間である。当該組合せにより、横軸８．４ｃｍかつ縦軸９．４ｃｍの位置にプロットが得られる。 Here, a specific example of plotting by the plotting processing unit 17 will be described with reference to FIG. In the combination of the distance section ΔD_N (D = α to β [m]) and the distance section ΔD_N−1 (D = α + γ to β + γ [m]), the distance section ΔD_N is a short distance section and the distance section ΔD_N -1 is a long distance section. With the combination, a plot is obtained at a position of 9.3 cm on the horizontal axis and 8.4 cm on the vertical axis. In the combination of the distance section ΔD_N (D = α to β [m]) and the distance section ΔD_N-2 (D = α + 2 × γ to β + 2 × γ [m]), the distance section ΔD_N is a short distance section. Further, the distance section ΔD_N-2 is a long distance section. With this combination, a plot is obtained at the position of 9.3 cm on the horizontal axis and 9.4 cm on the vertical axis. Furthermore, in the combination of the distance section ΔD_N-1 (D = α + γ to β + γ [m]) and the distance section ΔD_N-2 (D = α + 2 × γ to β + 2 × γ [m]), the distance section ΔD_N-1 is close. It is a distance section, and the distance section ΔD_N-2 is a long distance section. With the combination, a plot is obtained at a position of 8.4 cm on the horizontal axis and 9.4 cm on the vertical axis.
　閾値比較部１８は、プロット処理部１７によりプロットされた平均レンジＲ＿ａｖｅを所定の閾値Ｔｈと比較することにより、障害物Ｏの高さを判断するものである。より具体的には、閾値比較部１８は、当該プロットされた平均レンジＲ＿ａｖｅを２個の閾値Ｔｈ＿１，Ｔｈ＿２と比較することにより、障害物Ｏが路面障害物、路上障害物又は走行障害物のうちのいずれであるのかを判断するものである。以下、閾値Ｔｈ＿１を「第１閾値」といい、閾値Ｔｈ＿２を「第２閾値」という。 The threshold comparison unit 18 determines the height of the obstacle O by comparing the average range R_ave plotted by the plot processing unit 17 with a predetermined threshold Th. More specifically, the threshold comparing unit 18 compares the plotted average range R_ave with the two thresholds Th_1 and Th_2, so that the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. It is to determine which of the two. Hereinafter, the threshold Th_1 is referred to as a “first threshold” and the threshold Th_2 is referred to as a “second threshold”.
　図９は、平均レンジマップＭに平均レンジＲ＿ａｖｅがプロットされた状態の例を示している。図中、丸印（○）は、障害物Ｏが路面障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。また、三角印（△）は、障害物Ｏが路上障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。また、バツ印（×）は、障害物Ｏが走行障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。 FIG. 9 shows an example of a state in which the average range R_ave is plotted on the average range map M. In the figure, a circle (◯) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle. Further, a triangle mark (Δ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle. The cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
　図９に示す如く、障害物Ｏの高さに応じて、平均レンジマップＭにおける平均レンジＲ＿ａｖｅの分布範囲が異なるものとなる。このため、平均レンジマップＭにおける閾値Ｔｈを用いて、障害物Ｏの高さを判断することができる。より具体的には、第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２を用いて、障害物Ｏが路面障害物、路上障害物又は走行障害物のうちのいずれであるのかを判断することができる。すなわち、第１閾値Ｔｈ＿１は、障害物Ｏが路面障害物であるか否かを判断するための閾値である。また、第２閾値Ｔｈ＿２は、障害物Ｏが走行障害物であるか否かを判断するための閾値である。 As shown in FIG. 9, the distribution range of the average range R_ave in the average range map M varies depending on the height of the obstacle O. Therefore, the height of the obstacle O can be determined using the threshold Th in the average range map M. More specifically, using the first threshold value Th_1 and the second threshold value Th_2, it is possible to determine whether the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. That is, the first threshold Th_1 is a threshold for determining whether or not the obstacle O is a road surface obstacle. The second threshold Th_2 is a threshold for determining whether the obstacle O is a traveling obstacle.
　警告信号出力部１９は、閾値比較部１８により障害物Ｏが走行障害物であると判断されたとき、所定の信号（以下「警告信号」という。）を警告出力装置３に出力するものである。 The warning signal output unit 19 outputs a predetermined signal (hereinafter referred to as “warning signal”) to the warning output device 3 when the threshold comparison unit 18 determines that the obstacle O is a traveling obstacle. ..
　警告出力装置３は、警告信号出力部１９により警告信号が出力されたとき、車両１の搭乗者に対する警告を出力するものである。警告出力装置３は、例えば、ディスプレイ又はスピーカにより構成されている。警告出力装置３がディスプレイにより構成されている場合、警告出力装置３による警告出力は、当該ディスプレイにおける画像表示によるものである。警告出力装置３がスピーカにより構成されている場合、警告出力装置３による警告出力は、当該スピーカにおける音声出力によるものである。 The warning output device 3 outputs a warning to an occupant of the vehicle 1 when the warning signal output unit 19 outputs a warning signal. The warning output device 3 includes, for example, a display or a speaker. When the warning output device 3 is configured by a display, the warning output by the warning output device 3 is based on image display on the display. When the warning output device 3 is configured by a speaker, the warning output by the warning output device 3 is a voice output from the speaker.
　送信制御部１１及び受信制御部１２により、送受信制御部２１が構成されている。グルーピング処理部１３及びレンジ算出部１４により、レンジ測定部２２が構成されている。距離算出部１５及び平均レンジ算出部１６により、平均化処理部２３が構成されている。プロット処理部１７及び閾値比較部１８により、高さ判断部２４が構成されている。レンジ測定部２２、平均化処理部２３及び高さ判断部２４により、障害物検出装置１００が構成されている。警告信号出力部１９、送受信制御部２１及び障害物検出装置１００は、電子制御ユニット（以下「ＥＣＵ」と記載する。）４に設けられている。 A transmission / reception control unit 21 is configured by the transmission control unit 11 and the reception control unit 12. The grouping processing unit 13 and the range calculating unit 14 constitute a range measuring unit 22. The distance calculation unit 15 and the average range calculation unit 16 constitute an averaging processing unit 23. The plot processing unit 17 and the threshold comparison unit 18 constitute a height determination unit 24. The range measurement unit 22, the averaging processing unit 23, and the height determination unit 24 constitute an obstacle detection device 100. The warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100 are provided in an electronic control unit (hereinafter referred to as “ECU”) 4.
　次に、図１０を参照して、ＥＣＵ４の要部のハードウェア構成について説明する。 Next, with reference to FIG. 10, a hardware configuration of a main part of the ECU 4 will be described.
　図１０Ａに示す如く、ＥＣＵ４はプロセッサ４１及びメモリ４２を有している。メモリ４２には、ＥＣＵ４を送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４、距離算出部１５、平均レンジ算出部１６、プロット処理部１７、閾値比較部１８及び警告信号出力部１９として機能させるためのプログラムが記憶されている。メモリ４２に記憶されているプログラムをプロセッサ４１が読み出して実行することにより、送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４、距離算出部１５、平均レンジ算出部１６、プロット処理部１７、閾値比較部１８及び警告信号出力部１９の機能が実現される。 As shown in FIG. 10A, the ECU 4 has a processor 41 and a memory 42. In the memory 42, the ECU 4 includes a transmission control unit 11, a reception control unit 12, a grouping processing unit 13, a range calculation unit 14, a distance calculation unit 15, an average range calculation unit 16, a plot processing unit 17, a threshold value comparison unit 18, and a warning signal. A program for functioning as the output unit 19 is stored. When the processor 41 reads and executes the program stored in the memory 42, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16, The functions of the plot processing unit 17, the threshold comparison unit 18, and the warning signal output unit 19 are realized.
　または、図１０Ｂに示す如く、ＥＣＵ４は処理回路４３を有している。この場合、送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４、距離算出部１５、平均レンジ算出部１６、プロット処理部１７、閾値比較部１８及び警告信号出力部１９の機能が専用の処理回路４３により実現される。 Alternatively, as shown in FIG. 10B, the ECU 4 has a processing circuit 43. In this case, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16, the plot processing unit 17, the threshold value comparison unit 18, and the warning signal output unit 19. The function is realized by the dedicated processing circuit 43.
　または、ＥＣＵ４はプロセッサ４１、メモリ４２及び処理回路４３を有している（不図示）。この場合、送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４、距離算出部１５、平均レンジ算出部１６、プロット処理部１７、閾値比較部１８及び警告信号出力部１９の機能のうちの一部の機能がプロセッサ４１及びメモリ４２により実現されて、残余の機能が専用の処理回路４３により実現される。 Alternatively, the ECU 4 has a processor 41, a memory 42 and a processing circuit 43 (not shown). In this case, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16, the plot processing unit 17, the threshold value comparison unit 18, and the warning signal output unit 19. Some of the functions are realized by the processor 41 and the memory 42, and the remaining functions are realized by the dedicated processing circuit 43.
　プロセッサ４１は、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、マイクロプロセッサ、マイクロコントローラ又はＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）のうちの少なくとも一つを用いたものである。 The processor 41 uses, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, and a DSP (Digital Signal Processor).
　メモリ４２は、例えば、半導体メモリ又は磁気ディスクのうちの少なくとも一方を用いたものである。より具体的には、メモリ４２は、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ　Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ－Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）又はＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）のうちの少なくとも一つを用いたものである。 The memory 42 uses, for example, at least one of a semiconductor memory and a magnetic disk. More specifically, the memory 42 is a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory-Memory), an EEPROM (Electrically Organized Memory), or an EEPROM (Electrically Accessible Memory). At least one of State Drive) or HDD (Hard Disk Drive) is used.
　処理回路４３は、例えば、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＰＬＤ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｄｅｖｉｃｅ）、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、ＳｏＣ（Ｓｙｓｔｅｍ－ｏｎ－ａ－Ｃｈｉｐ）又はシステムＬＳＩ（Ｌａｒｇｅ－Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）のうちの少なくとも一つを用いたものである。 The processing circuit 43 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), or a SoC (Sonication) system. At least one of the above is used.
　次に、図１１のフローチャートを参照して、障害物検出装置１００を含むＥＣＵ４の動作について説明する。 Next, the operation of the ECU 4 including the obstacle detection device 100 will be described with reference to the flowchart of FIG.
　ＥＣＵ４は、車両１が後退しているとき、図１１Ａに示すステップＳＴ１～ＳＴ５の処理を繰り返し実行する。ＥＣＵ４は、例えば、ステップＳＴ５の処理により所定値（例えば３メートル）以下の距離Ｄが算出されたとき、又はステップＳＴ４，ＳＴ５の処理により所定個数（すなわちＮ個）以上の距離区間ΔＤに亘る距離Ｄに対応するレンジＲが算出されたとき、図１１Ｂに示すステップＳＴ６以降の処理を実行する。 The ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 11A when the vehicle 1 is moving backward. The ECU 4, for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ΔD of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5. When the range R corresponding to D is calculated, the processing from step ST6 shown in FIG. 11B is executed.
　まず、ステップＳＴ１にて、送信制御部１１は、個々の距離センサ２に送信信号ＴＳを供給する。 First, in step ST1, the transmission control unit 11 supplies the transmission signal TS to each distance sensor 2.
　例えば、第１回目のステップＳＴ１にて、送信制御部１１は、距離センサ２＿ｒｏｌに送信信号ＴＳ＿ｒｏｌを供給する。第２回目のステップＳＴ１にて、送信制御部１１は、距離センサ２＿ｒｉｌに送信信号ＴＳ＿ｒｉｌを供給する。第３回目のステップＳＴ１にて、送信制御部１１は、距離センサ２＿ｒｉｒに送信信号ＴＳ＿ｒｉｒを供給する。第４回目のステップＳＴ１にて、送信制御部１１は、距離センサ２＿ｒｏｒに送信信号ＴＳ＿ｒｏｒを供給する。 For example, in the first step ST1, the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll. In step ST1 of the second time, the transmission control unit 11 supplies the transmission signal TS_ril to the distance sensor 2_ril. In step ST1 of the third time, the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr. In the fourth step ST1, the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror.
　次いで、ステップＳＴ２にて、受信制御部１２は、個々の距離センサ２による受信信号ＲＳを取得する。受信制御部１２は、個々の受信信号ＲＳを検出閾値と比較することにより、立ち上がり時刻Ｔ＿ｕｐ及び立ち下がり時刻Ｔ＿ｄｏｗｎを検出する。 Next, in step ST2, the reception control unit 12 acquires the reception signal RS from each distance sensor 2. The reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with the detection threshold value.
　次いで、ステップＳＴ３にて、グルーピング処理部１３は、送信信号ＴＳが供給された距離センサ２に対応するグループＧ、すなわち探索波を送信した距離センサ２に対応するグループＧの設定が可能であれば、かかるグループＧを設定する。 Next, in step ST3, the grouping processing unit 13 can set the group G corresponding to the distance sensor 2 to which the transmission signal TS is supplied, that is, the group G corresponding to the distance sensor 2 that transmitted the search wave. , Such group G is set.
　例えば、第１回目のステップＳＴ３にて、グルーピング処理部１３は、距離センサ２＿ｒｏｌに対応するグループＧ＿ｒｏｌを設定する。第２回目のステップＳＴ３にて、グルーピング処理部１３は、距離センサ２＿ｒｉｌに対応するグループＧ＿ｒｉｌを設定する。第３回目のステップＳＴ３にて、グルーピング処理部１３は、距離センサ２＿ｒｉｒに対応するグループＧ＿ｒｉｒを設定する。第４回目のステップＳＴ３にて、グルーピング処理部１３は、距離センサ２＿ｒｏｒに対応するグループＧ＿ｒｏｒを設定する。 For example, in the first step ST3, the grouping processing unit 13 sets the group G_roll corresponding to the distance sensor 2_roll. In step ST3 of the second time, the grouping processing unit 13 sets the group G_ril corresponding to the distance sensor 2_ril. In step ST3 of the third time, the grouping processing unit 13 sets the group G_rr corresponding to the distance sensor 2_rr. In step ST3 of the 4th time, the grouping process part 13 sets the group G_ror corresponding to the distance sensor 2_ror.
　次いで、ステップＳＴ４にて、レンジ算出部１４は、当該設定されたグループＧにおけるレンジＲを算出する。また、ステップＳＴ５にて、距離算出部１５は、当該算出されたレンジＲに対応する距離Ｄの算出が可能であれば、かかる距離Ｄを算出する。 Next, in step ST4, the range calculation unit 14 calculates the range R in the set group G. In step ST5, if the distance calculation unit 15 can calculate the distance D corresponding to the calculated range R, the distance calculation unit 15 calculates the distance D.
　例えば、第１回目のステップＳＴ４，ＳＴ５にて、レンジＲ＿ｒｏｌが算出されるとともに、当該算出されたレンジＲ＿ｒｏｌに対応する距離Ｄが算出される。第２回目のステップＳＴ４，ＳＴ５にて、レンジＲ＿ｒｉｌが算出されるとともに、当該算出されたレンジＲ＿ｒｉｌに対応する距離Ｄが算出される。第３回目のステップＳＴ４，ＳＴ５にて、レンジＲ＿ｒｉｒが算出されるとともに、当該算出されたレンジＲ＿ｒｉｒに対応する距離Ｄが算出される。第４回目のステップＳＴ４，ＳＴ５にて、レンジＲ＿ｒｏｒが算出されるとともに、当該算出されたレンジＲ＿ｒｏｒに対応する距離Ｄが算出される。 For example, in the first steps ST4 and ST5, the range R_roll is calculated, and the distance D corresponding to the calculated range R_roll is calculated. In steps ST4 and ST5 of the second time, the range R_ril is calculated and the distance D corresponding to the calculated range R_ril is calculated. In steps ST4 and ST5 of the third time, the range R_rr is calculated and the distance D corresponding to the calculated range R_rr is calculated. In steps ST4 and ST5 of the fourth time, the range R_ror is calculated, and the distance D corresponding to the calculated range R_ror is calculated.
　次いで、ステップＳＴ６にて、平均レンジ算出部１６は、Ｎ個の距離区間ΔＤ＿１～ΔＤ＿Ｎの各々における平均レンジＲ＿ａｖｅを算出する。 Next, in step ST6, the average range calculation unit 16 calculates the average range R_ave in each of the N distance sections ΔD_1 to ΔD_N.
　より具体的には、平均レンジ算出部１６は、個々の距離区間ΔＤにおける、レンジＲ＿ｒｏｌの平均値Ｒ＿ｒｏｌ＿ａｖｅ、レンジＲ＿ｒｉｌの平均値Ｒ＿ｒｉｌ＿ａｖｅ、レンジＲ＿ｒｉｒの平均値Ｒ＿ｒｉｒ＿ａｖｅ、及びレンジＲ＿ｒｏｒの平均値Ｒ＿ｒｏｒ＿ａｖｅを算出する。平均レンジ算出部１６は、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける平均レンジＲ＿ａｖｅ＿ａｌｌを算出する。 More specifically, the average range calculation unit 16 calculates the average value R_rol_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rir, and the average value R_ror_ave of the range R_or in each distance section ΔD. To do. The average range calculation unit 16 calculates the average range R_ave_all in each distance section ΔD by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
　次いで、ステップＳＴ７にて、プロット処理部１７は、平均レンジ算出部１６により算出された平均レンジＲ＿ａｖｅを平均レンジマップＭにプロットする。 Next, in step ST7, the plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
　次いで、ステップＳＴ８にて、閾値比較部１８は、当該プロットされた平均レンジＲ＿ａｖｅを閾値Ｔｈと比較することにより、障害物Ｏの高さを判断する。より具体的には、閾値比較部１８は、当該プロットされた平均レンジＲ＿ａｖｅを第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２と比較することにより、障害物Ｏが路面障害物、路上障害物又は走行障害物のうちのいずれであるのかを判断する。 Next, in step ST8, the threshold comparison unit 18 determines the height of the obstacle O by comparing the plotted average range R_ave with the threshold Th. More specifically, the threshold comparison unit 18 compares the plotted average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is a road surface obstacle, a road obstacle, or a traveling obstacle. Which of the above is to be determined.
　次いで、ステップＳＴ９にて、警告信号出力部１９は、閾値比較部１８による判断結果に応じて警告信号を出力する。すなわち、警告信号出力部１９は、障害物Ｏが走行障害物であると判断された場合、警告出力信号を出力する。なお、障害物Ｏが路面障害物又は路上障害物であると判断された場合、ステップＳＴ９の処理はスキップされるものであっても良い。または、この場合、障害物Ｏが路面障害物であるか路上障害物であるかに応じて異なる出力が実行されるものであっても良い。 Next, in step ST9, the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold value comparison unit 18. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
　なお、４個の距離センサ２＿ｒｏｌ，２＿ｒｉｌ，２＿ｒｉｒ，２＿ｒｏｒに代えて又は加えて、車両１の前端部に４個の距離センサ２＿ｆｏｌ，２＿ｆｉｌ，２＿ｆｉｒ，２＿ｆｏｒが設けられているものであっても良い（不図示）。この場合、ＥＣＵ４は、車両１が前進しているとき、４個の距離センサ２＿ｆｏｌ，２＿ｆｉｌ，２＿ｆｉｒ，２＿ｆｏｒを用いて、上記各処理と同様の各処理を実行するものであっても良い。 Instead of or in addition to the four distance sensors 2_rol, 2_ril, 2_rr, and 2_or, four distance sensors 2_fol, 2_fil, 2_fir, and 2_for may be provided at the front end of the vehicle 1. (Not shown). In this case, the ECU 4 may execute the same processes as the above processes using the four distance sensors 2_fol, 2_fil, 2_fir, and 2_for when the vehicle 1 is moving forward.
　ここで、距離センサ２＿ｆｏｌ，２＿ｆｏｒは外側設置距離センサであり、かつ、距離センサ２＿ｆｉｌ，２＿ｆｉｒは内側設置距離センサである。また、距離センサ２＿ｆｏｌ，２＿ｆｏｒは高側設置距離センサであり、かつ、距離センサ２＿ｆｉｌ，２＿ｆｉｒは低側設置距離センサである。 Here, the distance sensors 2_fol and 2_for are outer installation distance sensors, and the distance sensors 2_fil and 2_fir are inner installation distance sensors. The distance sensors 2_fol and 2_for are high-side installation distance sensors, and the distance sensors 2_fil and 2_fir are low-side installation distance sensors.
　また、車両１の後端部における距離センサ２の設置個数は２個以上であれば良く、４個に限定されるものではない。また、車両１の前端部における距離センサ２の設置個数は２個以上であれば良く、４個に限定されるものではない。 Also, the number of the distance sensors 2 installed at the rear end of the vehicle 1 may be two or more, and is not limited to four. Further, the number of the distance sensors 2 installed at the front end of the vehicle 1 may be two or more, and is not limited to four.
　また、個々の距離区間ΔＤの大きさは一定値であれば良い。また、互いに隣接する距離区間ΔＤ間のずれ量は任意の値であれば良い。すなわち、互いに隣接する距離区間ΔＤは、互いに完全に重複したものでなければ良い。 Also, the size of each distance section ΔD may be a constant value. The amount of deviation between the distance sections ΔD adjacent to each other may be any value. That is, the distance sections ΔD that are adjacent to each other may not completely overlap each other.
　また、閾値Ｔｈの個数は１個以上であれば良く、２個に限定されるものではない。すなわち、高さ判断部２４による障害物Ｏの高さの判断は２段階以上の判断であれば良く、３段階の判断（すなわち、障害物Ｏが路面障害物、路上障害物又は走行障害物のうちのいずれであるかの判断）に限定されるものではない。 Also, the number of thresholds Th may be one or more, and is not limited to two. That is, the height determination unit 24 may determine the height of the obstacle O in two or more stages (ie, the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle). It is not limited to the judgment of which of them).
　例えば、閾値比較部１８は、平均レンジマップＭにプロットされた平均レンジＲ＿ａｖｅを第１閾値Ｔｈ＿１のみと比較することにより、障害物Ｏが路面障害物であるか否かを判断するものであっても良い。または、例えば、閾値比較部１８は、平均レンジマップＭにプロットされた平均レンジＲ＿ａｖｅを第２閾値Ｔｈ＿２のみと比較することにより、障害物Ｏが走行障害物であるか否かを判断するものであっても良い。 For example, the threshold comparison unit 18 determines whether or not the obstacle O is a road surface obstacle by comparing the average range R_ave plotted in the average range map M with only the first threshold Th_1. Is also good. Alternatively, for example, the threshold comparison unit 18 determines whether the obstacle O is a traveling obstacle by comparing the average range R_ave plotted in the average range map M with only the second threshold Th_2. It may be.
　以上のように、実施の形態１の障害物検出装置１００は、距離センサ２により送受信された直接波ＤＷ及び間接波ＩＷをグルーピングして、各グループＧにおける受信信号ＲＳの立ち上がり時刻Ｔ＿ｕｐ＿ｆｉｒｓｔと立ち下がり時刻Ｔ＿ｄｏｗｎ＿ｌａｓｔ間のレンジＲを算出するレンジ測定部２２と、レンジＲを平均化することにより平均レンジＲ＿ａｖｅを算出する平均化処理部２３と、平均レンジＲ＿ａｖｅを閾値Ｔｈと比較することにより障害物Ｏの高さを判断する高さ判断部２４と、を備える。レンジＲを用いることにより、マルチパスによるノイズの影響を低減することができる。また、レンジＲを平均化することにより（すなわち平均レンジＲ＿ａｖｅを用いることにより）、障害物Ｏの高さの判断を安定させることができる。この結果、障害物Ｏの高さを精度良く判断することができる。 As described above, the obstacle detection device 100 according to the first embodiment groups the direct wave DW and the indirect wave IW transmitted / received by the distance sensor 2, and the rise time T_up_first and the fall time of the reception signal RS in each group G. The range measuring unit 22 that calculates the range R between the times T_down_last, the averaging processing unit 23 that calculates the average range R_ave by averaging the range R, and the obstacle O by comparing the average range R_ave with the threshold Th. A height determination unit 24 that determines the height of the. By using the range R, the influence of noise due to multipath can be reduced. Further, by averaging the range R (that is, by using the average range R_ave), it is possible to stabilize the determination of the height of the obstacle O. As a result, the height of the obstacle O can be accurately determined.
　また、閾値Ｔｈは、互いに異なる第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２を含み、高さ判断部２４は、平均レンジＲ＿ａｖｅを第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２と比較することにより、障害物Ｏが路面障害物、路上障害物又は走行障害物のうちのいずれであるのかを判断する。複数個の閾値Ｔｈを用いることにより、障害物Ｏの高さを多段階に判断することができる。 The threshold Th includes a first threshold Th_1 and a second threshold Th_2 that are different from each other, and the height determination unit 24 compares the average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is It is determined whether the obstacle is a road surface obstacle, a road obstacle or a traveling obstacle. By using a plurality of threshold values Th, the height of the obstacle O can be determined in multiple stages.
　また、平均レンジＲ＿ａｖｅは、互いに異なる距離区間ΔＤに対応する近距離区間平均レンジ及び遠距離区間平均レンジを含み、高さ判断部２４は、近距離区間平均レンジに対応する第１軸及び遠距離区間平均レンジに対応する第２軸を有する平均レンジマップＭに平均レンジＲ＿ａｖｅをプロットすることにより、障害物Ｏの高さを判断する。平均レンジマップＭを用いることにより、障害物Ｏの高さの判断精度を更に向上することができる。 In addition, the average range R_ave includes a short distance section average range and a long distance section average range corresponding to different distance sections ΔD, and the height determination unit 24 determines that the first axis and the long distance corresponding to the short distance section average range. The height of the obstacle O is determined by plotting the average range R_ave on the average range map M having the second axis corresponding to the section average range. By using the average range map M, the accuracy of determining the height of the obstacle O can be further improved.
実施の形態２．
　図１２は、実施の形態２に係る障害物検出装置を含む電子制御ユニットが車両に設けられている状態を示すブロック図である。図１２を参照して、実施の形態２の障害物検出装置１００ａについて説明する。なお、図１２において、図２に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Embodiment 2.
FIG. 12 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle. The obstacle detection device 100a according to the second embodiment will be described with reference to FIG. Note that in FIG. 12, the same blocks as the blocks shown in FIG.
　平均レンジ算出部１６ａは、距離算出部１５により算出された距離Ｄに基づき、Ｎ個の距離区間ΔＤ＿１～ΔＤ＿Ｎの各々における平均レンジＲ＿ａｖｅを算出するものである。 The average range calculator 16a calculates the average range R_ave in each of the N distance sections ΔD_1 to ΔD_N based on the distance D calculated by the distance calculator 15.
　より具体的には、まず、平均レンジ算出部１６ａは、個々の距離区間ΔＤにおける、レンジＲ＿ｒｏｌの平均値Ｒ＿ｒｏｌ＿ａｖｅ、レンジＲ＿ｒｉｌの平均値Ｒ＿ｒｉｌ＿ａｖｅ、レンジＲ＿ｒｉｒの平均値Ｒ＿ｒｉｒ＿ａｖｅ、及びレンジＲ＿ｒｏｒの平均値Ｒ＿ｒｏｒ＿ａｖｅを算出する。 More specifically, first, the average range calculation unit 16a, in each distance section ΔD, the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or. To calculate.
　次いで、平均レンジ算出部１６ａは、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける平均レンジ（以下「第１平均レンジ」という。）Ｒ＿ａｖｅ＿ａｌｌを算出する。これに加えて、平均レンジ算出部１６ａは、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける平均レンジ（以下「第２平均レンジ」という。）Ｒ＿ａｖｅ＿ｏｕｔｅｒを算出する。すなわち、第１平均レンジＲ＿ａｖｅ＿ａｌｌは、外側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒ及び内側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒによる送信波に対応するレンジＲ＿ｒｏｌ，Ｒ＿ｒｉｌ，Ｒ＿ｒｉｒ，Ｒ＿ｒｏｒが平均化されたものである。これに対して、第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒは、外側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒによる送信波に対応するレンジＲ＿ｒｏｌ，Ｒ＿ｒｏｒが平均化されたものである。 Next, the average range calculation unit 16a averages the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave to obtain an average range (hereinafter referred to as “first average range”) R_ave_all in each distance section ΔD. calculate. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as “second average range”) R_ave_outer in each distance section ΔD by averaging the calculated average values R_roll_ave and R_ror_ave. To do. That is, the first average range R_ave_all is an average of the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the outer installation distance sensors 2_roll, 2_rr and the inner installation distance sensors 2_ril, 2_rr. On the other hand, the second average range R_ave_outer is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the outside installation distance sensors 2_roll and 2_lor.
　または、次いで、平均レンジ算出部１６ａは、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける第１平均レンジＲ＿ａｖｅ＿ａｌｌを算出する。これに加えて、平均レンジ算出部１６ａは、当該算出された平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅを平均化することにより、個々の距離区間ΔＤにおける平均レンジ（以下「第３平均レンジ」という。）Ｒ＿ａｖｅ＿ｕｐｐｅｒを算出する。すなわち、第１平均レンジＲ＿ａｖｅ＿ａｌｌは、高側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒ及び低側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒによる送信波に対応するレンジＲ＿ｒｏｌ，Ｒ＿ｒｉｌ，Ｒ＿ｒｉｒ，Ｒ＿ｒｏｒが平均化されたものである。これに対して、第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒは、高側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒによる送信波に対応するレンジＲ＿ｒｏｌ，Ｒ＿ｒｏｒが平均化されたものである。 Alternatively, then, the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ΔD by averaging the calculated average values R_roll_ave, R_ril_ave, R_rr_ave, R_ror_ave. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as a “third average range”) R_ave_upper in each distance section ΔD by averaging the calculated average values R_roll_ave and R_ror_ave. To do. That is, the first average range R_ave_all is obtained by averaging the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the high-side installation distance sensors 2_rol, 2_rr and the low-side installation distance sensors 2_ril, 2_rr. On the other hand, the third average range R_ave_upper is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the high side installation distance sensors 2_rol and 2_or.
　図１３は、３個の距離区間ΔＤ＿Ｎ，ΔＤ＿Ｎ－１，ΔＤ＿Ｎ－２の各々における、平均値Ｒ＿ｒｏｌ＿ａｖｅ，Ｒ＿ｒｉｌ＿ａｖｅ，Ｒ＿ｒｉｒ＿ａｖｅ，Ｒ＿ｒｏｒ＿ａｖｅの例、第１平均レンジＲ＿ａｖｅ＿ａｌｌの例、第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒの例、及び第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒの例を示している。なお、図１３に示す例においては、外側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒと高側設置距離センサ２＿ｒｏｌ，２＿ｒｏｒとが互いに同一のものであり、かつ、内側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒと低側設置距離センサ２＿ｒｉｌ，２＿ｒｉｒとが互いに同一のものであるため、個々の距離区間ΔＤにおける第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒと第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒとが互いに同一の値である。 FIG. 13 shows an example of the average values R_roll_ave, R_ril_ave, R_ril_ave, R_ror_ave, an example of the first average range R_ave_all, and an example of the second average range R_ave_outer in each of the three distance sections ΔD_N, ΔD_N-1, and ΔD_N-2. And an example of the third average range R_ave_upper. Note that in the example shown in FIG. 13, the outer installation distance sensors 2_roll, 2_lor and the high installation distance sensors 2_roll, 2_or are the same as each other, and the inner installation distance sensors 2_ril, 2_rr and the low installation distance sensor 2_roll. Since 2_ril and 2_ril are the same as each other, the second average range R_ave_outer and the third average range R_ave_upper in the individual distance sections ΔD have the same value.
　プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された平均レンジＲ＿ａｖｅを平均レンジマップＭにプロットするものである。 The plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M.
　より具体的には、プロット処理部１７ａは、２個の平均レンジマップＭ＿１，Ｍ＿２を有している。プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された第１平均レンジＲ＿ａｖｅ＿ａｌｌを一方の平均レンジマップ（以下「第１平均レンジマップ」という。）Ｍ＿１にプロットする。また、プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒを他方の平均レンジマップ（以下「第２平均レンジマップ」という。）Ｍ＿２にプロットする。第１平均レンジマップＭ＿１及び第２平均レンジマップＭ＿２の各々に対するプロットの方法は実施の形態１にて説明したものと同様であるため、再度の説明は省略する。 More specifically, the plot processing unit 17a has two average range maps M_1 and M_2. The plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (hereinafter referred to as “first average range map”) M_1. The plot processing unit 17a also plots the second average range R_ave_outer calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “second average range map”) M_2. The plotting method for each of the first average range map M_1 and the second average range map M_2 is the same as that described in the first embodiment, and thus the repetitive description will be omitted.
　または、プロット処理部１７ａは、２個の平均レンジマップＭ＿１，Ｍ＿３を有している。プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された第１平均レンジＲ＿ａｖｅ＿ａｌｌを一方の平均レンジマップ（すなわち第１平均レンジマップ）Ｍ＿１にプロットする。また、プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒを他方の平均レンジマップ（以下「第３平均レンジマップ」という。）Ｍ＿３にプロットする。第１平均レンジマップＭ＿１及び第３平均レンジマップＭ＿３の各々に対するプロットの方法は実施の形態１にて説明したものと同様であるため、再度の説明は省略する。 Alternatively, the plot processing unit 17a has two average range maps M_1 and M_3. The plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (that is, the first average range map) M_1. The plot processing unit 17a also plots the third average range R_ave_upper calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “third average range map”) M_3. The plotting method for each of the first average range map M_1 and the third average range map M_3 is the same as that described in the first embodiment, and therefore the repetitive description will be omitted.
　以下、障害物Ｏにおける探索波を反射する面部が傾斜を有するものである場合、この障害物Ｏを「傾斜障害物」という。傾斜障害物は、例えば、輪止めである。 Hereafter, when the surface portion of the obstacle O that reflects the search wave has an inclination, this obstacle O is referred to as an “inclined obstacle”. The tilt obstacle is, for example, a wheel stopper.
　種別判断部３１は、第１平均レンジマップＭ＿１における第１平均レンジＲ＿ａｖｅ＿ａｌｌの分布（以下「第１平均レンジ分布」という。）と第２平均レンジマップＭ＿２における第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒの分布（以下「第２平均レンジ分布」という。）とを比較するものである。種別判断部３１は、第２平均レンジ分布に対する第１平均レンジ分布の偏差に基づき、障害物Ｏが傾斜障害物であるか否かを判断するものである。より具体的には、種別判断部３１は、第２平均レンジ分布に対する第１平均レンジ分布の偏差が所定値よりも大きいとき、障害物Ｏが傾斜障害物であると判断する。他方、第２平均レンジ分布に対する第１平均レンジ分布の偏差が所定値以下であるとき、種別判断部３１は、障害物Ｏが傾斜障害物でないと判断する。 The type determining unit 31 determines the distribution of the first average range R_ave_all in the first average range map M_1 (hereinafter referred to as “first average range distribution”) and the distribution of the second average range R_ave_outer in the second average range map M_2 (hereinafter “ The second average range distribution "). The type determining unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the second average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the second average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
　または、種別判断部３１は、第１平均レンジ分布と第３平均レンジマップＭ＿３における第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒの分布（以下「第３平均レンジ分布」という。）とを比較するものである。種別判断部３１は、第３平均レンジ分布に対する第１平均レンジ分布の偏差に基づき、障害物Ｏが傾斜障害物であるか否かを判断するものである。より具体的には、種別判断部３１は、第３平均レンジ分布に対する第１平均レンジ分布の偏差が所定値よりも大きいとき、障害物Ｏが傾斜障害物であると判断する。他方、第３平均レンジ分布に対する第１平均レンジ分布の偏差が所定値以下であるとき、種別判断部３１は、障害物Ｏが傾斜障害物でないと判断する。 Alternatively, the type determination unit 31 compares the first average range distribution with the distribution of the third average range R_ave_upper in the third average range map M_3 (hereinafter referred to as “third average range distribution”). The type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the third average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the third average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the third average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
　閾値比較部１８ａは、種別判断部３１により障害物Ｏが傾斜障害物でないと判断された場合、第１平均レンジマップＭ＿１を用いて障害物Ｏの高さを判断するものである。すなわち、閾値比較部１８ａは、第１平均レンジマップＭ＿１にプロットされた第１平均レンジＲ＿ａｖｅ＿ａｌｌを閾値Ｔｈ（より具体的には第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２）と比較することにより、障害物Ｏの高さを判断する。 The threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 when the type determination unit 31 determines that the obstacle O is not a tilted obstacle. That is, the threshold comparing unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the threshold Th (more specifically, the first threshold Th_1 and the second threshold Th_2) to thereby prevent an obstacle. Judge the height of O.
　他方、種別判断部３１により障害物Ｏが傾斜障害物であると判断された場合、閾値比較部１８ａは、第２平均レンジマップＭ＿２又は第３平均レンジマップＭ＿３を用いて障害物Ｏの高さを判断するものである。すなわち、閾値比較部１８ａは、第２平均レンジマップＭ＿２にプロットされた第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒ又は第３平均レンジマップＭ＿３にプロットされた第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒを閾値Ｔｈ（より具体的には第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２）と比較することにより、障害物Ｏの高さを判断する。 On the other hand, when the type determination unit 31 determines that the obstacle O is a tilted obstacle, the threshold comparison unit 18a uses the second average range map M_2 or the third average range map M_3 to determine the height of the obstacle O. Is to judge. That is, the threshold comparison unit 18a sets the second average range R_ave_outer plotted on the second average range map M_2 or the third average range R_ave_upper plotted on the third average range map M_3 to the threshold Th (more specifically, the first average range R_ave_outer). The height of the obstacle O is determined by comparing with the threshold Th_1 and the second threshold Th_2).
　ここで、第１平均レンジマップＭ＿１における第１閾値Ｔｈ＿１と第２平均レンジマップＭ＿２における第１閾値Ｔｈ＿１とは、互いに同等の値であっても良く、又は互いに異なる値であっても良い。また、第１平均レンジマップＭ＿１における第２閾値Ｔｈ＿２と第２平均レンジマップＭ＿２における第２閾値Ｔｈ＿２とは、互いに同等の値であっても良く、又は互いに異なる値であっても良い。同様に、第１平均レンジマップＭ＿１における第１閾値Ｔｈ＿１と第３平均レンジマップＭ＿３における第１閾値Ｔｈ＿１とは、互いに同等の値であっても良く、又は互いに異なる値であっても良い。また、第１平均レンジマップＭ＿１における第２閾値Ｔｈ＿２と第３平均レンジマップＭ＿３における第２閾値Ｔｈ＿２とは、互いに同等の値であっても良く、又は互いに異なる値であっても良い。 Here, the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the second average range map M_2 may be equal to each other or different from each other. Further, the second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the second average range map M_2 may be equal to each other or different from each other. Similarly, the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the third average range map M_3 may have the same value or different values. The second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the third average range map M_3 may have the same value or different values.
　図１４Ａは、障害物Ｏが傾斜障害物である場合における、第１平均レンジマップＭ＿１に第１平均レンジＲ＿ａｖｅ＿ａｌｌがプロットされた状態の例を示している。図１４Ｂは、障害物Ｏが傾斜障害物である場合における、第２平均レンジマップＭ＿２に第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒがプロットされた状態の例を示している。図３Ｃは、障害物Ｏが傾斜障害物である場合における、第３平均レンジマップＭ＿３に第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒがプロットされた状態の例を示している。図中、丸印（○）は、障害物Ｏが路面障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。また、三角印（△）は、障害物Ｏが路上障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。また、バツ印（×）は、障害物Ｏが走行障害物であるときの平均レンジＲ＿ａｖｅのプロット位置を示している。 FIG. 14A shows an example of a state in which the first average range R_ave_all is plotted on the first average range map M_1 when the obstacle O is a tilted obstacle. FIG. 14B shows an example of a state in which the second average range R_ave_outer is plotted on the second average range map M_2 when the obstacle O is a tilted obstacle. FIG. 3C shows an example of a state in which the third average range R_ave_upper is plotted on the third average range map M_3 when the obstacle O is a tilted obstacle. In the figure, a circle (◯) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle. Further, a triangle mark (Δ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle. The cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
　図１４Ａに示す如く、障害物Ｏが傾斜障害物であるときは、障害物Ｏの高さが低い場合（例えば障害物Ｏが路面障害物又は路上障害物である場合）であっても、第１平均レンジＲ＿ａｖｅ＿ａｌｌは大きくなる傾向がある。すなわち、図中丸印（○）及び図中三角印（△）の分布が図中右上方向に偏る傾向がある。このため、第１平均レンジマップＭ＿１を用いて障害物Ｏの高さを判断するのは困難である。 As shown in FIG. 14A, when the obstacle O is an inclined obstacle, even when the height of the obstacle O is low (for example, when the obstacle O is a road surface obstacle or a road obstacle), 1 Average range R_ave_all tends to be large. That is, the distributions of circles (◯) and triangles (Δ) in the figure tend to be biased toward the upper right direction in the figure. Therefore, it is difficult to determine the height of the obstacle O using the first average range map M_1.
　これに対して、第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒは、障害物Ｏが傾斜障害物である場合においても、障害物Ｏの高さが低いとき（例えば障害物Ｏが路面障害物又は路上障害物であるとき）は小さくなる傾向がある。したがって、第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒを用いることにより、図１４Ｂに示す如く、図中丸印（○）及び図中三角印（△）の分布を図中左下方向に広げることができる。このため、第２平均レンジマップＭ＿２を用いることにより、障害物Ｏが傾斜障害物である場合であっても、障害物Ｏの高さを判断することができる。また、第２平均レンジ分布に対する第１平均レンジ分布の偏差に基づき、障害物Ｏが傾斜障害物であるか否かを判断することができる。 On the other hand, the second average range R_ave_outer is set when the height of the obstacle O is low even when the obstacle O is a slope obstacle (for example, when the obstacle O is a road surface obstacle or a road obstacle). ) Tends to be smaller. Therefore, by using the second average range R_ave_outer, as shown in FIG. 14B, the distribution of circles (◯) and triangles (Δ) in the figure can be widened in the lower left direction in the figure. Therefore, by using the second average range map M_2, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the second average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
　同様に、第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒは、障害物Ｏが傾斜障害物である場合においても、障害物Ｏの高さが低いとき（例えば障害物Ｏが路面障害物又は路上障害物であるとき）は小さくなる傾向がある。したがって、第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒを用いることにより、図１４Ｃに示す如く、図中丸印（○）及び図中三角印（△）の分布を図中左下方向に広げることができる。このため、第３平均レンジマップＭ＿３を用いることにより、障害物Ｏが傾斜障害物である場合であっても、障害物Ｏの高さを判断することができる。また、第３平均レンジ分布に対する第１平均レンジ分布の偏差に基づき、障害物Ｏが傾斜障害物であるか否かを判断することができる。 Similarly, the third average range R_ave_upper is set even when the obstacle O is a slope obstacle when the height of the obstacle O is low (for example, when the obstacle O is a road surface obstacle or a road obstacle). Tends to be smaller. Therefore, by using the third average range R_ave_upper, as shown in FIG. 14C, the distribution of circles (◯) and triangles (Δ) in the drawing can be widened in the lower left direction in the drawing. Therefore, by using the third average range map M_3, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the third average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
　距離算出部１５及び平均レンジ算出部１６ａにより、平均化処理部２３ａが構成されている。プロット処理部１７ａ及び閾値比較部１８ａにより、高さ判断部２４ａが構成されている。レンジ測定部２２、平均化処理部２３ａ、高さ判断部２４ａ及び種別判断部３１により、障害物検出装置１００ａが構成されている。警告信号出力部１９、送受信制御部２１及び障害物検出装置１００ａは、ＥＣＵ４に設けられている。 The distance calculating unit 15 and the average range calculating unit 16a constitute an averaging processing unit 23a. A height determination unit 24a is configured by the plot processing unit 17a and the threshold value comparison unit 18a. The range measurement unit 22, the averaging processing unit 23a, the height determination unit 24a, and the type determination unit 31 constitute an obstacle detection device 100a. The warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100a are provided in the ECU 4.
　ＥＣＵ４の要部のハードウェア構成は実施の形態１にて図１０を参照して説明したものと同様であるため、図示及び説明を省略する。すなわち、送信制御部１１、受信制御部１２、グルーピング処理部１３、レンジ算出部１４、距離算出部１５、平均レンジ算出部１６ａ、プロット処理部１７ａ、閾値比較部１８ａ、警告信号出力部１９及び種別判断部３１の各々の機能は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は専用の処理回路４３により実現されるものであっても良い。 Since the hardware configuration of the main part of the ECU 4 is the same as that described in Embodiment 1 with reference to FIG. 10, illustration and description thereof will be omitted. That is, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16a, the plot processing unit 17a, the threshold value comparison unit 18a, the warning signal output unit 19, and the type. Each function of the determination unit 31 may be realized by the processor 41 and the memory 42, or may be realized by a dedicated processing circuit 43.
　次に、図１５のフローチャートを参照して、障害物検出装置１００ａを含むＥＣＵ４の動作について説明する。より具体的には、第２平均レンジマップＭ＿２を用いる場合の例について説明する。 Next, the operation of the ECU 4 including the obstacle detection device 100a will be described with reference to the flowchart of FIG. More specifically, an example of using the second average range map M_2 will be described.
　ＥＣＵ４は、車両１が後退しているとき、図１５Ａに示すステップＳＴ１～ＳＴ５の処理を繰り返し実行する。ＥＣＵ４は、例えば、ステップＳＴ５の処理により所定値（例えば３メートル）以下の距離Ｄが算出されたとき、又はステップＳＴ４，ＳＴ５の処理により所定個数（すなわちＮ個）以上の距離区間ΔＤに亘る距離Ｄに対応するレンジＲが算出されたとき、図１５Ｂに示すステップＳＴ６ａ以降の処理を実行する。 The ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 15A when the vehicle 1 is moving backward. The ECU 4, for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ΔD of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5. When the range R corresponding to D is calculated, the processes after step ST6a shown in FIG. 15B are executed.
　なお、図１５Ａに示すステップＳＴ１～ＳＴ５の処理内容は、図１１Ａに示すステップＳＴ１～ＳＴ５の処理内容と同様である。このため、再度の説明は省略する。 Note that the processing contents of steps ST1 to ST5 shown in FIG. 15A are the same as the processing contents of steps ST1 to ST5 shown in FIG. 11A. Therefore, the repeated description is omitted.
　ステップＳＴ６ａにて、平均レンジ算出部１６ａは、Ｎ個の距離区間ΔＤ＿１～ΔＤ＿Ｎの各々における平均レンジＲ＿ａｖｅを算出する。より具体的には、平均レンジ算出部１６ａは、個々の距離区間ΔＤにおける第１平均レンジＲ＿ａｖｅ＿ａｌｌを算出するとともに、個々の距離区間ΔＤにおける第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒを算出する。 In step ST6a, the average range calculation unit 16a calculates the average range R_ave in each of the N distance sections ΔD_1 to ΔD_N. More specifically, the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ΔD and also calculates the second average range R_ave_outer in each distance section ΔD.
　次いで、ステップＳＴ７ａにて、プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された平均レンジＲ＿ａｖｅを平均レンジマップＭにプロットする。より具体的には、プロット処理部１７ａは、平均レンジ算出部１６ａにより算出された第１平均レンジＲ＿ａｖｅ＿ａｌｌを第１平均レンジマップＭ＿１にプロットするとともに、平均レンジ算出部１６ａにより算出された第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒを第２平均レンジマップＭ＿２にプロットする。 Next, in step ST7a, the plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M. More specifically, the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on the first average range map M_1 and the second average calculated by the average range calculation unit 16a. The range R_ave_outer is plotted on the second average range map M_2.
　次いで、ステップＳＴ１１にて、種別判断部３１は、第２平均レンジ分布に対する第１平均レンジ分布の偏差に基づき、障害物Ｏが傾斜障害物であるか否かを判断する。より具体的には、種別判断部３１は、当該偏差が所定値よりも大きい場合、障害物Ｏが傾斜障害物であると判断する（ステップＳＴ１１“ＹＥＳ”）。他方、当該偏差が所定値以下である場合、種別判断部３１は、障害物Ｏが傾斜障害物でないと判断する（ステップＳＴ１１“ＮＯ”）。 Next, in step ST11, the type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, when the deviation is larger than the predetermined value, the type determination unit 31 determines that the obstacle O is a tilted obstacle (step ST11 “YES”). On the other hand, when the deviation is less than or equal to the predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle (step ST11 “NO”).
　障害物Ｏが傾斜障害物でないと判断された場合（ステップＳＴ１１“ＮＯ”）、ステップＳＴ８ａにて、閾値比較部１８ａは、第１平均レンジマップＭ＿１を用いて障害物Ｏの高さを判断する。すなわち、閾値比較部１８ａは、第１平均レンジマップＭ＿１にプロットされた第１平均レンジＲ＿ａｖｅ＿ａｌｌを第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２と比較することにより、障害物Ｏが路面障害部、路上障害物又は走行障害物のうちのいずれであるのかを判断する。 When it is determined that the obstacle O is not a tilted obstacle (step ST11 “NO”), the threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 in step ST8a. .. That is, the threshold comparison unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
　他方、障害物Ｏが傾斜障害物であると判断された場合（ステップＳＴ１１“ＹＥＳ”）、ステップＳＴ８ｂにて、閾値比較部１８ａは、第２平均レンジマップＭ＿２を用いて障害物Ｏの高さを判断する。すなわち、閾値比較部１８ａは、第２平均レンジマップＭ＿２にプロットされた第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒを第１閾値Ｔｈ＿１及び第２閾値Ｔｈ＿２と比較することにより、障害物Ｏが路面障害部、路上障害物又は走行障害物のうちのいずれであるのかを判断する。 On the other hand, when it is determined that the obstacle O is a tilted obstacle (step ST11 “YES”), the threshold comparison unit 18a uses the second average range map M_2 to determine the height of the obstacle O in step ST8b. To judge. That is, the threshold comparison unit 18a compares the second average range R_ave_outer plotted in the second average range map M_2 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
　次いで、ステップＳＴ９にて、警告信号出力部１９は、閾値比較部１８ａによる判断結果に応じて警告信号を出力する。すなわち、警告信号出力部１９は、障害物Ｏが走行障害物であると判断された場合、警告出力信号を出力する。なお、障害物Ｏが路面障害物又は路上障害物であると判断された場合、ステップＳＴ９の処理はスキップされるものであっても良い。または、この場合、障害物Ｏが路面障害物であるか路上障害物であるかに応じて異なる出力が実行されるものであっても良い。 Next, in step ST9, the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold comparison unit 18a. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
　なお、障害物検出装置１００ａは、実施の形態１にて説明したものと同様の種々の変形例を採用することができる。 Note that the obstacle detection device 100a can employ various modifications similar to those described in the first embodiment.
　以上のように、実施の形態２の障害物検出装置１００ａにおいて、距離センサ２は、車幅方向に対する設置位置が互いに異なる外側設置距離センサ及び内側設置距離センサを含み、平均レンジＲ＿ａｖｅは、外側設置距離センサ及び内側設置距離センサによる送信波に対応する第１平均レンジＲ＿ａｖｅ＿ａｌｌと、外側設置距離センサによる送信波に対応する第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒと、を含み、平均レンジマップＭは、第１平均レンジＲ＿ａｖｅ＿ａｌｌがプロットされる第１平均レンジマップＭ＿１と、第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒがプロットされる第２平均レンジマップＭ＿２と、を含み、障害物検出装置１００ａは、第２平均レンジマップＭ＿２における第２平均レンジＲ＿ａｖｅ＿ｏｕｔｅｒの分布（第２平均レンジ分布）に対する第１平均レンジマップＭ＿１における第１平均レンジＲ＿ａｖｅ＿ａｌｌの分布（第１平均レンジ分布）の偏差が所定値よりも大きいとき、障害物Ｏが傾斜障害物であると判断する種別判断部３１を備え、高さ判断部２４ａは、障害物Ｏが傾斜障害物であると判断されたとき、第２平均レンジマップＭ＿２を用いて障害物Ｏの高さを判断する。これにより、障害物Ｏが傾斜障害物であるか否かを判断することができる。また、障害物Ｏが傾斜障害物である場合であっても、障害物Ｏの高さを判断することができる。 As described above, in the obstacle detection device 100a of the second embodiment, the distance sensor 2 includes the outer installation distance sensor and the inner installation distance sensor whose installation positions in the vehicle width direction are different from each other, and the average range R_ave is the outer installation. The average range map M includes a first average range R_ave_all corresponding to a transmission wave from the distance sensor and the inside installed distance sensor, and a second average range R_ave_outer corresponding to a transmission wave from the outside installed distance sensor. The obstacle detection device 100a includes the first average range map M_1 in which R_ave_all is plotted and the second average range map M_2 in which the second average range R_ave_outer is plotted, and the second average in the second average range map M_2. When the deviation of the distribution (first average range distribution) of the first average range R_ave_all in the first average range map M_1 from the distribution of the range R_ave_outer (second average range distribution) is larger than a predetermined value, the obstacle O is a slope obstacle. The height determination unit 24a uses the second average range map M_2 to determine the height of the obstacle O when it is determined that the obstacle O is a tilted obstacle. to decide. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even if the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
　また、障害物検出装置１００ａにおいて、距離センサ２は、車高方向に対する設置位置が互いに異なる高側設置距離センサ及び低側設置距離センサを含み、平均レンジＲ＿ａｖｅは、高側設置距離センサ及び低側設置距離センサによる送信波に対応する第１平均レンジＲ＿ａｖｅ＿ａｌｌと、高側設置距離センサによる送信波に対応する第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒと、を含み、平均レンジマップＭは、第１平均レンジＲ＿ａｖｅ＿ａｌｌがプロットされる第１平均レンジマップＭ＿１と、第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒがプロットされる第３平均レンジマップＭ＿３と、を含み、障害物検出装置１００ａは、第３平均レンジマップＭ＿３における第３平均レンジＲ＿ａｖｅ＿ｕｐｐｅｒの分布（第３平均レンジ分布）に対する第１平均レンジマップＭ＿１における第１平均レンジＲ＿ａｖｅ＿ａｌｌの分布（第１平均レンジ分布）の偏差が所定値よりも大きいとき、障害物Ｏが傾斜障害物であると判断する種別判断部３１を備え、高さ判断部２４ａは、障害物Ｏが傾斜障害物であると判断されたとき、第３平均レンジマップＭ＿３を用いて障害物Ｏの高さを判断する。これにより、障害物Ｏが傾斜障害物であるか否かを判断することができる。また、障害物Ｏが傾斜障害物である場合であっても、障害物Ｏの高さを判断することができる。 In the obstacle detection device 100a, the distance sensor 2 includes a high-side installation distance sensor and a low-side installation distance sensor whose installation positions in the vehicle height direction are different from each other, and the average range R_ave is the high-side installation distance sensor and the low-side installation distance sensor. The average range map M includes the first average range R_ave_all corresponding to the transmission wave from the installation distance sensor and the third average range R_ave_upper corresponding to the transmission wave from the high side installation distance sensor, and the first average range R_ave_all is plotted. The obstacle detection apparatus 100a includes the first average range map M_1 and the third average range map M_3 in which the third average range R_ave_upper is plotted, and the obstacle detection device 100a includes the third average range R_ave_upper in the third average range map M_3. When the deviation of the distribution (first average range distribution) of the first average range R_ave_all in the first average range map M_1 from the distribution (third average range distribution) is larger than a predetermined value, the obstacle O is a tilted obstacle. When the obstacle O is determined to be a tilted obstacle, the height determination unit 24a includes the type determination unit 31 that determines the height of the obstacle O using the third average range map M_3. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even when the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
　なお、本願発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。 It should be noted that, within the scope of the invention, the invention of the present application is capable of freely combining the embodiments, modifying any constituent element of each embodiment, or omitting any constituent element in each embodiment. ..
　本発明の障害物検出装置は、例えば、車両用の運転支援装置に用いることができる。 The obstacle detection device of the present invention can be used, for example, as a driving support device for a vehicle.
　１　車両、２　距離センサ、３　警告出力装置、４　電子制御ユニット（ＥＣＵ）、１１　送信制御部、１２　受信制御部、１３　グルーピング処理部、１４　レンジ算出部、１５　距離算出部、１６，１６ａ　平均レンジ算出部、１７，１７ａ　プロット処理部、１８，１８ａ　閾値比較部、１９　警告信号出力部、２１　送受信制御部、２２　レンジ測定部、２３，２３ａ　平均化処理部、２４，２４ａ　高さ判断部、３１　種別判断部、４１　プロセッサ、４２　メモリ、４３　処理回路、１００，１００ａ　障害物検出装置。 1 vehicle, 2 distance sensor, 3 warning output device, 4 electronic control unit (ECU), 11 transmission control unit, 12 reception control unit, 13 grouping processing unit, 14 range calculation unit, 15 distance calculation unit, 16, 16a average range Calculation unit, 17, 17a plot processing unit, 18, 18a threshold comparison unit, 19 warning signal output unit, 21 transmission / reception control unit, 22 range measurement unit, 23, 23a averaging processing unit, 24, 24a height determination unit, 31 Type determination unit, 41 processor, 42 memory, 43 processing circuit, 100, 100a obstacle detection device.

Claims (5)

  1. 　距離センサにより送受信された直接波及び間接波をグルーピングして、各グループにおける受信信号の立ち上がり時刻と立ち下がり時刻間のレンジを算出するレンジ測定部と、
    　前記レンジを平均化することにより平均レンジを算出する平均化処理部と、
    　前記平均レンジを閾値と比較することにより障害物の高さを判断する高さ判断部と、
    　を備える障害物検出装置。     A range measurement unit that groups the direct wave and the indirect wave transmitted and received by the distance sensor to calculate the range between the rising time and the falling time of the reception signal in each group,
    An averaging processing unit that calculates an average range by averaging the ranges,
    A height determination unit that determines the height of an obstacle by comparing the average range with a threshold value,
    Obstacle detection device comprising.
  2. 　前記閾値は、互いに異なる第１閾値及び第２閾値を含み、
    　前記高さ判断部は、前記平均レンジを前記第１閾値及び前記第２閾値と比較することにより、前記障害物が路面障害物、路上障害物又は走行障害物のうちのいずれであるのかを判断する
    　ことを特徴とする請求項１記載の障害物検出装置。     The threshold includes a first threshold and a second threshold that are different from each other,
    The height determination unit determines whether the obstacle is a road surface obstacle, a road obstacle or a traveling obstacle by comparing the average range with the first threshold value and the second threshold value. The obstacle detection device according to claim 1, wherein
  3. 　前記平均レンジは、互いに異なる距離区間に対応する近距離区間平均レンジ及び遠距離区間平均レンジを含み、
    　前記高さ判断部は、前記近距離区間平均レンジに対応する第１軸及び前記遠距離区間平均レンジに対応する第２軸を有する平均レンジマップに前記平均レンジをプロットすることにより、前記障害物の高さを判断する
    　ことを特徴とする請求項１記載の障害物検出装置。     The average range includes a short range section average range and a long range section average range corresponding to different distance sections,
    The height determining unit plots the average range on an average range map having a first axis corresponding to the short range average range and a second axis corresponding to the long range average range, thereby obstructing the obstacle. The obstacle detection device according to claim 1, wherein the height of the obstacle is determined.
  4. 　前記距離センサは、車幅方向に対する設置位置が互いに異なる外側設置距離センサ及び内側設置距離センサを含み、
    　前記平均レンジは、前記外側設置距離センサ及び前記内側設置距離センサによる送信波に対応する第１平均レンジと、前記外側設置距離センサによる送信波に対応する第２平均レンジと、を含み、
    　前記平均レンジマップは、前記第１平均レンジがプロットされる第１平均レンジマップと、前記第２平均レンジがプロットされる第２平均レンジマップと、を含み、
    　前記第２平均レンジマップにおける前記第２平均レンジの分布に対する前記第１平均レンジマップにおける前記第１平均レンジの分布の偏差が所定値よりも大きいとき、前記障害物が傾斜障害物であると判断する種別判断部を備え、
    　前記高さ判断部は、前記障害物が前記傾斜障害物であると判断されたとき、前記第２平均レンジマップを用いて前記障害物の高さを判断する
    　ことを特徴とする請求項３記載の障害物検出装置。     The distance sensor includes an outer installation distance sensor and an inner installation distance sensor having different installation positions in the vehicle width direction,
    The average range includes a first average range corresponding to a transmitted wave by the outer installed distance sensor and the inner installed distance sensor, and a second average range corresponding to a transmitted wave by the outer installed distance sensor,
    The average range map includes a first average range map in which the first average range is plotted, and a second average range map in which the second average range is plotted,
    When the deviation of the distribution of the first average range in the first average range map from the distribution of the second average range in the second average range map is larger than a predetermined value, it is determined that the obstacle is a tilted obstacle. Equipped with a type determination unit that
    The height determination unit determines the height of the obstacle by using the second average range map when it is determined that the obstacle is the inclined obstacle. Obstacle detection device.
  5. 　前記距離センサは、車高方向に対する設置位置が互いに異なる高側設置距離センサ及び低側設置距離センサを含み、
    　前記平均レンジは、前記高側設置距離センサ及び前記低側設置距離センサによる送信波に対応する第１平均レンジと、前記高側設置距離センサによる送信波に対応する第３平均レンジと、を含み、
    　前記平均レンジマップは、前記第１平均レンジがプロットされる第１平均レンジマップと、前記第３平均レンジがプロットされる第３平均レンジマップと、を含み、
    　前記第３平均レンジマップにおける前記第３平均レンジの分布に対する前記第１平均レンジマップにおける前記第１平均レンジの分布の偏差が所定値よりも大きいとき、前記障害物が傾斜障害物であると判断する種別判断部を備え、
    　前記高さ判断部は、前記障害物が前記傾斜障害物であると判断されたとき、前記第３平均レンジマップを用いて前記障害物の高さを判断する
    　ことを特徴とする請求項３記載の障害物検出装置。     The distance sensor includes a high-side installation distance sensor and a low-side installation distance sensor having different installation positions in the vehicle height direction,
    The average range includes a first average range corresponding to a transmission wave from the high-side installation distance sensor and the low-side installation distance sensor, and a third average range corresponding to a transmission wave from the high-side installation distance sensor. ,
    The average range map includes a first average range map in which the first average range is plotted, and a third average range map in which the third average range is plotted,
    When the deviation of the distribution of the first average range in the first average range map from the distribution of the third average range in the third average range map is larger than a predetermined value, it is determined that the obstacle is a tilted obstacle. Equipped with a type determination unit that
    The height determination unit determines the height of the obstacle by using the third average range map when it is determined that the obstacle is the inclined obstacle. Obstacle detection device.
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