JP2013036837A - Object shape recognition apparatus for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately estimate the shape of an object while reducing costs of a system by using one ultrasonic transmitter and two ultrasonic receivers.SOLUTION: An object shape recognition apparatus 1 for vehicles comprises a transmitter 2 which transmits ultrasonic waves and two receivers 3 and 4 which receive ultrasonic waves. The object shape recognition apparatus for vehicles further comprises setting means and recognition means, thereby accurately recognizing the shape of an object. On the basis of a detection distance from a present vehicle detected by an ultrasonic sensor, the setting means sets a distance point indicating the distance from the present vehicle to an object detected by the ultrasonic sensor onto a center target line near a centerline of a fan-shaped horizontal surface crossing an ultrasonic irradiation range and onto any one target line of a left-side target line near a left-side critical line and a right-side target line near a right-side critical line of the fan-shaped horizontal surface in a traveling direction of the present vehicle. The recognition means recognizes the shape of the object by connecting the distance points iteratively set by the setting means with movement of the present vehicle.

Description

  The present invention relates to a vehicle object shape recognition device that recognizes the shape of an object using an ultrasonic sensor.

  In recent years, driving support systems that support driving of drivers in the automobile industry have become widespread, and in particular, development for automatic driving has been promoted in driving support systems during parking. In this type of system, in order to search for the parking space of the host vehicle, it is necessary to accurately specify the position and shape of the obstacle present in the parking area.

  For this reason, it is conceivable to estimate the shape of an obstacle using a laser radar having high accuracy in detecting the position of the obstacle. However, since this is an expensive system, the cost of the system is reduced by using an inexpensive ultrasonic sensor. It is preferable.

  This type of system using an ultrasonic sensor uses the ultrasonic sensor as a distance measuring sensor, measures the distance between the host vehicle and the target object, and continues to measure the distance as the host vehicle moves. Recognize the shape.

  In the distance detection method, an object is irradiated with ultrasonic waves, a reflected wave returned from the object is detected, and a time from when the ultrasonic wave is applied until the reflected wave returns is measured. Then, the distance between the sensor and the object is calculated from the time and the traveling speed of the ultrasonic wave, and the distance is defined as the distance from the own vehicle to the object.

  By the way, since the ultrasonic wave is a sound wave, it has a feature that the directivity is low and the detection range angle becomes large by diffusing. Therefore, the ultrasonic sensor normally detects the shortest distance from the ultrasonic sensor to the object as the distance from the own vehicle to the object when the object exists within the predetermined irradiation range of the ultrasonic sensor. It is impossible to detect the position within the irradiation range of the ultrasonic sensor, that is, the direction of the object with reference to the position of the host vehicle.

  Therefore, in estimating the position of the object within the irradiation range using the ultrasonic sensor, the direction of the object relative to the host vehicle is the direction of the center of the ultrasonic irradiation range having a substantially conical shape (ultrasonic irradiation direction). The shape of the object is estimated based on the detected distance.

  However, when the shape of the object is estimated by such a method, there arises a problem that the shape cannot be accurately estimated when the object is positioned obliquely with respect to the ultrasonic wave irradiation direction.

  Therefore, conventionally, a technique for estimating the shape of an obstacle present in the parking area with higher accuracy by arranging ten ultrasonic sensors having different ultrasonic irradiation directions in front and rear of the host vehicle is proposed. (Patent Document 1).

JP 2008-207732 (see paragraphs 0022 and 0027, FIG. 2)

  However, if many ultrasonic sensors are provided as in the technique of the above-mentioned Patent Document 1, the shape of the object can be recognized with high accuracy. However, the cost is high, and further ultrasonic waves are required to increase the accuracy. It is necessary to provide a sensor, and a low-cost system cannot be provided using an inexpensive ultrasonic sensor.

  The present invention has been made in view of the above problems, and an object thereof is to accurately recognize the shape of an object while reducing the cost of the system.

  In order to achieve the above object, in the vehicle object shape recognition apparatus of the present invention, an ultrasonic sensor for detecting a distance from an object within a predetermined irradiation range that spreads in a conical shape in the traveling direction of the host vehicle to the host vehicle. An object shape recognition device for a vehicle that recognizes the shape of the object based on the detection of the ultrasonic sensor repeated with the movement of the host vehicle, wherein the ultrasonic sensor transmits an ultrasonic wave. And a left receiving unit and a right receiving unit juxtaposed on the left and right with respect to the traveling direction of the host vehicle that receives the ultrasonic wave, and a fan-shaped horizontal plane that crosses the irradiation range on the left side in the traveling direction of the host vehicle Based on the detection distance from the own vehicle by the ultrasonic sensor on one of the left target line near the critical line and the right target line near the right critical line, by the ultrasonic sensor The setting means for setting a distance point indicating the distance from the host vehicle to the object and the distance point repeatedly set by the setting means as the host vehicle moves are connected to recognize the shape of the object. And the setting means is configured such that, when the ultrasonic wave is first received by the left receiving unit among the left receiving unit and the right receiving unit, the setting unit sets the first receiving unit on the left target line. When the ultrasonic wave is received, the distance point is set on the right target line (claim 1).

  The vehicle object recognition device of the present invention includes an ultrasonic sensor that detects a distance from an object within a predetermined irradiation range that spreads in a conical shape in the traveling direction of the host vehicle to the host vehicle. In the vehicle object shape recognition device for recognizing the shape of the object based on the detection of the ultrasonic sensor repeated with movement, the ultrasonic sensor receives the ultrasonic wave and a transmitting unit that transmits the ultrasonic wave. A left-side receiving unit and a right-side receiving unit juxtaposed side by side with respect to the traveling direction of the host vehicle, on a central target line in the vicinity of a center line of a fan-shaped horizontal plane crossing the irradiation range, and the fan-shaped horizontal plane Based on the detection distance from the host vehicle by the ultrasonic sensor on either one of the left target line near the left critical line and the right target line near the right critical line in the traveling direction of the host vehicle, A setting means for setting a distance point indicating a distance from the own vehicle to the object by a sound wave sensor, and the distance point repeatedly set by the setting means with the movement of the own vehicle are connected to connect the object. Recognizing means for recognizing the shape, and the setting means is arranged on the center target line and the left target line when the left receiving unit first receives an ultrasonic wave among the left receiving unit and the right receiving unit. When the ultrasonic wave is received first by the right receiving unit, the distance point is set on each of the central target line and the right target line, and the recognizing means repeats as the host vehicle moves. When the set distance point on the center line does not move, the object recognizes the shape perpendicular to the traveling direction of the host vehicle with reference to the distance point, and the set point When a distance point on a core line moves, a shape obtained by connecting the distance points on the set left target line or the right target line is recognized as the shape of the object. Item 2).

  An object shape recognition device for a vehicle according to claim 1 includes a transmitter that transmits ultrasonic waves and a left receiving unit and a right receiving unit that are juxtaposed side by side with respect to the traveling direction of the host vehicle that receives the ultrasonic waves. Of the left target line near the left critical line and the right target line near the right critical line in the direction of travel of the vehicle in the fan-shaped horizontal plane that crosses the sound wave irradiation range, the left target when the left receiver first receives ultrasonic waves The distance from the vehicle to the object at a position away from the ultrasonic sensor by the same distance as the detection distance from the own vehicle by the ultrasonic sensor on the right target line when the ultrasonic wave is received first by the right receiving unit on the line A distance point indicating is set.

  As described above, the ultrasonic sensor detects the shortest distance from the ultrasonic sensor to the object among the objects existing within the irradiation range as the distance from the host vehicle to the object. Therefore, when the object is located obliquely with respect to the traveling direction of the host vehicle, the ultrasonic sensor detects whether the right critical line or the left critical line intersects the object (reflection point) to the receiving unit. Is detected as the distance from the vehicle to the object.

  At this time, since the receiving units juxtaposed on the left and right with respect to the traveling direction of the host vehicle are provided, the receiving unit located at a short distance from the reflection point first receives the ultrasonic wave (reflected wave). That is, when there is a reflection point on the right critical line, the right receiving unit receives the reflected wave first, and when there is a reflection point on the left critical line, the left receiving unit receives the reflected wave first.

  Therefore, when the right receiving unit first receives an ultrasonic wave, a distance point is set on the right target line, and when the left receiving unit first receives an ultrasonic wave, a distance point is set on the left target line. The point indicating the exact position of the object can be set by repeating the setting as the host vehicle moves and connecting these points to recognize the object shape based on the conventional ultrasonic irradiation direction. Compared with the method, the shape of the object can be recognized with higher accuracy, and since it is not necessary to use many ultrasonic sensors for the recognition of the object shape, a low-cost system can be provided.

  In the vehicle object shape recognition apparatus according to claim 2, in addition to setting the distance point on the left or right target line, the distance point on the center target line near the center line is also based on the detection distance by the ultrasonic sensor. Is set.

  When the object is positioned perpendicular to the traveling direction of the host vehicle, the reflection point indicating the shortest distance from the ultrasonic sensor to the object is on the center line, so the distance point set on the center target line is accurate. On the other hand, the distance point set on the left or right target line does not accurately represent the position of the object.

  At this time, even if the host vehicle has moved, the reflection point indicating the shortest distance from the host vehicle to the object is on the center line, and the point does not move, so it is set on the center target line. The distance point does not move either.

  Therefore, based on the distance detected by the ultrasonic sensor, distance points indicating the distance from the host vehicle to the object are set on the left or right target line and the center target line, and are repeatedly set as the host vehicle moves. If the distance point on the center target line does not move, the shape perpendicular to the traveling direction of the vehicle is recognized as the object shape based on the distance point, and if it moves, it is set repeatedly on the left or right target line. By recognizing the shape obtained by connecting the respective distance points as the shape of the object, it is possible to accurately recognize the shape of the object without being limited to the presence or absence of the inclination of the object. A low-cost system can be provided.

It is a block diagram of the object shape recognition device for vehicles of one embodiment of the present invention. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is operation | movement explanatory drawing of FIG. It is a flowchart for operation | movement description of the vehicle object shape recognition apparatus of FIG.

  An embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram of a vehicle object shape recognition apparatus according to an embodiment of the present invention, FIG. 2A is an arrangement diagram of an ultrasonic transmitter and a receiver, and FIG. 1B is an explanatory diagram of distance point setting. 3 is an explanatory view of the object shape recognition means, FIG. 4 is an explanatory view of the object shape recognition means, and FIG. 5 is a flowchart for explaining the operation of FIG.

(Constitution)
A configuration of a vehicle object shape recognition apparatus 1 according to an embodiment of the present invention will be described with reference to FIG.

  The front ultrasonic transmitter 2 is a transmitter for irradiating an object with ultrasonic waves, and is disposed in front of the host vehicle (black triangles) as shown in FIG. At this time, since the ultrasonic wave is irradiated in a substantially conical shape, the irradiation range becomes a detection range for detecting the distance to the object, but in order to suppress the influence of the reflected wave from the ground as much as possible, the irradiation of the ultrasonic wave The range is a wedge shape that flattens the cone and spreads in the horizontal direction. Further, the front ultrasonic transmitter 2 receives the ultrasonic wave (reflected wave) after any one of the left ultrasonic receiver 3 and the right ultrasonic receiver 4 to be described later receives the ultrasonic wave (reflected wave). Irradiate sound waves. By doing so, it is possible to prevent the receivers 3 and 4 from not knowing at which timing the reflected ultrasonic wave irradiated is received.

  The left ultrasonic receiver 3 (black circle) and the right ultrasonic receiver 4 (black circle) receive a reflected wave that is returned when the ultrasonic wave irradiated by the front ultrasonic transmitter 2 hits an object. As shown in FIG. 2A, the device is disposed in front of the host vehicle and in a direction orthogonal to the traveling direction of the host vehicle, and is juxtaposed on the left and right of the front ultrasonic transmitter 2. Thereby, the reflected wave of the irradiated ultrasonic wave is received by each of the two receivers.

  The vehicle speed sensor 5 is used to detect the speed of the host vehicle 10, and the steering angle sensor 6 is used to detect the steering wheel steering angle of the host vehicle 10.

  The vehicle movement amount management unit 7 calculates and calculates the movement amount (including the movement direction) of the host vehicle 10 based on information on the vehicle speed and the steering angle of the host vehicle 10 detected by the vehicle speed sensor 5 and the steering angle sensor 6. Data on the amount of movement of the host vehicle 10 is sent to the distance measurement data management unit 7. The calculation of the movement amount is sequentially performed at a timing immediately before the front ultrasonic transmitter 2 emits ultrasonic waves.

  The distance measurement data management unit 8 acquires information about the time of ultrasonic irradiation from the front ultrasonic transmitter 2 and information about the time of reception of the reflected wave from each of the left and right ultrasonic receivers 3 and 4. The detection distance is calculated based on the time when the ultrasonic wave is irradiated and the time on the ultrasonic receiver side where the reflected wave is received early.

  At this time, the distance measurement data management unit 8 sets a distance point indicating the distance from the own vehicle to the object by the ultrasonic sensor based on the detected distance. The method will be described below.

  As described above, the ultrasonic sensor detects the shortest distance from the ultrasonic sensor to the object as the distance from the own vehicle to the object, but the position where the object exists in the irradiation range of the ultrasonic sensor, that is, The direction of the object based on the position of the host vehicle cannot be detected.

  Therefore, as shown in FIG. 2B, the distance measurement data management unit 8 moves on the center target line 11 near the center line of the fan-shaped horizontal plane that crosses the irradiation range, and the traveling direction of the host vehicle 10 on the fan-shaped horizontal plane. Of the left-side target line 12 near the left critical line and the right-side target line 13 near the right-side critical line on either one of the target lines based on the detection distance from the vehicle 10 by the ultrasonic sensor. A set point that is a distance point indicating the distance from the host vehicle 10 to the object 17 is set (corresponding to the setting means in the present invention). The white circle indicates the set point 14 on the center target line, the white square indicates the set point 15 on the left target line 12, and the black square indicates the set point 16 on the right target line.

  For example, as shown in FIG. 2B, when the object 17 is tilted to the left with respect to the traveling direction of the host vehicle 10, the ultrasonic wave emitted by the front ultrasonic wave transmitter 2 is first an ultrasonic sensor. The right target line 13 that is the shortest distance from the object 17 to the object 17 hits the point (reflection point) where the object 17 intersects, and the reflected wave is received first by the right ultrasonic receiver 4 closer to the reflection point. Then, the distance measurement data management unit 8 calculates the detection distance based on the time when the front ultrasonic transmitter 2 radiates the ultrasonic wave and the time when the right ultrasonic receiver 4 receives the reflected wave.

  Therefore, when the right ultrasonic receiver 4 receives the reflected wave first, the set point indicating the distance from the own vehicle 10 to the object 17 on the right target line 13 at a point away from the own vehicle 10 by the detection distance. If 16 is set, the set point 16 accurately represents the position of the object 17.

  When the object 17 is tilted to the right with respect to the traveling direction of the host vehicle 10 (not shown), the shortest distance from the ultrasonic sensor to the object 17 is the point where the left target line and the object 17 intersect (reflection). Since the left ultrasonic receiver 3 is closer to the point, the left ultrasonic receiver 3 receives the reflected wave first. Therefore, when the left ultrasonic receiver 3 receives the reflected wave first, if the set point 15 is set on the left target line 12 at a point away from the own vehicle 10 by the detection distance, the set point 15 is the object. 17 positions are accurately represented.

  When the object 17 is not inclined with respect to the traveling direction of the host vehicle 10 (positioned perpendicular to the traveling direction of the host vehicle 10), the reflection point indicating the shortest distance from the ultrasonic sensor to the object 17 is Since it is on the center line, if the set point 14 is set on the center target line at a point away from the ultrasonic sensor by the detection distance, the set point 14 accurately represents the position of the object 17, while the left side 12 or right side target line. The set points 15 and 16 set on 13 do not accurately represent the position of the object 17.

  In addition, the distance measurement data management unit 8 estimates the position of the host vehicle 10 based on the movement amount data of the host vehicle 10 sent from the vehicle movement amount management unit 7, and at the same time, information about the position and the setting at that time The information regarding the set point is stored together.

  The object shape estimation unit 9 recognizes the shape of the object by connecting the set points that are repeatedly set as the host vehicle 10 moves (corresponding to the recognition means in the present invention). This will be described below with reference to FIG.

  FIG. 3 is a diagram showing the set points when the object 17 is positioned perpendicular to the traveling direction of the host vehicle 10 (not tilted) in time series as the host vehicle 10 moves, and FIG. FIG. 4 is a diagram showing a set point when an object 17 is tilted to the right with respect to the host vehicle 10 in time series as the host vehicle 10 moves. In order to simplify the description, only three time points are displayed.

  As shown in FIG. 3, when the object 17 is positioned perpendicular to the traveling direction of the host vehicle 10, ideally, the reflected waves of the ultrasonic waves irradiated by the front ultrasonic transmitter 2 are left and right. Although the ultrasonic receivers 3 and 4 receive at the same time, one of them actually receives first. Accordingly, the set points set on the left target line 12 and the right target line 13 are set to either one of 15a and 16a, 15b and 16b, and 15c and 16c as the host vehicle moves. . However, as described above, since the reflection points indicating the shortest distance from the ultrasonic sensor to the object 17 in this case are on the center line 11, those set points do not accurately represent the position of the object 17, and the center line The set point 14 set on 11 represents the exact position of the object 17.

  At this time, even if the host vehicle 10 moves, the reflection point indicating the shortest distance from the host vehicle 10 to the object 17 is on the center target line 11 and the point does not move. The set point 14 set on the line 11 does not move.

  Therefore, when the set point 14 on the center target line 11 that is repeatedly set does not move as the host vehicle 10 moves, the object shape estimation unit 9 moves along with the movement of the host vehicle 10. The shape obtained by connecting the set points (15a to 15c, 14a to 14c) repeatedly set on the left or right target lines 12 and 13 is set on the center target line 11 without recognizing the shape of the object 17. The shape perpendicular to the traveling direction of the host vehicle 10 is recognized as the shape of the object 17 with the set point 14 as a reference.

  As shown in FIG. 4, for example, when the object 17 is tilted to the right with respect to the traveling direction of the host vehicle 10, the reflection point indicating the shortest distance from the ultrasonic sensor to the object 17 is always on the left side. The set points (15a to 15c) on the left target line 12 that are on the target line 12 and set by the setting means described above represent the exact position of the object 17, while the setting set on the central target line 11 The point 14 represents a position different from the actual position of the object 17.

  When the set point 14 on the center target line 11 is set, in order not to move the set point 14 on the center target line 11 set next, the same distance as the distance the host vehicle 10 has moved during that time Only the detection distance needs to be shortened. In this regard, since the detection distance when the object 17 is inclined obliquely to the right is the distance from the reflection point on the left target line 12 to the left ultrasonic receiver 3, the detection distance detected next is It becomes longer than the distance shortened by the distance traveled by the host vehicle 10. That is, the set point 14 set on the center target line 11 moves to the traveling direction side of the host vehicle 10.

  Therefore, when the set point 14 on the center target line 11 that has been repeatedly set moves as the host vehicle 10 moves, the object shape estimation unit 9 is repeatedly set as the host vehicle 10 moves. The shape connecting the set points 14 on the central target line 11 is not recognized as the shape of the object 17, and the shape connecting the set points 15 a to 15 c set on the left target line 12 is the shape of the object 17. recognize.

  Even when the object 17 is positioned perpendicular to the traveling direction of the host vehicle 10, each set point 14 set with the movement of the host vehicle 10 is caused by the detection error of the ultrasonic sensor or the like. It can be considered to vary. At this time, since the detection distance by each ultrasonic sensor is likely to show a normal distribution, the determination as to whether or not the set point 14 set on the central target line 11 has moved is constant from the distribution. You may judge with the threshold value of. Further, when the set set point 14 moves, the set point 14 moves to the traveling direction side of the host vehicle 10, so that the set point 14 set next is based on the set point 14 and the traveling direction of the host vehicle 10. You may judge by whether it moves to the side.

  Next, operation | movement of the vehicle object shape recognition apparatus 1 of this embodiment is demonstrated with reference to the flowchart of FIG.

  First, the movement amount of the host vehicle 10 is calculated by the vehicle movement amount management unit 7 in response to the button operation of the driver (step S1).

  Next, the distance measurement data management unit 8 estimates the position of the host vehicle 10 based on the information about the movement amount of the host vehicle 10 acquired from the vehicle movement amount management unit 7 (step S2).

  At this time, an ultrasonic wave is irradiated by the front ultrasonic wave transmitter 2 (step S3), and the distance measurement data management unit 8 uses the left and right ultrasonic wave receivers 3 and 4 to receive the reflected wave first. A receiver is memorize | stored and the detection distance from the own vehicle 10 by the ultrasonic sensor at that time is calculated (step S4).

  Next, a set point indicating the distance from the host vehicle 10 to the object 17 at a position separated from the ultrasonic sensor by a detection distance on the target line and the central target line 11 on the same side as the stored ultrasonic receiver. Are set respectively (step S5).

  At this time, when two or more set points for each direction are stored in the distance measurement data management unit 8, the process passes through step S 6 with YES, and the object shape estimation unit 9 performs the center object line 11. It is determined whether or not the set point 14 set above moves with the movement of the host vehicle 10 (step S7).

  At this time, when the set point 14 is moving, the object shape estimation unit 9 sets the set points 15 and 16 on the left target line 12 or the right target line 13 repeatedly set as the host vehicle 10 moves. The connected shape is recognized as the shape of the object 17 (step S8).

  On the other hand, when the set point 14 has not moved, the object shape estimation unit 8 sets a shape perpendicular to the traveling direction of the host vehicle 10 to the shape of the object 17 with reference to the set point 14 set on the center target line 11. The shape is recognized (step S9).

  In step S6, when two or more set points set for each direction are not stored in the distance measurement data management unit 8, two or more set points are stored for each direction. Repeat set point setting.

  Next, based on the estimated shape of the object 17, if no parking space is found in the parking area, NO is passed through step S10 and the object shape is repeatedly estimated until the parking space is found, and the parking space is found. In that case, step S10 is passed with YES, and the operation is finished.

  Therefore, according to the object shape recognition apparatus 1 in the above embodiment, the ultrasonic sensor has two receptions juxtaposed side by side in the direction orthogonal to the traveling direction of one forward ultrasonic transmitter 2 and the host vehicle 10. On the central target line 11 near the center line of the fan-shaped horizontal plane that crosses the ultrasonic irradiation range, and the left target line 12 and the right critical line near the left critical line in the traveling direction of the host vehicle 10. Of the right target line 13 in the vicinity of the line, when the left receiver 3 receives the ultrasonic wave first, it is on the left target line 12, and when the right receiver 4 receives the ultrasonic wave first, it is on the right target line 13. In addition, a set point (14 to 16) from the own vehicle 10 to the object 17 is set by the distance measurement data management unit 8 at a position separated from the ultrasonic sensor by the same distance as the detection distance from the own vehicle 10 by the ultrasonic sensor. .

  At this time, when the object 17 is positioned obliquely with respect to the traveling direction of the host vehicle 10, the set points 15 and 16 set on the left and right target lines 12 and 13 indicate the accurate position of the object 17. When the object 17 is not inclined, the set point 14 set on the center target line 11 indicates the exact position of the object 17.

  Then, the object shape estimation unit 9 determines whether the set point 14 moves based on the presence / absence of the set point 14 on the center target line 11 repeatedly set as the host vehicle 10 moves. The shape obtained by connecting the setting points 15 and 16 set on the lines 12 and 13 is recognized as the shape of the object 17, and when the setting point 14 does not move, the setting point 14 is used as a reference. By recognizing the shape perpendicular to the traveling direction as the shape of the object 17, the shape of the object 17 can be accurately recognized regardless of whether the object 17 is inclined.

  In addition, since an object shape can be accurately estimated by one transmitter 2 and two receivers 3 and 4, a low-cost system can be provided as compared with a system using many conventional ultrasonic sensors. Can do.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the left and right ultrasonic receivers 3 and 4 are juxtaposed on the left and right of the front ultrasonic transmitter 2, but it is not necessary to be limited to this, for example, on the right and left of the front ultrasonic transmitter 2 They can be juxtaposed. Moreover, although the left and right ultrasonic receivers 3 and 4 are juxtaposed side by side in a direction orthogonal to the traveling direction of the host vehicle 10, they may be front and rear. In this case, the distance before and after that may be corrected and used.

  In this embodiment, one ultrasonic transmitter 2 and two ultrasonic receivers 3 and 4 are provided on the front side of the host vehicle 10, but one ultrasonic transmitter and two ultrasonic receivers are provided on the rear side. A sound wave receiver may be provided. Thereby, even when the host vehicle 10 travels backward, the accurate shape of the object 17 can be estimated.

  Further, the center object line 11, the left object line 12, and the right object line 13 may coincide with the center line, the left critical line, and the right critical line, respectively.

DESCRIPTION OF SYMBOLS 1 ... Object shape recognition apparatus for vehicles 2 ... Forward ultrasonic transmitter 3 ... Left ultrasonic receiver 4 ... Right ultrasonic receiver 7 ... Vehicle movement amount management part 8 ... Distance data management part (setting means)
9 ... Object shape estimation unit (recognition means)
11 ... Center target line 12 ... Left target line 13 ... Right target line 14-16 ... Set point (distance point)

Claims (2)

Detection of the ultrasonic sensor, which includes an ultrasonic sensor for detecting a distance from an object within a predetermined irradiation range spreading in a conical shape in the traveling direction of the host vehicle to the host vehicle, and is repeated as the host vehicle moves In the vehicle object shape recognition device for recognizing the shape of the object based on
The ultrasonic sensor has a transmitting unit that transmits ultrasonic waves, and a left receiving unit and a right receiving unit that are juxtaposed side by side with respect to the traveling direction of the host vehicle that receives the ultrasonic waves,
The ultrasonic sensor uses the ultrasonic sensor on any one of the left target line near the left critical line and the right target line near the right critical line in the traveling direction of the own vehicle on the fan-shaped horizontal plane crossing the irradiation range. Setting means for setting a distance point indicating a distance from the own vehicle to the object by the ultrasonic sensor based on a detection distance from the own vehicle;
Recognizing means for recognizing the shape of the object by connecting the distance points repeatedly set by the setting means with the movement of the vehicle;
In the case where the left receiving unit and the right receiving unit receive the ultrasonic wave first in the left receiving unit and the right receiving unit, the setting unit receives the ultrasonic wave on the left target line first and the right receiving unit receives the ultrasonic wave first. Sets the distance point on the right-side target line. Detection of the ultrasonic sensor, which includes an ultrasonic sensor for detecting a distance from an object within a predetermined irradiation range spreading in a conical shape in the traveling direction of the host vehicle to the host vehicle, and is repeated as the host vehicle moves In the vehicle object shape recognition device for recognizing the shape of the object based on
The ultrasonic sensor has a transmitting unit that transmits ultrasonic waves, and a left receiving unit and a right receiving unit that are juxtaposed side by side with respect to the traveling direction of the host vehicle that receives the ultrasonic waves,
On the central target line near the center line of the fan-shaped horizontal plane crossing the irradiation range, and on the left target line near the left critical line and the right target line near the right critical line of the fan-shaped horizontal plane in the traveling direction of the vehicle, Setting means for setting a distance point indicating a distance from the own vehicle to the object by the ultrasonic sensor, based on a detection distance from the own vehicle by the ultrasonic sensor, on any one of the target lines;
Recognizing means for recognizing the shape of the object by connecting the distance points repeatedly set by the setting means with the movement of the vehicle;
When the ultrasonic wave is received first by the left receiving unit among the left receiving unit and the right receiving unit, the setting unit performs the first receiving unit at the right receiving unit on the central target line and the left target line, respectively. When the ultrasonic wave is received, the distance point is set on each of the central target line and the right target line,
When the distance point on the center line that is repeatedly set with the movement of the host vehicle does not move, the recognition unit has a shape perpendicular to the traveling direction of the host vehicle with respect to the distance point. When the distance point on the set center line is recognized, the shape connecting the distance points on the left target line or the right target line is recognized as the shape of the object. An object shape recognition apparatus for a vehicle.

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