JP7244215B2 - Object detection device - Google Patents

Description

The disclosed embodiments relate to an object detection apparatus and an object detection method.

Conventionally, an object detection device called a fusion sensor improves the accuracy of object detection by detecting an object based on image information of the vehicle surroundings captured by an in-vehicle camera and object detection information by a millimeter wave radar. There is (for example, see Patent Document 1).

JP 2017-47706 A

However, conventional object detection devices do not detect objects moving in the blind spot of the camera. One aspect of the embodiments has been made in view of the above, and aims to provide an object detection device and an object detection method capable of detecting an object including an object moving in a range that is a blind spot of a camera. aim.

An object detection device according to an aspect of an embodiment includes a camera device and a radar device. The camera device includes an imaging section and a detection section. The imaging unit images a predetermined range around the vehicle. The detection section detects a moving object existing within the predetermined range based on the image captured by the imaging section. The radar device includes a determination section. When the radar device detects a moving object during a period in which the moving object is not detected by the camera device, the determination unit determines the possibility that the moving object exists in a blind spot range, which is a blind spot of the camera device, within the predetermined range. It is determined that there is

An object detection device and an object detection method according to an aspect of an embodiment can detect an object including an object moving in a blind spot of a camera.

FIG. 1 is an explanatory diagram of an object detection method according to an embodiment. FIG. 2 is an explanatory diagram showing an example of the configuration of the object detection device according to the embodiment. FIG. 3A is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 3B is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 4A is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 4B is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 5A is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 5B is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 6A is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 6B is an explanatory diagram showing a specific example of the operation of the alerting unit according to the embodiment; FIG. 7 is a flowchart showing an example of processing executed by the image processing ECU according to the embodiment. FIG. 8 is a flowchart illustrating an example of processing executed by the radar ECU according to the embodiment; FIG. 9 is a flowchart illustrating an example of processing executed by an alerting unit according to the embodiment; FIG. 10A is an explanatory diagram of a switching mode of a stationary object only flag according to Modification 1 of the embodiment. FIG. 10B is an explanatory diagram of a switching mode of the stationary object only flag according to Modification 2 of the embodiment.

Hereinafter, embodiments of an object detection device and an object detection method will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below. FIG. 1 illustrates an overview of an object detection method according to an embodiment.

FIG. 1 is an explanatory diagram of an object detection method according to an embodiment. As shown in FIG. 1, an object detection device 1 according to the embodiment is a device that is mounted on a vehicle 10 and detects an object that exists in front of the vehicle 10, for example.

It should be noted that the object detection device 1 can also detect an object existing behind or to the side of the vehicle 10 by being provided behind or to the side of the vehicle 10 . Moreover, the mobile object on which the object detection device 1 is mounted is not limited to the vehicle 10, and may be any mobile object such as a ship, an aircraft, or a train.

The object detection device 1 includes a camera device (hereinafter referred to as "camera 2") and a radar device (hereinafter referred to as "radar 3"). It is a fusion sensor that detects an object based on the detection result of

The camera 2 sequentially captures images in a predetermined range (hereinafter referred to as “detection range 2A”) in front of the vehicle at predetermined intervals, and the image captured this time (current frame image) and the image captured last time (previous frame image) ) to detect moving objects.

The radar 3, for example, radiates radio waves in the millimeter wave band toward a detection range 3A that is substantially the same as the detection range 2A of the camera 2, receives radio waves reflected by an object, and detects the object based on the received radio waves. detect.

The object detection device 1 detects the object by comprehensively judging the existence of the object from the detection results of the two sensors, the camera 2 and the radar 3 . Thereby, the object detection device 1 can detect an object more reliably than other object detection devices that detect an object based on the detection result of one sensor.

However, in such an object detection device 1 , a blind spot of the camera 2 may occur depending on the surrounding environment of the vehicle 10 . For example, as shown in FIG. 1, when the vehicle 10 is stopped in front of a T-junction R1 with buildings 100 and 101 on both sides, the blind spot of the camera 2 is where the vehicle turns right or left at the T-junction R1. .

In such a case, the camera 2 would be within the detection range 2A if there was no building 101, but before turning right at the T-junction R1 that would be a blind spot due to the presence of the building 101, the camera 2 would walk toward the T-junction R1. Even if the person T1 is present, the pedestrian T1 cannot be detected.

On the other hand, the radar 3 may receive the radiated radio wave B which is reflected by the wall 102 in front of the vehicle 10, hits the pedestrian T1, is reflected by the pedestrian T1, and is reflected again by the wall 102. . As a result, although the radar 3 cannot specify the position of the pedestrian T1, it can detect that there is a possibility that a moving object exists in the blind spot of the camera 2 .

Therefore, when the vehicle 10 is stopped and the camera 2 does not detect a pedestrian as a moving object, the object detection device 1 detects an object whose relative velocity to the radar 3 is not zero. It is determined that there is a possibility that a moving object exists in the range. As a result, the object detection device 1 can detect an object including an object moving in a blind spot of the camera 2 .

Next, an example of the configuration of the object detection device 1 according to the embodiment will be described with reference to FIG. 2 . FIG. 2 is an explanatory diagram showing an example of the configuration of the object detection device 1 according to the embodiment. As shown in FIG. 2, the object detection device 1 is connected to a car navigation device 5 and a vehicle control device 6, for example.

The car navigation device 5 includes a navigation section 51 , a storage section 52 and a display section 53 . The storage unit 52 stores map information 54 . When the user of the vehicle 10 sets the destination, the navigation unit 51 superimposes the travel route of the vehicle 10 from the current location to the destination on the map information and displays it on the display unit 53, thereby providing route guidance to the user. I do.

The vehicle control device 6 is a control device that centrally controls the entire vehicle. For example, when information is input from the object detection device 1 indicating that there is an object in front of the vehicle 10, the vehicle control device 6 automatically applies a brake or avoids the object. control such as automatically steering the vehicle.

The object detection device 1 includes a camera 2 , a radar 3 and a warning section 4 . The camera 2 includes an imaging unit 21 and an image processing ECU (Electronic Control Unit) 22 . The image capturing unit 21 includes a solid-state image sensor such as a CMOS (Complementary Metal Oxide Semiconductor), captures an image of the detection range 2A in front of the vehicle 10 at predetermined intervals, and sequentially outputs the captured images to the image processing ECU 22. .

The image processing ECU 22 includes a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various circuits.

The image processing ECU 22 includes a detection unit 23 that functions by executing a program stored in the ROM by the CPU using the RAM as a work range. Note that the detection unit 23 may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

The detection unit 23 detects a moving object existing within the detection range 2A based on the inter-frame difference of the images sequentially input from the imaging unit 21 . For example, when the vehicle 10 is stopped, only a stationary object exists within the detection range 2A of the camera 2 and no moving object exists. It becomes the same image as the image captured last time.

Therefore, when the detection unit 23 obtains the difference (inter-frame difference) between the luminance value of each pixel in the image captured this time and the luminance value of each pixel in the image captured last time, the difference between frames is theoretically Since it is 0, it is determined that only a stationary object exists within the detection range 2A.

However, in reality, the frame-to-frame difference does not become completely zero due to the influence of disturbances such as wind. Therefore, the detection unit 23 determines that only a stationary object exists within the detection range 2A when the inter-frame difference is equal to or less than a predetermined threshold, and determines that only a stationary object exists within the detection range 2A when the inter-frame difference exceeds the predetermined threshold. It is determined that there is a moving object inside.

When an image is input from the imaging unit 21, the detection unit 23 first turns off the stationary object only flag indicating that only stationary objects exist within the detection range 2A. Then, when the inter-frame difference between the image input this time and the image input last time is equal to or less than a predetermined threshold value, the detection unit 23 turns off the stationary object only flag.

Then, the image processing ECU 22 transmits the ON or OFF stationary object only flag to the radar 3 for each image. As a result, the radar 3 refers to the state of the stationary object only flag input from the detection unit 23 to determine whether the moving object is detected by the camera 2 or not. can do.

Further, the detection unit 23 outputs the image input from the imaging unit 21 to the alerting unit 4 and the car navigation device 5, and causes the display unit 53 to display the image while the car navigation device 5 is not providing route guidance. . In addition, when the vehicle 10 is separately equipped with a display device, the detection unit 23 can output the image input from the imaging unit 21 to the display device and display the image at all times.

The radar 3 includes an antenna section 31 and a radar ECU 32 . The antenna unit 31 radiates (transmits) millimeter-band radio waves whose frequency continuously increases or decreases toward the detection range 3A of the radar 3, and receives radio waves reflected by objects. The antenna unit 31 mixes the transmitted radio wave and the received radio wave to generate a beat signal, and outputs the generated beat signal to the radar ECU 32 .

The radar ECU 32 includes a microcomputer having CPU, ROM, RAM, etc. and various circuits. The radar ECU 32 includes a signal processing section 33 and a recognition processing section 34 that function when the CPU executes a program stored in the ROM using the RAM as a work range. The signal processing unit 33 and the recognition processing unit 34 may be configured by hardware such as ASIC and FPGA.

The signal processing unit 33 performs two-dimensional FFT (Fast Fourier transform) on the beat signal input from the antenna unit 31, and extracts a peak from the FFT result. Subsequently, the signal processing unit 33 calculates the angle (azimuth) of the object with respect to the radar 3 to be detected, the distance to the object, and the relative speed to the object, based on the extracted peak and the phase change of the peak.

Then, the signal processing unit 33 outputs the calculated angle of the object, the distance to the object, and the relative speed to the object to the recognition processing unit 34 . The recognition processing unit 34 detects moving and stationary objects existing within the detection range A3 of the radar 3 based on the angle of the object, the distance to the object, and the relative speed to the object, which are input from the signal processing unit 33. .

Then, when the recognition processing unit 34 detects an object that hinders the running of the vehicle 10 ahead, the recognition processing unit 34 outputs information to that effect to the vehicle control device 6 . When the vehicle control device 6 receives information from the recognition processing unit 34 indicating that there is an object in front of the vehicle 10 that prevents the vehicle 10 from traveling, the vehicle control device 6 automatically operates the brake or avoids the object. control such as steering the vehicle.

The recognition processing unit 34 includes a determination unit 35 that determines whether or not there is a possibility that a moving object exists in the blind spot range of the camera 2 . When the determination unit 35 detects an object whose relative velocity to the radar 3 is not zero during a period in which the vehicle 10 is stopped and no moving object is detected by the camera 2, the determination unit 35 It is determined that there is a possibility that a moving object exists in the blind spot range.

The determination unit 35 receives the stationary object only flag from the detection unit 23 of the camera 2 . The detection unit 23 of the camera 2 is turned on from OFF when only a stationary object exists within the detection range 2A of the camera 2, as described above.

Therefore, the determination unit 35 can determine that the period during which the stationary object only flag received from the detection unit 23 of the camera 2 is ON is the period during which the camera 2 does not detect a moving object. As a result, when the vehicle 10 is stopped and the stationary object only flag received from the detection unit 23 is ON and a non-zero relative velocity is input from the signal processing unit 33, the determination unit 35 detects the blind spot of the camera 2. It can be determined that there is a possibility that a moving object exists in the blind spot range.

Then, when determining that there is a possibility that a moving object exists in the blind spot range of the camera 2 , the determining unit 35 outputs information to that effect to the alerting unit 4 . The alerting unit 4 displays alerting information when information indicating that there is a possibility that a moving object is present in the blind spot range of the camera 2 is input from the determination unit 35 .

For example, the alerting unit 4 outputs the alerting information to the display unit 53 of the car navigation device 5 and superimposes the alerting information on the image captured by the camera 2 displayed on the display unit 53 . As a result, the object detection device 1 can prompt the driver of the vehicle 10 to pay attention to moving objects that are present in positions that cannot be visually confirmed.

At this time, the alerting unit 4 estimates the blind spot range of the camera 2 based on the road shape determined from the map information stored in the car navigation device 5, for example, and detects the blind spot in the image captured by the camera 2. Display alert information at a position corresponding to the range.

Thereby, the object detection device 1 allows the driver to intuitively recognize the position of the blind spot range of the camera 2 in the image displayed on the display unit 53 . Therefore, the object detection device 1 can allow the driver to quickly find a moving object appearing from the blind spot.

Further, the attention calling unit 4 estimates, for example, a blind spot range caused by another vehicle in the image displayed on the display unit 53, and calls attention to a position corresponding to the blind spot range in the image captured by the camera 2. Display information.

As a result, the object detection device 1 can make the driver reconfirm the position of the blind spot range where the driver tends to be distracted by other vehicles and neglect attention due to other vehicles. . Therefore, the object detection device 1 allows the driver to quickly find a moving object appearing in the blind spot.

Next, with reference to FIGS. 3A to 6B, a specific example of the operation of the alerting unit 4 will be described. 3A to 6B are explanatory diagrams showing specific examples of the operation of the alerting unit 4 according to the embodiment.

As shown in FIG. 3A, for example, when the vehicle 10 starts traveling before the intersection R2 of the crossroads, the alerting unit 4, based on the map information 54, The hatched range is assumed to be the blind spot range.

At this time, if the determining unit 35 determines that there is a possibility that a moving object exists in the blind spot range, the blind spot includes, for example, a bicycle T2 attempting to enter the intersection R2 or a pedestrian T3 heading toward the intersection R2. may exist.

Therefore, as shown in FIG. 3B, the attention calling unit 4 superimposes the attention calling information C on both the left and right ends of the image P1 being displayed. As a result, even if the bicycle T2 or the pedestrian T3 enters the intersection R2 from the blind spot, the object detection device 1 can allow the driver to quickly find the bicycle T2 or the pedestrian T3.

Further, as shown in FIG. 4A , for example, when the vehicle 10 starts traveling before the side road of the T-junction R3, the hatched range of the side road is displayed based on the map information 54. It is estimated that it will be in the blind spot range.

At this time, if the determination unit 35 determines that there is a possibility that a moving object exists in the blind spot area, there is a possibility that, for example, a small animal T4 that is about to cross the road on which the vehicle 10 travels exists in the blind spot area. There is

Therefore, as shown in FIG. 4B, the alerting unit 4 superimposes the alerting information C on the left end of the image P2 being displayed, for example. As a result, even if the small animal T4 jumps out of the side road, the object detection device 1 can allow the driver to quickly find the small animal T4.

Further, as shown in FIG. 5A , for example, when the vehicle 10 starts traveling in front of a right curve R4 that passes through a mountainous area and has poor visibility, the attention calling unit 4, based on the map information 54, determines the direction of the right curve R4. The hatched area near the exit is assumed to be the blind area.

At this time, if the determination unit 35 determines that there is a possibility that a moving object exists in the blind spot area, there is a possibility that, for example, a wild animal T5 moving near the exit of the right curve R4 exists in the blind spot area. be.

Therefore, as shown in FIG. 5B, the attention calling unit 4 superimposes and displays the attention calling information C in the vicinity of the slope at the right end of the image P3 being displayed, for example. As a result, even if the vehicle 10 approaches the exit of the right curve R4 and the wild animal T5 appears on the road, the object detection device 1 allows the driver to quickly find the wild animal T5.

Further, as shown in FIG. 6A, for example, when the vehicle 10 starts to turn right from an intersection R5 where another vehicle T6 is stopped in the oncoming lane, the attention calling unit 4 detects a pattern from the image captured by the camera 2. Recognition detects another vehicle T6.

In such a case, the attention calling unit 4 estimates that the hatched range behind the other vehicle T6 is the blind spot range. At this time, if the determination unit 35 determines that there is a possibility that a moving object exists in the blind spot area, there is a possibility that, for example, a mini bike T7 is waiting for a signal in the blind spot area.

Therefore, as shown in FIG. 6B, the attention calling unit 4 superimposes and displays the attention calling information C at the rear position of the other vehicle T6 in the image P4 being displayed. Thus, the object detection device 1 can allow the driver to quickly find the minibike T7 even if the minibike T7 appears from behind the other vehicle T6 after passing by the other vehicle T6.

Next, an example of processing executed by the image processing ECU 22 included in the camera 2 will be described with reference to FIG. FIG. 7 is a flowchart showing an example of processing executed by the image processing ECU 22 according to the embodiment.

The image processing ECU 22 executes the processing shown in FIG. 7 each time an image captured in a predetermined cycle is input from the imaging section 21 . As shown in FIG. 7, when an image is input from the imaging unit 21, the image processing ECU 22 first turns off the stationary object only flag for that image (step S101).

Subsequently, the image processing ECU 22 determines whether or not the vehicle speed is 0 (step S102). When the image processing ECU 22 determines that the vehicle speed is not 0 (step S102, No), the process proceeds to step S107.

When the image processing ECU 22 determines that the vehicle speed is 0 (step S102, Yes), the image processing ECU 22 determines whether or not a moving object can be detected from an image (step S103). At this time, the image processing ECU 22 determines that it is not possible to detect a moving object using an image when it is difficult to capture an image of the subject due to nighttime, stormy weather, or the like.

When the image processing ECU 22 determines that the moving object cannot be detected by the image (step S103, No), the process proceeds to step S107. When the image processing ECU 22 determines that the moving object can be detected from the image (step S103, Yes), the image processing ECU 22 calculates the frame difference between the image input from the imaging unit 21 this time and the previous frame. (Step S104).

Subsequently, the image processing ECU 22 determines whether or not the calculated inter-frame difference is equal to or less than the threshold (step S105). Move to S107.

When the image processing ECU 22 determines that the inter-frame difference is equal to or less than the threshold (step S105, Yes), the image processing ECU 22 turns on the stationary object only flag that was turned off in step S101 (step S106).

Subsequently, the image processing ECU 22 transmits a stationary object only flag to the radar 3 (step S107), outputs the image to the display section 53 and the alerting section 4 (step S108), and terminates the process. Then, when the next image is input from the imaging unit 21, the image processing ECU 22 restarts the processing from step S101.

Note that the image processing ECU 22 completes the processing of steps S101 to S107 described above until the processing of steps S201 to S204 executed by the radar ECU 32, which will be described next with reference to FIG. 8, ends.

Next, an example of processing executed by the radar ECU 32 included in the radar 3 will be described with reference to FIG. 8 . FIG. 8 is a flowchart showing an example of processing executed by the radar ECU 32 according to the embodiment.

Here, the processing executed when the radar ECU 32 detects an object moving in the blind spot range of the camera 2 will be described. Note that the processing of the radar ECU 32 detecting an object that exists outside the blind spot of the camera 2 is the same as that of a general radar, so the description thereof will be omitted here.

The radar ECU 32 executes the process shown in FIG. 8 each time a beat signal is input from the antenna section 31 at predetermined intervals. The radar ECU 32 concurrently executes the processes of steps S201 to S210 shown in FIG. 8 while the image processing ECU 22 executes the processes of steps S101 to S208 shown in FIG.

As shown in FIG. 8, when a beat signal is input from the antenna unit 31, the radar ECU 32 first performs FFT on the beat signal (step S201). Here, the radar ECU 32 performs two-dimensional FFT.

Subsequently, the radar ECU 32 extracts a peak from the result of the two-dimensional FFT (step S202), and calculates the angle at which the object exists based on the phase change of the extracted peak (step S203).

After that, the radar ECU 32 calculates candidate velocities of the object based on the extracted peaks (step S204). At this time, the radar ECU 32 calculates a plurality of (eg, five) candidate velocities in consideration of the phase folding.

After that, the radar ECU 32 determines whether or not the vehicle speed is 0 (step S205). Then, when the radar ECU 32 determines that the vehicle speed is not 0 (step S205, No), the process ends.

When the radar ECU 32 determines that the vehicle speed is 0 (step S205, Yes), the radar ECU 32 determines whether or not the stationary object only flag received from the camera 2 during the current process is ON (step S206). . Then, when the radar ECU 32 determines that the stationary object only flag is not ON (step S206, No), the process ends.

When the radar ECU 32 determines that the stationary object only flag is ON (step S206, Yes), the radar ECU 32 determines whether or not the candidate speed calculated in step S204 includes 0 [m/s] (step S207). ).

Then, when the radar ECU 32 determines that 0 [m/s] is included (step S207, Yes), the radar ECU 32 sets the relative velocity to 0 for all peaks existing within the detection range 2A of the camera 2 (step S208). , terminate the process.

When the radar ECU 32 determines that the candidate speeds do not include 0 [m/s] (step S207, No), the radar ECU 32 adds an out-of-range moving object flag to the moving object information (step S209). Subsequently, the radar ECU 32 outputs the information on the moving object to the vehicle control device 6 and the alerting unit 4 (step S210), and terminates the process.

Next, an example of processing executed by the alerting unit 4 according to the embodiment will be described with reference to FIG. 9 . FIG. 9 is a flowchart showing an example of processing executed by the alerting unit 4 according to the embodiment.

When information on a moving object is input from the radar ECU 32, the alerting unit 4 executes the process shown in FIG. Specifically, as shown in FIG. 9, when information on a moving object is input from the radar ECU 32, the alerting unit 4 determines whether or not an out-of-range moving object flag is added to the information on the moving object. (step S301).

Then, when it is determined that the out-of-range moving object flag is not assigned (step S301, No), the alerting unit 4 ends the process. Further, when the warning unit 4 determines that the out-of-range moving object flag is given (step S301, Yes), it determines whether or not there is another vehicle in the image by, for example, pattern recognition ( step S302).

Then, when it is determined that there is another vehicle (step S302, Yes), the alerting unit 4 estimates the blind spot range of the camera 2 caused by the other vehicle (step S303), and shifts the process to step S305.

Further, when the warning unit 4 determines that there is no other vehicle in the image (step S302, No), it estimates the blind spot range of the camera 2 based on the road shape determined from the map information 54 (step S304). , the process proceeds to step S305. In step S305, the attention calling unit 4 displays the attention calling information C at the position corresponding to the estimated blind spot range of the camera 2 in the image being displayed, and ends the process.

In the above-described embodiment, the case where the determination unit 35 determines whether or not there is a possibility that a moving object exists in the blind spot range of the camera 2 when the vehicle 10 is stopped has been described. This is an example.

Even if the traveling speed of the vehicle 10 is not completely zero, the determination unit 35 determines the blind spot range of the camera 2 even when the vehicle 10 is traveling as long as the traveling speed does not substantially interfere with the detection of the object. It is possible to determine whether there is a possibility that a moving object exists in the

For example, the determination unit 35 determines that the radar 3 detects an object moving at a speed sufficiently faster relative to the vehicle 10 than the traveling speed of the vehicle 10 estimated from the inter-frame difference of the image captured by the camera 2 . , it can be determined that there is a possibility that a moving object exists in the blind spot range of the camera 2 .

However, if the traveling speed of the vehicle 10 is too high, it becomes difficult for the radar 3 to detect the speed difference between a stationary object such as a building and a moving object. Therefore, the determination unit 35 determines whether or not there is a possibility that a moving object exists in the blind spot range of the camera 2 when the traveling speed of the vehicle 10 is equal to or lower than a predetermined speed (eg, 5 km/h).

As a result, the object detection device 1 determines whether there is a possibility that a moving object exists in the blind spot range of the camera 2 even when the vehicle 10 is traveling, if the traveling speed of the vehicle 10 is equal to or lower than a predetermined speed. can be accurately determined.

In the above-described embodiment, the camera 2 targets the entire detection range 2A, and the case where the stationary object only flag is turned ON only when only a stationary object exists within the detection range 2A has been described, but this is an example. is.

Next, with reference to FIGS. 10A and 10B, modified examples 1 and 2 of the mode of switching the stationary object only flag by the camera 2 will be described. FIG. 10A is an explanatory diagram of a switching mode of a stationary object only flag according to Modification 1 of the embodiment. FIG. 10B is an explanatory diagram of a switching mode of the stationary object only flag according to Modification 2 of the embodiment.

As shown in FIG. 10A, the camera 2, for example, divides an image P to be captured into four areas P11, P12, P13, and P14. may be configured to set

For example, when the camera 2 having such a configuration detects a moving object in each of the three areas P11, P12, and P13, and does not detect a moving object only in the rightmost area P14, only the stationary object only flag of the rightmost area P14 is turned ON, Other stationary object only flags are turned off and transmitted to the radar 3 .

As a result, the radar 3 determines whether or not there is a possibility that a moving object exists in the blind spot range only for the detection range corresponding to the rightmost region P14, so the processing load can be reduced.

Also, as shown in FIG. 10B, the camera 2 is configured such that the optical axis direction of the camera lens is 0°, the clockwise direction from the optical axis direction around the camera lens is a positive angle, and the counterclockwise angle is , the range in which the moving object is not detected may be notified by the radar as an angle.

The camera 2 having such a configuration does not detect moving objects in the range of -30° to -15°, detects a pedestrian T8 crossing in front of the camera 2 in the range of -15° to 0°, and detects a pedestrian T8 crossing in front of the camera 2 in the range of -15° to 0°. An oncoming vehicle T9 approaching in the range of ~+30° may be detected.

In this case, the camera 2 associates an ON stationary object only flag with the angle range of -30° to -15°, and an OFF stationary object only flag with the angle range of -15° to +30°. Send. As a result, the radar 3 determines whether or not there is a possibility that a moving object exists in the blind spot range only for the angle range of -30° to -15°, so the processing load can be reduced.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments so shown and described. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

1 object detection device 2 camera 21 imaging unit 22 image processing ECU
23 detection unit 3 radar 31 antenna unit 32 radar ECU
33 signal processing unit 34 recognition processing unit 35 determination unit 4 attention calling unit

Claims (4)

Equipped with a camera device and a radar device,
The camera device
an imaging unit that images a predetermined range around the vehicle;
a detection unit that detects a moving object present in the predetermined range based on the image captured by the imaging unit;
with
The radar device
When the radar device detects the moving object during a period in which the moving object is not detected by the camera device, there is a possibility that the detected moving object exists in a blind spot range, which is a blind spot of the camera device, within the predetermined range. A determination unit that determines that there is
with
The determination unit is
configured to determine whether or not there is a possibility that the moving object exists in the blind spot range when the traveling speed of the vehicle is equal to or lower than a predetermined speed;
Object detection device. an alerting unit that superimposes and displays alerting information on the image being displayed by a display device when the determination unit determines that the moving object may exist in the blind spot range;
The object detection device according to claim 1, comprising: The alerting unit is
estimating the blind spot range based on a road shape determined from map information, and displaying the alert information at a position corresponding to the blind spot range in the image;
The object detection device according to claim 2. The alerting unit is
estimating the blind spot range caused by another vehicle in the image, and displaying the alert information at a position corresponding to the blind spot range in the image;
The object detection device according to claim 2 or 3.

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