JP2008152390A - Vehicle periphery monitoring device - Google Patents

Abstract

An object of the present invention is to provide a vehicle periphery monitoring device for monitoring objects in front and front sides of a vehicle in order to avoid or reduce the collision of the vehicle.
[Solution]
The vehicle periphery monitoring device includes a front monitoring radar 110 that detects an object in front of the vehicle, a left front side monitoring radar 120 that detects an object on the left front side of the vehicle, and a right front side that detects an object on the right front side of the vehicle. A monitoring radar 130, a traveling direction determination unit 143 that detects the traveling direction of the host vehicle, and a monitoring unit 144 are provided. For a stationary object, the monitoring unit 144 has a detection range in the traveling direction of the host vehicle detected by the traveling direction determination unit 143 among the front monitoring radar 110, the left front side monitoring radar 120, and the right front side monitoring radar 130. Monitoring is performed only by the monitoring radar, and moving objects are monitored with priority given to the front monitoring radar 110, the left front side monitoring radar 120, and the right front side monitoring radar 130 according to the traveling direction of the host vehicle.
[Selection] Figure 1

Description

  The present invention relates to a vehicle periphery monitoring device that monitors objects in front and front sides of a host vehicle.

Conventionally, in order to avoid or reduce collisions, a peripheral monitoring device that monitors the surroundings of a host vehicle, using a long range radar device and a short range radar device, based on the traveling condition of the host vehicle, 2. Description of the Related Art A peripheral monitoring device that monitors the surroundings of a host vehicle by selecting driving of a radar device for distance or short distance is known. This long-range radar device is used for monitoring the front of the host vehicle, and the short-range radar device is used for monitoring the front side (see, for example, Patent Document 1).
JP 2005-165752 A

  By the way, in the conventional periphery monitoring device, the detection range is expanded to the front side of the vehicle by mounting the radar device that monitors the front side, but the object that does not need to be detected (for example, the side in the traveling direction) In some cases) For this reason, erroneous detection and a decrease in detection accuracy may occur. In addition, a stationary object and a moving object are not distinguished and monitored within the detection range.

  The present invention has been made in view of the above-described problems, and provides a vehicle periphery monitoring device that monitors objects in front and front sides of a vehicle in order to avoid or reduce the collision of the vehicle. With the goal.

  A vehicle periphery monitoring device according to an aspect of the present invention includes a front object detection unit that detects an object in front of a vehicle and a first front side object that detects an object on one first direction side of the front side of the vehicle. Detecting means; second front side object detecting means for detecting an object on the other second direction side of the front side of the vehicle; traveling direction detecting means for detecting the traveling direction of the host vehicle; and the forward object detecting means. A stationary object monitoring means for detecting a stationary object based on a detection result of at least one of the first front side object detection means and the second front side object detection means, and the stationary object monitoring means, Only a stationary object in the traveling direction of the host vehicle detected by the traveling direction detecting means is monitored. Thereby, the stationary object of only the advancing direction of the own vehicle can be monitored.

  Further, the front object detection means, the first front side object detection means and the second front side object detection means are each configured to detect a relative speed between the detected object and the own vehicle, Based on the relative speed and the speed of the host vehicle, an object determination unit that determines whether an object within each detection range is a stationary object or a moving object, and the moving object determined by the object determination unit is monitored. And a moving object monitoring means for performing the above operation. Thereby, a stationary object can be discriminated based on the moving state of the object.

  The moving object monitoring means monitors the moving object using the detection results of the respective object detecting means, according to the traveling direction of the host vehicle, the front object detecting means, the first front side object detecting means, and A priority may be given to the second front side object detection means. Thereby, a specific direction can be preferentially monitored.

  The vehicle may further include an intersection detection unit that outputs an intersection detection signal when detecting the approach of the host vehicle to the intersection, and the monitoring unit may start monitoring when the intersection detection signal is received. Thereby, an object can be monitored near the intersection.

  According to the present invention, in order to avoid or reduce the collision of the vehicle, there is obtained a specific effect that it is possible to provide a vehicle periphery monitoring device that can monitor an object in front and front of the vehicle with high accuracy.

  Embodiments to which the vehicle periphery monitoring device of the present invention is applied will be described below. Here, the term “intersection” is used to mean a point where an arbitrary number of roads intersect at an arbitrary angle.

  FIG. 1 is a diagram illustrating a configuration of a vehicle periphery monitoring device according to an embodiment. In FIG. 1, a vehicle periphery monitoring device 100 includes a front monitoring radar 110 (front object detection means), a left front monitoring radar 120 (first front side object detection means), and a right front monitoring radar 130 (second front side object detection). Means) and a pre-crash safety ECU 140 (hereinafter abbreviated as PCS / ECU 140).

  The PCS / ECU 140 includes an object moving state determination unit (object determination unit) 141, a traveling direction detection unit 142, an intersection detection unit 143, a monitoring unit 144 (stationary object monitoring unit, moving object monitoring unit), and a pre-crash control unit 145. Including. The pre-crash control unit 145 receives a predetermined monitoring result related to the object from the monitoring unit 144 and performs pre-crash control for preventing a frontal collision or a diagonally oblique front, but for the vehicle according to the present embodiment. Since it is not indispensable as a component of the periphery monitoring device, its description is omitted.

  The front monitoring radar 110 is a radar sensor that is used for pre-crash control that prevents a frontal collision or a slanting front obliquely, or for inter-vehicle control (radar cruise control) by an inter-vehicle control ECU (not shown). The front monitoring radar 110 is arranged to monitor the front of the vehicle, for example, near the front grille or inside the front bumper. The forward monitoring radar 110 generates, as the forward object information, the distance from the own vehicle of a forward object (typically, another vehicle) that can exist in front of the vehicle, and the relative direction and speed of the forward object with respect to the own vehicle. . Radio waves (for example, millimeter waves) and light waves (for example, laser waves) may be used as the transmission waves emitted by the front monitoring radar 110.

  Further, the left front monitoring radar 120 and the right front monitoring radar 130 are radar sensors used for pre-crash control for preventing a head-on collision at an oblique front or an intersection from an oblique front, for example, near the front grill or the front bumper. Arranged to monitor the front left and right front of the vehicle, respectively. The left front monitoring radar 120 and the right front monitoring radar 130 are similar to the front monitoring radar 110 in that the front side object (typically, another vehicle) that may exist in the front side of the vehicle, The relative direction and speed of the object with respect to the vehicle are generated as front-side object information. As transmission waves radiated by the left front monitoring radar 120 and the right front monitoring radar 130, radio waves (for example, millimeter waves) and light waves (for example, laser waves) may be used.

  The front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 each include a reception antenna, a transmission antenna, a receiver, a transmitter, and a signal processing unit (not shown). The transmitter radiates a transmission wave toward a predetermined range on the front side of the vehicle via the transmission antenna. The receiver receives a reflected wave generated by reflecting the transmitted wave by a front or front side object via the receiving antenna. The signal processing unit calculates the relative velocity of the front or front side object using the Doppler frequency (frequency shift) of the reflected wave, calculates the relative distance of the front side object using the delay time of the reflected wave, and Based on the phase difference of the received waves between the plurality of receiving antennas, the azimuth of the front or front side object is calculated.

  In this way, information representing the distance of the front object (typically, another vehicle) from the host vehicle and the relative direction and speed of the front object with respect to the host vehicle is generated from the front monitoring radar 110 as the front object information. The Similarly, the information indicating the distance of the front side object (typically, another vehicle) from the own vehicle and the relative direction and speed of the front side object with respect to the own vehicle are the left front monitoring radar 120 and the right side. It is respectively generated as front side object information from the front monitoring radar 130. The front object information and the front side object information are transmitted to the monitoring unit 144 at predetermined intervals after being requested from the monitoring unit 144 in the PCS / ECU 140.

  As the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130, an electronic scan type radar sensor that radiates radio waves (for example, millimeter waves) or light waves (for example, laser waves) as transmission waves is used. Can be used. As long as the scanning method of the left front monitoring radar 120 and the right front monitoring radar 130 can measure the azimuth of the front side object (the relative direction of the front side object with respect to the vehicle), in addition to the electronic scanning method, A mechanical scan system that mechanically moves the transmitting antenna or the receiving antenna may be used. In this embodiment, an electronic scanning radar sensor that emits millimeter waves as transmission waves is used.

  FIG. 2 is a diagram schematically showing detection ranges of the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130. FIG. 2 shows a detection range 110 a of the front monitoring radar 110, a detection range 120 a of the left front monitoring radar 120, and a detection range 130 a of the right front monitoring radar 130 in a plan view of the vehicle 10.

  The detection range 110a of the front monitoring radar 110 is set to a predetermined angle range with the center axis in the front-rear direction of the vehicle 10 as the center. The detection range 120a of the left front monitoring radar 120 and the detection range 130a of the right front monitoring radar 130 are set to a predetermined angle range at the left front and right front of the vehicle. Since the front monitoring radar 110 is also used for radar cruise control or the like, the detection range 110a is set to extend far (for example, several hundred meters) at a relatively narrow angle. On the other hand, the detection ranges 120a and 130a are used for pre-crash control to prevent encounter collision at an oblique front or an intersection from an oblique front, and thus extend to the vicinity of the vehicle (for example, several tens of meters) at a relatively wide angle. Set to exist. FIG. 2 shows a state in which the detection range 110a and the detection ranges 120a and 130a are set so as not to overlap. The detection range 110a and the detection range 120a have overlapping ranges. In addition, the detection range 110a and the detection range 130a may be set to have an overlapping range. Note that the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 can simultaneously detect a plurality of objects within each detection range.

  Next, the PCS / ECU 140, the object movement state determination unit 141, the traveling direction detection unit 142, the intersection detection unit 143, and the monitoring unit 144 will be described.

  The PCS / ECU 140 is configured with a microcomputer including a CPU, a ROM, a RAM, and the like connected to each other via a bus (not shown).

  A forward monitoring radar 110, a left front monitoring radar 120, a right front monitoring radar 130, and a vehicle speed sensor 150 are connected to the object movement state determination unit 141 of the PCS / ECU 140. A steering angle sensor 160 is connected to the traveling direction detection unit 142. A navigation device 170 is connected to the intersection detection unit 143. The monitoring unit 144 is connected to the output ends of the moving state determination unit 141, the traveling direction determination unit 142, and the intersection detection unit 143, and to the input end of the pre-crash control unit 145. These are communicably connected via an appropriate wireless or wired communication path.

  Here, the vehicle speed sensor 150 includes, for example, a sensor that detects rotation of an axle (not shown) and outputs vehicle speed information representing the vehicle speed.

  The rudder angle sensor 160 is constituted by, for example, a sensor that detects the rotation angle of the column shaft of the steering and outputs rudder angle information representing the rudder angle obtained from the rotation angle.

  The navigation device 170 may be any device that has map information and can detect the approach of the host vehicle to the intersection using GPS (Global Positioning System), and is used as an intersection detection means in the present embodiment. . When the navigation device 170 approaches an intersection having a temporary stop line without a traffic light based on the map information and the position of the vehicle by GPS, the navigation device 170 outputs an intersection detection signal. The timing at which the navigation device 170 outputs the intersection detection signal may be set, for example, when the host vehicle reaches a predetermined distance (for example, several tens of meters) from an intersection with a stop line without a traffic light. The predetermined distance may be set longer depending on the vehicle speed. In addition, the navigation device 170 is configured to output an intersection passage signal when it detects passage of an intersection based on the map information and the position of the host vehicle by GPS. The timing at which the navigation device 170 outputs the intersection passing signal is set, for example, when the host vehicle travels a predetermined distance from the intersection.

  The object movement state determination unit 141 determines whether the object in the detection range 110a is a stationary object based on the relative speed information in the forward object information sent from the forward monitoring radar 110 and the vehicle speed information sent from the vehicle speed sensor 150. Determine if it is a moving object. Specifically, if the difference between the relative speed of the host vehicle with respect to the object to be determined and the vehicle speed of the host vehicle is equal to or less than a predetermined value, the object in the detection range 110a is determined to be a stationary object. If the value obtained by subtracting the relative speed of the host vehicle from the vehicle speed of the host vehicle is greater than a predetermined positive value, it is determined that the object in the detection range 110a is a moving object approaching the host vehicle. If the value obtained by subtracting the relative speed of the own vehicle with respect to the object in the detection range 110a from the vehicle speed of the own vehicle is smaller than a predetermined negative value, the object is determined to be a moving object moving away from the own vehicle. The distance information in the forward object information sent from the forward monitoring radar 110 and the relative direction information of the forward object with respect to the host vehicle are sent from the object movement state determination unit 141 to the monitoring unit 144 together with the determination result.

  Similarly, the object movement state determination unit 141 uses the front side object information sent from each of the left front side monitoring radar 120 and the right front side monitoring radar 130 to detect objects in the detection range 120a and the detection range 130a. Is a stationary object, a moving object approaching, or a moving object moving away. This determination result is sent to the monitoring unit 144 together with the distance information in the front side object information and the relative direction information of the front object with respect to the host vehicle.

  The traveling direction determination unit 142 determines the traveling direction of the host vehicle based on the steering angle information sent from the steering angle sensor 160. The determination result is sent to the monitoring unit 144. Here, not only when the steering angle is completely zero, but also when the steering angle is in the “predetermined range centered on zero”, the traveling direction is determined to be straight and the left side of the predetermined range or When it is on the right side, the traveling direction may be determined as the left direction or the right direction. The “predetermined range centered on zero” when determining that the vehicle is going straight may be determined in relation to the angle that the detection range 110a of the front monitoring radar 110 has in plan view.

  The intersection detection unit 143 detects that the host vehicle is approaching the intersection based on the intersection detection signal sent from the navigation device 170. The detection result is sent to the monitoring unit 144 as intersection detection information.

  The monitoring unit 144 generates monitoring information based on various types of information (such as determination results) sent from the moving state determination unit 141, the traveling direction determination unit 142, and the intersection detection unit 143, and sends this to the pre-crash control unit 145.

  Next, a monitoring process by the monitoring unit 144 of the PCS / ECU 140 of the vehicle periphery monitoring device of the present embodiment will be described with reference to FIG.

  When the vehicle periphery monitoring device according to the present embodiment is activated, the monitoring unit 144 determines whether an intersection detection signal has been received (step S1). As described above, this intersection detection signal is sent to the monitoring unit 144 from the navigation device 170 that has detected the approach of the host vehicle to an intersection having a temporary stop line without a traffic light.

  The monitoring unit 144 activates the front monitoring radar 110, the left front monitoring radar 120, the right front monitoring radar 130, the vehicle speed sensor 150, and the steering angle sensor 160, and displays the front object information, the front side object information, the vehicle speed information, and the steering angle information. Output (step S2). These pieces of information are detected and output at regular intervals until an output stop command is sent from the monitoring unit 144.

  The activated moving state determination unit 141 is based on the determination method described above, whether the object detected within the detection range 110a of the front monitoring radar 110 is a stationary object, a moving object approaching the host vehicle, or It is determined whether the moving object is moving away from the host vehicle. The determination result is sent from the object movement state determination unit 141 to the monitoring unit 144 together with the distance information and the relative direction information in the front object information. The object movement state determination unit 141 performs the same determination process on the objects detected in the detection range 120a of the left front monitoring radar 120 and the detection range 130a of the right front monitoring radar 130, respectively. The determination result is sent from the object movement state determination unit 141 to the monitoring unit 144 together with the distance information and the relative direction information in the front object information.

  The monitoring unit 144 determines whether the determination result and the distance information and the relative direction information of the front object information and the front side object information are received from the movement state determination unit 141 (Step S3). At this time, if the monitoring unit 144 determines that all or part of the information has not been received, the monitoring unit 144 repeats step S3 until all the information is received.

  The monitoring unit 144 determines whether or not the traveling direction of the host vehicle is a straight traveling direction based on the traveling direction information received from the traveling direction determination unit 142 (step S4).

  In the case of the straight traveling direction, the monitoring unit 144 performs monitoring of the stationary object only by the front monitoring radar 110 (step S5).

  Next, the monitoring unit 144 performs monitoring processing on moving objects approaching the host vehicle using detection signals from the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 in accordance with the priority order (step S6). ). As described above, when it is determined that the traveling direction of the host vehicle is the straight traveling direction, the priority is given to the front monitoring radar 110 (highest priority) and the left front monitoring radar 120 (second priority) from the highest to the lowest. , Right forward monitoring radar 130 (last). The monitoring process based on the priority order will be described after the description of the processing procedure.

  The monitoring unit 141 uses the stationary object monitoring result (relative speed, distance, relative direction, number of objects, speed of the own vehicle, etc.) of the stationary object subjected to the monitoring process in step S5, and the priority order in step S6. The moving object monitoring result (relative speed, distance, relative direction, number of objects, speed of own vehicle, etc.) of the moving object that has undergone the monitoring process is sent to the pre-crash control unit 145 (step S7).

  The monitoring unit 144 determines whether an intersection passing signal has been received (step S8). When the intersection passing signal is received, the monitoring unit 144 ends the monitoring process (END). Upon receiving this intersection detection signal, the monitoring unit 144 sends an output stop command to the front monitoring radar 110, the left front monitoring radar 120, the right front monitoring radar 130, the vehicle speed sensor 150, and the rudder angle sensor 160, and the front object information, front side The output of the direction object information, the vehicle speed information, and the steering angle information is stopped. If the intersection passing signal has not been received, the monitoring unit 144 returns the processing procedure to step S3.

  If it is determined in step S4 that the traveling direction of the host vehicle is not a straight traveling direction, the monitoring unit 144 determines whether the traveling direction of the host vehicle is the left direction (step S9).

  In the case of the left direction, the monitoring unit 144 performs monitoring of the stationary object only by the left front monitoring radar 120 (step S10).

  Next, the monitoring unit 144 performs monitoring processing on moving objects approaching the host vehicle using detection signals from the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 in accordance with the priority order (step S11). ). As described above, when the traveling direction of the host vehicle is determined to be the left direction, the priority order from the highest to the lowest is the right front monitoring radar 130 (highest priority) and the front monitoring radar 110 (second priority). In this order, the left front monitoring radar 120 (last).

  The monitoring unit 141 uses the stationary object monitoring result (relative speed, distance, relative direction, the number of objects, the speed of the host vehicle, etc.) of the stationary object that has been monitored in step S10, and the priority order in step S11. The moving object monitoring result (relative speed, distance, relative direction, number of objects, speed of own vehicle, etc.) of the moving object that has undergone the monitoring process is sent to the pre-crash control unit 145 (step S12).

  If it is determined in step S9 that the traveling direction of the host vehicle is not the left direction, the monitoring unit 144 determines that the traveling direction of the vehicle is the right direction. (Step S13).

  Next, the monitoring unit 144 performs monitoring processing on moving objects approaching the host vehicle using detection signals from the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 in accordance with the priority order (step S14). ). As described above, when the traveling direction of the host vehicle is determined to be the right direction, the priority order from the highest to the lowest is the left front monitoring radar 120 (highest priority) and the front monitoring radar 110 (second priority). , Right forward monitoring radar 130 (last).

  The monitoring unit 141 uses the stationary object monitoring result (relative speed, distance, relative direction, number of objects, speed of the own vehicle, etc.) of the stationary object that has been monitored in step S13, and the priority order in step S14. The moving object monitoring result (relative speed, distance, relative direction, number of objects, speed of own vehicle, etc.) of the moving object that has undergone the monitoring process is sent to the pre-crash control unit 145 (step S15).

  Table 1 shows types and priorities of monitoring radars used for monitoring processing of stationary objects and moving objects approaching the host vehicle. This table summarizes the contents of steps S5, S6, S10, S11, S13 and S14.

この表に示される監視部１４４の監視処理は次の通りである。 [Table 1]

The monitoring process of the monitoring unit 144 shown in this table is as follows.

[When the traveling direction of the host vehicle is a straight traveling direction]
A stationary object is monitored only by the front monitoring radar 110 (the left front monitoring radar 120 and the right front monitoring radar 130 do not perform a stationary object monitoring process).
For moving objects approaching the host vehicle, the priority is given in the order of the front monitoring radar 110 (highest priority), the left front monitoring radar 120 (second priority), and the right front monitoring radar 130 (last) from the highest to the lowest. A monitoring process is performed based on the ranking.

[When the traveling direction of the host vehicle is the left direction]
A stationary object is monitored only by the left front monitoring radar 120 (the front monitoring radar 110 and the right front monitoring radar 130 do not perform a stationary object monitoring process).
For moving objects approaching the host vehicle, the right front monitoring radar 130 (highest priority), the front monitoring radar 110 (second priority), and the left front monitoring radar 120 (last) are prioritized from the highest to the lowest. A monitoring process is performed based on the ranking.

[When the traveling direction of the host vehicle is to the right]
A stationary object is performed only by the right front monitoring radar 130 (the left front monitoring radar 120 and the right front monitoring radar 130 do not perform a stationary object monitoring process).

  For moving objects approaching the host vehicle, priority is given in the order of left front monitoring radar 120 (highest priority), front monitoring radar 110 (second priority), and right front monitoring radar 130 (last) from the highest to the lowest. A monitoring process is performed based on the ranking.

  Here, the monitoring process based on the priority order in steps S6, S11, and S14 described above will be described.

  When monitoring the objects detected by the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130, the monitoring unit 144 does not handle the detection results of all the monitoring radars equally, Prioritize detection results according to the direction of travel. The reason why priorities are set in this way is that the risk of collision differs depending on the approaching direction of the moving object to the host vehicle, and the direction in which the risk of collision is high is more carefully monitored.

  As a method of assigning priorities, for example, there is a method of weighting detection results of each monitoring radar. As the weighting, for example, the detection probability of the detection result by the monitoring radar having a high priority is set high, and the detection probability of the detection result by the monitoring radar having a low priority is set low. When a plurality of moving objects are detected at the same time by the radar 120 and the right front monitoring radar 130, there is a method of giving priority to the detection result by the monitoring radar having a high priority.

  Specifically, as a method using such an adoption probability, for example, the adoption probability of the detection result with the highest priority is 1.0, and the adoption probability of the detection result with the second highest priority is 0.6, 3 In the case where five moving objects are detected by each of the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130, the adoption probability of the detection result having the second highest priority is 0.2. The five moving objects detected by the left front monitoring radar 120 are monitored, three of the five moving objects detected by the left front monitoring radar 120 are monitored, and one of the five moving objects detected by the right front monitoring radar 130 is monitored. One method is to monitor one.

  Prioritization based on adoption probability is not limited to such a method, and the order is determined by multiplying this adoption probability by the distance to the moving object and the difference between the relative speed and the own vehicle speed. It may be configured.

  Instead of the adoption probability, the priority order may be set by changing the object detection threshold (that is, radar sensitivity) in each monitoring radar.

  Moreover, the method of assigning priorities is not limited to the above-described method, and the following method may be used. The monitoring unit 144 can determine that the same object has been detected by a plurality of monitoring radars from the relative speed and the relative direction included in the detection results of the respective monitoring radars. For example, when the traveling direction of the host vehicle is a straight traveling direction, when the same object is detected by all the monitoring radars of the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130, the monitoring unit 144 Monitors the detection result of the front monitoring radar 110 with priority over the left front monitoring radar 120 and the right front monitoring radar 130. When the objects detected by the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130 are different, the monitoring unit 144 gives the highest priority to the detection result of the front monitoring radar 110, and the left front monitoring radar 120. The detection result by is given second priority, and the detection result by the right front monitoring radar 130 is used third, and the moving object is monitored. In addition, when the moving object is not included in the detection result of the front monitoring radar 110 having the highest priority, the monitoring unit 144 gives the second priority to the detection result by the left front monitoring radar 120 and detects by the right front monitoring radar 130. The moving object is monitored using the result third. The monitoring unit 144 similarly performs such monitoring processing even when the traveling direction of the host vehicle is the left direction or the right direction.

  The priority order is not limited to that given by the processing of the monitoring unit 144, and the output level of each detection radar (the front monitoring radar 110, the left front monitoring radar 120, and the right front monitoring radar 130) is detected (each monitoring The power consumption associated with the operation of the radar) is given a magnitude relationship, the detection range of each monitoring radar is given a magnitude relationship, or the period of detection of each monitoring radar is given a long or short relationship. May be attached. In addition, when assigning priorities to the detection ranges, instead of assigning priorities as described above to the detection ranges of the respective monitoring radars, or in addition to assigning priorities as described above, The detection range may be divided into a plurality of areas, and priorities may be assigned to the respective areas. In other words, the detection range of each monitoring radar is divided into a main detection area to be preferentially determined and a sub detection area having a determination threshold lower than the object determination threshold in the main detection area. And may be prioritized.

  In the present embodiment, among the objects that are determined to be moving objects by the moving state determination unit 141, the moving object that moves away from the host vehicle does not need to be monitored, and thus monitoring processing is not performed.

  As described above, according to the vehicle periphery monitoring device of the present embodiment, since a stationary object is performed only by a monitoring radar having a detection range in the traveling direction of the host vehicle, a stationary object (roadside object that is not in the traveling direction of the host vehicle). Etc.) can be suppressed. This suppresses detection of a stationary object that does not need to be monitored by a monitoring radar having a detection range other than the traveling direction of the host vehicle.

  Further, according to the vehicle periphery monitoring device of the present embodiment, for moving objects approaching the host vehicle, each monitoring radar is prioritized according to the traveling direction of the host vehicle. The monitoring process can be performed according to the collision risk. Monitoring of moving objects based on such priorities is particularly effective for preventing encounter collisions at intersections.

  In the present embodiment, a case has been described where a stationary object and a moving object are monitored when the host vehicle approaches an intersection with a stop line without a traffic light. However, monitoring processing is also performed at a place other than such an intersection. It may be configured to execute. In such a case, the above-described monitoring process is performed at an intersection where there is a temporary stop line without a traffic light, but the monitoring process by the front monitoring radar 110 is prioritized at an intersection other than an intersection where there is a temporary stop line without a traffic signal. The

  As described above, according to the vehicle periphery monitoring device of the present embodiment, it is possible to provide a vehicle periphery monitoring device that improves the detection accuracy of a vehicle that intersects with the own vehicle at an intersection where there is no temporary stop line. .

  In addition, although the form which uses the navigation apparatus 170 as an intersection detection means for detecting the approach to an intersection was demonstrated above, if it is an apparatus which can detect the approach to an intersection, road-to-vehicle communication will be performed for every intersection, for example. It can also be configured with a device that performs.

  Moreover, although the form which determines the advancing direction of the own vehicle by the rudder angle sensor 160 was demonstrated above, in addition to the rudder angle sensor 160, based on the operating state of a direction indicator, it is left direction or right direction from a straight drive state. You may comprise so that the change of the advancing direction may be determined. According to this configuration, when the host vehicle enters the intersection, even if the vehicle is in a state where it is determined that the vehicle is traveling straight, depending on the steering angle information output from the steering angle sensor 160, the direction indicator is actuated to activate the traveling direction of the host vehicle Can be detected in the left direction or the right direction, and the monitoring process according to the traveling direction of the host vehicle can be started from an earlier stage.

  The vehicle periphery monitoring device according to the exemplary embodiment of the present invention has been described above, but the present invention is not limited to the specifically disclosed embodiment and departs from the scope of the claims. Without limitation, various modifications and changes are possible.

  The vehicle periphery monitoring device of the present invention can be used in a pre-crash safe system.

It is a figure which shows the structure of the periphery monitoring apparatus for vehicles of embodiment. It is a figure which shows roughly the detection range of the front monitoring radar, the left front monitoring radar, and the right front monitoring radar which are contained in the vehicle periphery monitoring apparatus of embodiment by the planar view of the own vehicle. It is a figure showing the process sequence of the monitoring part of the vehicle periphery monitoring apparatus of embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle 100, 200 ... Vehicle periphery monitoring apparatus 110 ... Forward monitoring radar 120 ... Left forward monitoring radar 130 ... Right forward monitoring radar 110a, 120a, 130a ... Detection range 130 ... Right forward monitoring radar 140 ... PCS / ECU
DESCRIPTION OF SYMBOLS 141 ... Moving state determination part 142 ... Setting part 143 ... Intersection detection part 144 ... Monitoring part 145 ... Pre-crash control part 150 ... Vehicle speed sensor 160 ... Steering angle sensor 170 ... Navigation apparatus

Claims (4)

Forward object detection means for detecting an object in front of the vehicle;
First front side object detection means for detecting an object on one first direction side of the front side of the vehicle;
Second front side object detection means for detecting an object on the other second direction side of the front side of the vehicle;
Traveling direction detection means for detecting the traveling direction of the host vehicle;
A stationary object monitoring unit that detects a stationary object based on a detection result of at least one of the front object detection unit, the first front side object detection unit, and the second front side object detection unit;
The vehicle periphery monitoring device, wherein the stationary object monitoring unit monitors only a stationary object in the traveling direction of the host vehicle detected by the traveling direction detection unit. The front object detection means, the first front side object detection means, and the second front side object detection means are each configured to detect a relative speed between the detected object and the host vehicle,
An object determination means for determining whether an object within each detection range is a stationary object or a moving object based on the relative speed and the speed of the host vehicle;
The vehicle periphery monitoring device according to claim 1, further comprising: a moving object monitoring unit that monitors the moving object determined by the object determining unit.   The moving object monitoring means monitors the moving object using the detection result of each object detecting means, according to the traveling direction of the host vehicle, the front object detecting means, the first front side object detecting means, and the first object detecting means. 2. The vehicle periphery monitoring device according to claim 1 or 2, wherein priority is given to the front side object detection means. Further comprising an intersection detection means for outputting an intersection detection signal when detecting the approach of the own vehicle to the intersection,
4. The vehicle periphery monitoring device according to claim 1, wherein the monitoring unit starts monitoring when receiving the intersection detection signal. 5.

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