JP2019020351A - Target recognition device, vehicle control device including target recognition device, and target recognition method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simultaneously operate a plurality of sensors having different detection ranges to recognize a target around a vehicle, and to appropriately operate the sensor, a target recognition device, and a vehicle control device including the target recognition device. Provide a target recognition method. A first sensor that detects a target in a first detection range (S1) around the host vehicle and a target in a second detection range (S2) that is different from the first detection range around the host vehicle. A target which is applied to a vehicle system that includes a second sensor for detecting, and is based on the detection result of the target by the first sensor and the second sensor to assist the traveling of the own vehicle, and is the target detected by the first sensor. A position recognition unit (12) that recognizes the position of the target as a target position, and a detection determination unit (13) that determines whether or not the detected target is detected by the second sensor based on the target position. And an operation control section (14) for controlling the operation of the target detection by the second sensor based on the determination result of the detection determination section. [Selection diagram]

Description

  The present invention relates to a target recognition device that recognizes a target in the vicinity of the host vehicle, a vehicle control device that supports driving of the host vehicle based on a target recognition result by the target recognition device, and a target recognition method.

  2. Description of the Related Art A target detection device that detects an obstacle (target) around a host vehicle by transmitting a transmission wave such as a radio wave or an ultrasonic wave and receiving a reflected wave thereof is known (Patent Document 1). reference).

JP 2005-189909 A

  By the way, in order to recognize the target which exists in the circumference | surroundings of the own vehicle, it is possible to use a some sensor together. However, when a plurality of sensors are used in combination, if the detection ranges of the targets do not match, the target may be detected by one sensor, but the target may not be detected by the other sensor. In such a case, the target detection operation by the other sensor becomes unnecessary. However, if this is not taken into consideration, there is a concern that inconveniences caused by unnecessary operation of the other sensor may occur.

  The present invention has been made in view of the above, and is based on whether or not target detection by a sensor is performed when a plurality of sensors having different detection ranges are used in combination to recognize a target around the host vehicle. The main object of the present invention is to provide a target recognition device capable of controlling the operating state of a sensor, a vehicle control device including the target recognition device, and a target recognition method.

  The present invention provides a first sensor for detecting a target in a first detection range (S1) around the host vehicle and a second detection range (S2) different from the first detection range around the host vehicle. A second sensor that detects a target, and is applied to a vehicle system that supports driving of the host vehicle based on a detection result of the target detected by the first sensor and the second sensor, The position recognition unit (12) that recognizes the position of the detected target that is the target detected by the first sensor as the target position, and the second sensor detects the detected target based on the target position. A detection determination unit (13) that determines whether or not to be detected, and an operation control unit (14) that controls an operation of target detection by the second sensor based on a determination result of the detection determination unit. It is characterized by that.

  According to the present invention, based on the target position of the detected target detected by the first sensor, it is determined whether or not the detected target is detected by the second sensor, and the second is determined based on the determination result. Since the target detection operation by the sensor is controlled, the second sensor can be operated as necessary, and the durability of the second sensor can be improved.

The schematic block diagram of a target recognition apparatus. The figure which shows the example of arrangement | positioning of the target recognition apparatus in the own vehicle. The flowchart of the process which a target recognition apparatus performs. The flowchart of the process which a sensor performs. The flowchart of the process which a vehicle control apparatus performs. The figure which shows the example of control of the operation | movement of the target detection by a sensor. The figure which shows the example of control of the operation | movement of the target detection by a sensor.

  Embodiments that embody a target recognition device, a vehicle control device including the target recognition device, and a target recognition method will be described with reference to the drawings. In the following description, a vehicle equipped with a target recognition device is referred to as “own vehicle”. The lane in which the host vehicle travels is referred to as “own lane”, and the other lane that is adjacent to the own lane and can be changed by the host vehicle is referred to as “adjacent lane”. In addition, the “target” detected by the sensor means a moving object (moving target) such as other vehicles, bicycles, and pedestrians around the host vehicle, and a fixed object such as a roadside object (guardrail, side wall) ( It is a fixed target). The “target information” is information regarding the target detected by the sensor, and includes information regarding the position of the target, the type of the target, and the like.

  As shown in FIG. 1, a vehicle system 100 that implements driving support for the host vehicle M1 includes a target recognition device 10, a vehicle control device 30, and various sensors.

  The target recognition device 10 is a computer including a CPU, a RAM, a ROM, an input / output device (I / O), and the like, and is connected to a plurality of sensors mounted on the vehicle body of the host vehicle M1. And the target around the own vehicle M1 is recognized based on the target information each input from a some sensor.

  In the present embodiment, the radar 21 and the sonar 22 are used as sensors that are connected to the target recognition device 10 and detect a target around the host vehicle M1. The radar 21 is a sensor that detects a target using millimeter waves, microwaves, radio waves, and the like. The sonar 22 is a sensor that detects a target using ultrasonic waves or the like.

  FIG. 2 shows an example of sensor arrangement. As shown in the drawing, the radar 21 and the sonar 22 are provided at the four corners of the host vehicle M1 such as the left and right sides of the front bumper of the vehicle body and the left and right sides of the rear bumper of the vehicle body. Thus, the target around the host vehicle M1 is detected.

  In the example of FIG. 2, a target on the left front side of the host vehicle M <b> 1 is detected by the radar 21 and the sonar 22 on the left side of the front bumper. The right front target of the host vehicle M1 is detected by the radar 21 and the sonar 22 on the right side of the front bumper. Further, the rear left target of the host vehicle M1 is detected by the radar 21 and the sonar 22 on the left side of the rear bumper. A target on the right rear side of the host vehicle M1 is detected by the radar 21 and the sonar 22 on the right side of the rear bumper.

  The radar 21 is suitable for detecting a target located at a relatively long distance from the host vehicle M1, but has a characteristic that is not suitable for detecting a target located at a relatively short distance. Have. On the other hand, the sonar 22 cannot detect a target located at a long distance from the host vehicle M1, but has a characteristic suitable for detecting a target located near the host vehicle M1. .

  Therefore, by using different types of sensors (having different characteristics) in this way, it is possible to detect targets around the host vehicle M1 while supplementing each other's weak points. In the example of FIG. 2, by using the radar 21 and the sonar 22 together, it is possible to accurately detect a target at a position from the short distance to the long distance of the host vehicle M1.

  Here, the configurations of the radar 21 and the sonar 22 will be described in detail. The radar 21 and the sonar 22 include a transmission / reception unit 24 and a control unit 25, respectively. The radar 21 and the sonar 22 are each connected to the target recognition device 10 via an external interface (not shown), and are driven by electric power supplied from a battery (not shown) of the vehicle body.

  The transmission / reception unit 24 includes a vibrator configured with a piezoelectric element built in a resonator such as aluminum. The transmission / reception unit 24 generates a transmission wave by vibrating the vibrator and reflects the reflected light from a target. When the wave is received, the received wave is received using the vibration of the vibrator. The structure and operating principle of the transmission / reception unit 24 are well known and will not be described in detail.

  The control unit 25 includes an analog circuit unit, a digital signal processing unit, and the like, and controls timing for transmitting a transmission wave from the transmission / reception unit 24. Moreover, the control part 25 transmits a transmission wave periodically in a fixed angle range by controlling the direction which transmits a transmission wave from the transmission / reception part 24 mechanically or electrically.

  And the control part 25 calculates | requires the direction of a target based on the timing etc. which received the received wave while calculating | requiring the distance to a target based on the time difference after transmitting a transmission wave until receiving a received wave. . Target information including the position (distance, azimuth) of the target acquired by the control unit 25 is sequentially output to the target recognition apparatus 10.

  As conceptually shown in FIG. 2, in this embodiment, the scanning angle θ1 of the radar 21 is wider than the scanning angle θ2 of the sonar 22 (θ1> θ2), and the detection distance d1 of the radar 21 is the detection of the sonar 22. A position further than the distance d2 is included (d1> d2). The entire target detection range S2 (scanning angle θ2, detection distance d2) by the sonar 22 is included in the target detection range S1 (scanning angle θ1, detection distance d1) by the radar 21.

  Therefore, in the target detection range S1 by the radar 21 and the target detection range S2 by the sonar 22, an overlapping range AR2 where the mutual detection ranges overlap and a non-overlapping range AR1 which does not overlap each other are generated.

  Thus, when the detection ranges of the targets of the plurality of sensors are different, it may occur that the other sensor does not detect the target detected by one sensor. In the example of FIG. 2, when there is a target T1 included in the non-overlapping range AR1 on the front left side of the host vehicle M1, the target T1 is detected by the radar 21, but not detected by the sonar 22.

  As described above, when the target detected by one sensor is not detected by the other sensor, the target detection operation by the other sensor becomes unnecessary. Nevertheless, if the operation of target detection by the other sensor is not restricted, the consumption of the other sensor is unnecessarily promoted and the durability is lowered, or interference with sensors of other vehicle systems is unnecessary. Inconvenience such as being easy to occur.

  Further, as described above, each sensor such as the radar 21 and the sonar 22 is driven by electric power supplied from a battery (not shown) of the host vehicle M1. On the other hand, on the vehicle side, power is generated using a part of the output of a prime mover (not shown) in order to obtain driving force for traveling. And the vehicle-mounted battery is charged with the electric power obtained by this power generation. Accordingly, when a plurality of sensors such as the radar 21 and the sonar 22 are used in combination, an increase in power consumption due to an increase in the number of sensors is compared with a case where the sensors are used alone (that is, when a plurality of sensors are not used together). However, this increases the load of power generation by the prime mover.

  By the way, when a plurality of sensors having different detection ranges are used in combination to detect a target existing around the host vehicle M1, the target detected by one of the sensors (target T1 in the example of FIG. 2) is used. By using the target information of a certain target T, it can be determined whether the other sensor detects the target.

  That is, based on the target information of the detected target T detected by one sensor, the position (distance, azimuth, etc.) of the detected target T is recognized as the target position. Based on this target position, it is determined whether or not the other sensor detects the detected target T. Based on the determination result, the target detection operation by the other sensor is controlled. That is, when it is determined that the other sensor does not detect the detection target T, the operation of target detection by the other sensor is limited compared to the case where the other sensor determines that the detection target T is detected. To do. For example, when it is determined that the other sensor does not detect the detection target T, the detection cycle of the target by the other sensor is made longer than when it is determined that the other sensor detects the detection target T. Or the target detection operation by the other sensor is stopped.

  Referring to the example of FIG. 2, the detection range S1 of the radar 21 is wider than the detection range S1 of the sonar 22, and the detection range S1 of the radar 21 includes the entire detection range S2 of the sonar 22. In this case, the target in the vicinity of the host vehicle M1 is first detected by the radar 21 and then detected by the sonar 22.

  Therefore, in the example of FIG. 2, based on the target position of the detected target T detected by the radar 21, it is determined whether or not the sonar 22 detects the detected target T. When the sonar 22 determines to detect the detection target T, the operation of the target detection by the sonar 22 is not limited. On the other hand, when the sonar 22 determines not to detect the detected target T, the operation of the target detection by the sonar 22 is limited.

  In this embodiment, when it is determined that the sonar 22 detects the detection target T, the detection period of the target by the sonar 22 is set to a predetermined period, and when the sonar 22 determines that the detection target T is not detected. The target detection operation by the sonar 22 is stopped.

  In this way, by controlling the target detection operation by the other sensor based on the target position of the target T detected by one sensor, the other sensor does not detect the target. The occurrence of inconveniences associated with unnecessary operations can be suppressed. That is, on the vehicle side, it is possible to save battery power and reduce unnecessary calculation load. On the sensor side, durability can be improved and interference with other vehicles can be reduced.

  Returning to the description of FIG. 1, the target recognition device 10 has functions of a target recognition unit 11, a position recognition unit 12, a detection determination unit 13, and an operation control unit 14. Each of these functions is realized by the CPU of the target recognition apparatus 10 executing various programs stored in the ROM.

  The ROM stores a sensor coordinate system for the target recognition apparatus 10 to recognize the target position of the detected target T based on the target information detected by the radar 21 and the sonar 22. For example, an orthogonal coordinate system is stored in which the mounting position of each radar 21 is the origin, the traveling direction of the host vehicle M1 is the first coordinate axis (Y axis), and the orthogonal axis is the second coordinate axis (X axis). ing. Further, the ROM stores a detection range S1 of the radar 21 and a detection range S2 of the sonar 22 in association with the sensor coordinate system.

  The target recognition unit 11 recognizes the position (azimuth, distance, etc.) of the detected target T as the target position based on the target information from the radar 21. When the sonar 22 detects the detection target T, the target position of the detection target T can be recognized based on the target information from both the radar 21 and the sonar 22.

  The position recognizing unit 12 associates the target position of the detected target T recognized by the target recognizing unit 11 with the sensor coordinate system (XY coordinates), so that the current (current) target of the detected target T is detected. The position (hereinafter referred to as the current position X0) is recognized (see FIGS. 6 and 7).

  The detection determination unit 13 determines that the sonar 22 detects the detection target T if the current position X0 of the detection target T recognized by the position recognition unit 12 is included in the detection range S2. If the current position X0 of the detection target T is not included in the detection range S2, the sonar 22 determines that the detection target T is not detected.

  By the way, the current position X0 of the detected target T recognized by the position recognizing unit 12 may include an error in the detected position of the target by the radar 21. Then, due to the influence of the error in the detection position, it is erroneous that the current position X0 of the detection target T is not included in the detection range S2 while the current position X0 of the detection target T is included in the detection range S2. There is a risk of being judged.

  Accordingly, the position recognition unit 12 recognizes the extended position X1 including an error in the target detection position by the radar 21. For example, the position obtained based on the current position X0 of the detection target T and the error of the detection position by the radar 21 (error ± ΔX in the vehicle length direction, error ΔY in the vehicle width direction) is the extended position of the detection target T. It is recognized as X1 (see FIG. 7).

  Then, the detection determination unit 13 determines that the sonar 22 detects the detection target T if the extended position X1 of the detection target T is included in the detection range S2. That is, the detection determination unit 13 determines that the sonar 22 detects the detection target T if either the current position X0 or the extension position X1 of the detection target T is included in the detection range S2.

  In this way, when the target detection operation by the sonar 22 is controlled in consideration of the error of the target detection position by the radar 21, compared to the case where the error of the target detection position by the radar 21 is not considered. When the detection target T is detected by the sonar 22, it is possible to suppress erroneous determination that the detection target T is not detected by the sonar 22.

  Further, even if the current position X0 of the detected target T is not included in the detection range S2 of the sonar 22, there is a possibility that a target position after the current time of the detected target T is included in the detection range S2. For example, in the case of another vehicle in which the detected target T moves in the approaching direction to the own vehicle M1, the positional relationship between the other vehicle and the own vehicle gradually changes, and the other vehicle may be included in the detection range S2 after the current time. There is.

  Therefore, the position recognition unit 12 recognizes a target position after the current point of the detected target T (hereinafter referred to as a predicted position X2). For example, the predicted position X2 of the detected target T is recognized based on the current position X0 of the detected target T and the relative speed V of the detected target T with respect to the host vehicle M1. For example, when the relative speed V and the time t between the detected target T and the host vehicle M1 are set, it can be obtained as “predicted position X2 = X0 + V × t”.

  Then, the detection determination unit 13 determines that the detection target T is detected by the sonar 22 if the predicted position X2 of the detection target T is included in the detection range S2. That is, even if the current position X0 of the detection target T is not included in the detection range S2, the detection determination unit 13 determines that the detection target T is detected by the sonar 22 if the predicted position X2 is included in the detection range S2. It is determined that it is detected.

  In this way, the detection target T is not included in the detection range S2 at the present time by considering whether or not the position (predicted position X2) after the current time of the detection target T is included in the detection range S2. However, if there is a possibility of being included in the detection range S2 after the present time, it can be determined that the detected target T is detected by the sonar 22.

  That is, in the present embodiment, the detection determination unit 13 detects the target T by the sonar 22 when any of the current position X0, the extended position X1, and the predicted position X2 of the target T is included in the detection range S2. It is determined that it is detected. On the other hand, the detection determination unit 13 determines that the detected target T is not detected by the sonar 22 when none of the current position X0, the extended position X1, and the predicted position X2 of the detected target T is included in the detection range S2. Will be.

  The operation control unit 14 outputs various command signals for setting the operation mode of the target detection operation by each sensor (radar 21 and sonar 22). That is, when the target detection operation by the sensor is not limited, an “operation command signal” is output. When limiting the target detection operation by the sensor, a “limit command signal” is output.

  Specifically, at the time of start-up, the operation control unit 14 outputs an operation command signal to the radar 21 to start the target detection operation by the radar 21. The start time is a time when an ignition switch (not shown) of the host vehicle M1 is turned on, for example, and target recognition by the target recognition device 10 is started.

  Then, after starting, one of the command signals is output to the sonar 22 based on the determination result by the detection determination unit 13. That is, when it is determined that the detected target T is detected by the sonar 22, an operation command signal is output to the sonar 22. On the other hand, if the sonar 22 determines that the detected target T is not detected, a limit command signal is output to the sonar 22.

  At this time, if there are a plurality of detected targets T detected by the radar 21, it is determined based on the target positions of these detected targets T that there is a detected target T included in the detection range S2. In this case, an operation command signal is output to the sonar 22. On the other hand, if it is determined that none of the detected targets T is included in the detection range S <b> 2, a restriction command signal is output to the sonar 22.

  On the other hand, each control unit 25 of the radar 21 and the sonar 22 controls the target detection operation by each sensor based on each command signal received from the target recognition device 10 (operation control unit 14). In this embodiment, the control part 25 is controlled so that target detection by a sensor is performed with a predetermined period, when an operation command signal is received. On the other hand, when the control unit 25 receives the restriction command signal, the control unit 25 stops the target detection operation by the sensor.

  As described above, when the target detection operation by the sonar 22 becomes unnecessary by controlling the target detection operation by the sonar 22 based on the target position of the detection target T detected by the radar 21. The target detection operation by the sonar 22 can be restricted. Therefore, compared with the case where the operation of target detection by the sonar 22 is not limited, it is possible to achieve an effect such as a reduction in durability of the sonar 22.

  The target recognition result by the target recognition device 10 is input to the vehicle control device 30. The vehicle control device 30 is also connected to the lane information acquisition unit 23, and the lane information acquired by the lane information acquisition unit 23 is input. The lane information acquisition unit 23 is an on-vehicle imaging device, for example, and acquires lane information by capturing a road surface image including lane information provided on a road (road surface) ahead of the host vehicle M1. The lane information includes white line, yellow line, blue line, pole, botsdots, curbstone, guardrail, planting, lane boundary types such as highway sound barriers, and information such as the width of each lane. include.

  The vehicle control device 30 is a computer including a CPU, a RAM, a ROM, an I / O, and the like, and the CPU executes various programs stored in the ROM, whereby a lane recognition unit 31, a lane change determination unit 32, Each function of the vehicle control unit 33 is realized. Then, using the detected target T recognized by the target recognizing device 10 and the lane information acquired by the lane information acquisition unit 23, various types of travel support (automatic lane change, etc.) of the host vehicle M1 are performed.

  Specifically, the lane recognition unit 31 recognizes the own lane and the adjacent lane based on the lane information acquired by the lane information acquisition unit 23. In the present embodiment, these pieces of information are recognized based on lane information extracted from the road surface image input from the imaging device serving as the lane information acquisition unit 23. More specifically, the lane recognition unit 31 first extracts edge points included in the road surface image by performing image processing on the road surface image. An edge point is a pixel with a large degree of difference in color parameter values (for example, luminance values) with respect to surrounding pixels. In other words, an edge point is a pixel in which the degree of color difference with respect to surrounding pixels reaches a predetermined level.

  Then, by performing a well-known Hough transform on the extracted edge point, a point on a straight line in which a plurality of edge points are continuously arranged is extracted as a feature point. Then, the shape of the lane boundary line is obtained by connecting the feature points. Based on the position of each boundary line, the position between adjacent boundary lines, etc., the host lane and the adjacent lane are recognized. Specifically, the lane in which the host vehicle M1 travels is recognized as the host lane. Based on the positional relationship with the own lane, a lane other than the own lane (another lane) is recognized as an adjacent lane.

  Specifically, the lane in which the host vehicle M1 travels is recognized as the host lane. Based on the positional relationship with the own lane, a lane other than the own lane (another lane) is recognized. And the other lane in which the lane change of the own vehicle can be recognized as an adjacent lane among other lanes. Therefore, when there is no lane adjacent to the own lane, or there is a lane adjacent to the own lane, but the lane change to the lane is impossible, the lane is not recognized as the adjacent lane.

  The lane change determination unit 32 performs an lane change in which the host vehicle M1 automatically changes the lane based on the detected target T and the lane information under a condition where a predetermined lane change start request signal is input. Determine whether it is possible. The vehicle line change start request signal is input when, for example, the blinker is operated for a predetermined time or more.

  The lane change determination unit 32 recognizes the adjacent target lane and inputs the target T on the adjacent lane when the adjacent target lane is recognized under the condition that the request signal for starting the lane change is input. Recognize that there is. Whether there is a detection target T on the adjacent lane can be recognized by associating the adjacent lane and the detection target T with a common coordinate system. And when the detection target T exists in an adjacent lane, the collision margin time of the detection target T and the own vehicle M1 is calculated | required. For example, the collision margin time is calculated based on the relative position and relative speed between the host vehicle M1 and the object. If the collision margin time is longer than a predetermined threshold and the possibility of collision is low, it is determined that the vehicle line of the host vehicle M1 can be changed. On the other hand, if the collision margin time is shorter than the predetermined threshold and the possibility of collision is high, it is determined that the vehicle line of the host vehicle M1 cannot be changed. The result of the determination as to whether or not the lane change determination unit 32 can change the lane is output to the vehicle control unit 33.

  When it is determined that the vehicle line can be changed, the vehicle control unit 33 drives the various actuators 41 related to the steering control, the engine control, and the brake control as the driving support control of the own vehicle M1, and the own vehicle M1. Automatically adjusts acceleration / deceleration and steering. By such processing, the vehicle line change of the host vehicle M1 is supported. On the other hand, when it is determined that the lane change is not possible, by controlling the operation of the speaker 42 as the driving support control of the host vehicle M1, the lane change is impossible and there is a possibility of a collision. Notify by voice that a certain target exists.

  Next, in the vehicle system 100 having the above configuration, processing performed by the target recognition device 10, each radar 21, the control unit 25 of the sonar 22, and the vehicle control device 30 will be described with reference to FIGS. FIG. 3 is a flowchart of processing performed by the target recognition apparatus 10. FIG. 4 is a flowchart of processing performed by each control unit 25 of the radar 21 and the sonar 22. FIG. 5 is a flowchart of a process related to an automobile line change performed by the vehicle control device 30.

  Note that the processing in FIG. 3 is repeatedly performed by the target recognition apparatus 10 at predetermined intervals. The processing in FIG. 4 is repeatedly performed at predetermined intervals by the control units 25 of the radar 21 and the sonar 22. The process of FIG. 5 is performed for each detected target T recognized by the target recognition apparatus 10.

  First, in FIG. 3, it is determined whether or not it is a start time (S11). This process is affirmed when, for example, an ignition (not shown) of the host vehicle M1 is turned on and it is determined that the target detection around the host vehicle is started. If it is at the time of start (S11: YES), an operation command signal will be outputted to radar 21 (S12).

  If it is not at the time of starting (S11: NO), since the radar 21 is in operation, it is determined whether or not the detection target T is detected by the radar 21 (S13). This process can be determined based on the target information from the radar 21. If there is no detected target T (S13: NO), a restriction command signal is output to the sonar 22 (S18). That is, if the radar 21 has not detected the detection target T, the sonar 22 cannot detect the detection target T, so that the operation of the sonar 22 is limited.

  On the other hand, if the radar 21 has detected the detection target T (S13: YES), it is determined whether or not the current position X0 of the detection target T is included in the detection range S2 of the sonar 22 (S14). If the current position X0 of the detection target T is included in the detection range S2 (S14: YES), an operation command signal is output to the sonar 22 (S15).

  If the current position X0 of the detection target T is not included in the detection range S2 (S14: NO), it is determined whether or not the extended position X1 of the detection target T is included in the detection range S2 (S16). If the extended position X1 of the detection target T is included in the detection range S2 (S16: YES), an operation command signal is output to the sonar 22 (S15).

  On the other hand, if the extended position X1 of the detection target T is not included in the detection range S2 (S16: NO), it is determined whether or not the predicted position X2 of the detection target T is included in the detection range S2 (S17). ). If the predicted position X2 of the detection target T is included in the detection range S2 (S17: YES), an operation command signal is output to the sonar 22 (S15). If the predicted position X2 of the detection target T is not included in the detection range S2 (S17: NO), a restriction command signal is output to the sonar 22 (S18).

  That is, if any of the current position X0 of the detected target T, the extended position X1 of the detected target T, and the predicted position X2 of the detected target T is included in the detection range S2 of the sonar 22, An operation command signal is output (S15). On the other hand, if none of the current position X0, the extended position X1, and the predicted position X2 of the detected target T is included in the detection range S2, a restriction command signal is output to the sonar 22 (S18).

  Next, processing performed by the control unit 25 of each sensor (radar 21 and sonar 22) will be described. In FIG. 4, first, it is determined whether or not one of the operation command signal and the limit command signal has been received (S31). If the command signal has not been received, the process is terminated (S31: NO). In this case, the sensor is operated in the same manner as the previous time.

  If any command signal is received (S31: YES), it is determined whether the command signal is an operation command signal (S32). If it is an operation command signal (S32: YES), an operation process for detecting the target by the sensor is performed at a predetermined detection cycle (S33). On the other hand, when it is determined that it is not an operation command signal (S32: NO), that is, when the command signal is a restriction command signal, a restriction process for restricting the target detection operation by the sensor is performed (S34).

  Next, processing performed by the vehicle control device 30 will be described. In FIG. 5, it is determined whether or not a request signal for starting the vehicle line change is input (S41). If the request signal is input (S41: YES), it is determined whether there is an adjacent lane (S42). This process is affirmed when the lane recognition unit 31 recognizes an adjacent lane based on the lane information acquired by the lane information acquisition unit 23.

  If it is determined that there is an adjacent lane (S42: YES). It is determined whether there is a detected target T in the adjacent lane (S43). If it is determined that the detected target T is in the adjacent lane (S43: YES), it is determined whether or not the vehicle lane can be changed (S44). For example, the processing of S44 is affirmed when the collision margin time between the host vehicle M1 and the detection target T is longer than a predetermined threshold, and the collision margin time between the host vehicle M1 and the detection target T exceeds the predetermined threshold. Also deny if it is too short.

  If it is determined that the vehicle line can be changed (S44: YES), the vehicle line change is permitted, and the vehicle line of the host vehicle M1 is changed as the driving support control (S45). On the other hand, if it is determined that the lane change is impossible (S44: NO), a notification that the lane change is not possible and a warning for the detected target T existing in the adjacent lane are issued as the driving support control. It is output (S46).

  On the other hand, if there is no detected target T in the adjacent lane (S43: NO), the lane change is permitted (S45). Further, when the request signal for starting the lane change is not input (S41: NO), or when there is no adjacent lane (S42: NO), no driving support control is performed and the process ends.

  Next, an example of executing the above process will be described with reference to FIG. In FIG. 6, the host vehicle M1, the other vehicle M2, the lanes L0 and L1 acquired by the lane information acquisition unit 23, the host lane OL recognized by the lane recognition unit 31, and the adjacent lane AL are shown. Further, the target detection range S1 by the radar 21 and the target detection range S2 by the sonar 22 are conceptually shown.

  For simplification of description, FIG. 6 shows only the radar 21 and sonar 22 on the rear right side of the vehicle body, and only the operation control for target detection by the radar 21 and sonar 22 on the rear right side will be described. Note that the target control operation control by the radar 21 and the sonar 22 provided at other locations is the same as the operation control of the radar 21 and the sonar 22 on the right rear side, and thus illustration and detailed description thereof are omitted.

  Further, in FIG. 6, for the sake of simplicity of explanation, only the current position X0 of the other vehicle M2 is shown, and the expansion position X1 and the predicted position X2 are not shown. In addition, only the determination process for the current position X0 will be described, and the other determination processes for the extended position X1 and the predicted position X2 are the same as the determination processes for the current position X0, and thus detailed description thereof is omitted.

  First, in FIG. 6, when the ignition switch of the host vehicle M1 is turned on before time t1, the radar 21 starts the target detection operation, and the radar 21 detects the target in the detection range S1 on the right rear side. It will be in a state to be. Note that the operation of detecting the target of the sonar 22 is stopped. When the lane information acquisition unit 23 acquires the lanes L0 and L1, the lane recognition unit 31 recognizes the lane L0 as the own lane OL and the lane L1 as the adjacent lane AL.

  At time t1, the radar 21 detects the target in the detection range S1 on the right rear side including the adjacent lane AL. However, since there is no target included in the detection range S1, a command signal is output to the sonar 22. In other words, the state in which the target detection operation of the sonar 22 is stopped is continued.

  When the other vehicle M2 traveling in the adjacent lane AL approaches the own vehicle M1 at time t2 and is included in the detection range S1 of the radar 21, the other vehicle M2 is detected as the detection target T. However, the detection target T is not included in the detection range S2. Therefore, a restriction command signal is output to the sonar 22, and the state where the target detection operation by the sonar 22 is stopped is continued.

  When the other vehicle M2 traveling in the adjacent lane AL further approaches the host vehicle M1 at time t3 and the detection target T is included in the detection range S2, an operation command signal is output to the sonar 22. Thereby, target detection by the sonar 22 is started, and the other vehicle M2 is detected as the detection target T by both the radar 21 and the sonar 22.

  Thereafter, when the other vehicle M2 traveling in the adjacent lane AL passes the own vehicle M1 at time t4 and the detected target T is out of the detection range S2, a restriction command signal is output to the sonar 22. Thereby, the target detection operation by the sonar 22 is stopped, and the state in which the target detection is performed only by the radar 21 is restored.

  In the above embodiment, the radar 21 corresponds to the “first sensor” and the sonar 22 corresponds to the “second sensor”. Further, the detection range S1 corresponds to the “first detection range”, and the detection range S2 corresponds to the “second detection range”.

  According to the above, the following excellent effects can be achieved.

  A radar 21 (first sensor) that detects a target in the detection range S1 (first detection range) around the host vehicle M1, and a detection range S2 (second sensor) different from the detection range S1 around the host vehicle M1 In the vehicle system 100 including the sonar 22 (second sensor) for detecting a target in the detection range), when the radar 21 detects the detected target T, the sonar 22 simultaneously detects the detected target T. It is conceivable that the detected target T is detected by the sonar 22 after being detected by the radar 21. Therefore, based on the target position of the detected target T detected by the radar 21, it is determined whether or not the detected target T is detected by the sonar 22, and the target detection by the sonar 22 is performed based on the determination result. The operation of was controlled. By performing such processing, the sonar 22 can be operated as necessary.

  When the sonar 22 does not detect the detection target T, the operation of the target detection by the sonar 22 is not necessary. Therefore, when the sonar 22 determines that the detected target T is not detected, the target detection operation by the sonar 22 is limited as compared with the case where the sonar 22 determines that the detected target T is detected. I tried to do it. Therefore, compared to the case where the target detection operation by the sonar 22 is not limited, the durability of the sonar 22 can be improved. Further, on the vehicle side, it is possible to reduce interference with other vehicles due to unnecessary operation of the sonar 22 and to save power in supplying power to the second sensor.

  When it is determined that the detection range S1 includes at least part of the detection range S2, whether or not the current target position (current position X0) in the detection range S1 is included in the detection range S2 Therefore, it is possible to determine whether the sonar 22 detects the detection target T, and based on the current position of the detection target T, the operation of the target detection by the sonar 22 can be controlled.

  Even if the current target position (current position X0) of the detected target T detected by the radar 21 is not included in the detection range S2 of the sonar 22, the target position after the current position of the detected target T is detected. There is a possibility of being included in S2. For example, when the detected target T is a target moving in the direction approaching the host vehicle M1 (moving target), the positional relationship between the host vehicle M1 and the moving target gradually changes. There is a possibility that the moving target is included in the detection range S2 after the present time.

  Therefore, the target position (predicted position X2) after the present time of the detected target T is recognized based on the current position X0 of the detected target T and the relative speed V of the detected target T with respect to the host vehicle M1. If the predicted position X2 is included in the detection range S2, the sonar 22 determines that the detected target T is detected. That is, even if the current position X0 of the detected target T is not included in the detection range S2, if the predicted position X2 is included in the detection range S2, it is determined that the sonar 22 detects the detected target T. did. In this case, compared with a case where the predicted position X2 of the target T detected by the radar 21 is not taken into account, the target detection operation by the sonar 22 can be controlled more appropriately.

  Further, when controlling the target detection operation by the sonar 22 in accordance with the predicted position X2, the limitation on the target detection operation by the sonar 22 is released when the predicted position X2 reaches the detection range S2. That is, even if the current position X0 of the detected target T does not reach the detection range S2, if the predicted position X2 is included in the detection range S2, the restriction on the target detection operation by the sonar 22 is lifted. It becomes. Therefore, the detected target T can be recognized using both the radar 21 and the sonar 22 sensors from the time when the current position X0 of the detected target T reaches the detection range S2.

  The target position of the target T detected by the radar 21 may include an error in the target detection position by the radar 21. In this case, when the detected target T is included in the detection range S2 due to the error of the detection position, it may be erroneously determined that it is not included in the detection range S2.

  Therefore, the extended position X1 including the error of the target detection position by the radar 21 is recognized. If the extended position X1 is included in the detection range S2, the sonar 22 is determined to detect the detection target T. That is, even if the current position X0 of the detection target T is not included in the detection range S2, the sonar 22 detects the detection target T if the extended position X1 of the detection target T is included in the detection range S2. Then I decided to judge. As described above, the target detection operation by the sonar 22 can be controlled more appropriately than in the case where the error of the detection position of the target by the radar 21 is not taken into consideration.

  The radar 21 and the sonar 22 are set so that the detection range S1 and the detection range S2 are on the same left and right sides of the host vehicle M1, and the detection range S1 is a range behind the detection range S2 in the traveling direction of the host vehicle M1. It was provided on the side of the car body to include it. Therefore, a target (moving target) approaching from behind in the traveling direction of the host vehicle M1 is detected by the sonar 22 after being detected by the radar 21 first. Using this fact, it is possible to determine whether or not the sonar 22 detects the detected target T detected by the radar 21.

  Based on the detection target T and the recognition result of the adjacent lane, whether or not the lane change of the host vehicle M1 is determined, and the lane change support of the host vehicle M1 is performed based on the determination result. At this time, the operation of detecting the target by the sonar 22 is controlled based on the determination result of whether or not the sonar 22 detects the detected target T detected by the radar 21, thereby improving the durability of the sonar 22. The driving support for the detection target T that is present in the adjacent lane and is a control target can be appropriately implemented.

  The present invention is not limited to the description of the above embodiment, and may be implemented as follows. In the following description, the same components as those described above are denoted by the same reference numerals, and detailed description thereof is omitted.

  -In the above, the example which stopped the operation | movement of the target detection of the sonar 22 (2nd sensor) when the control part 25 received the restriction | limiting command signal was shown. In addition to this, the control unit 25 may control the target detection period by the sonar 22 to be longer when the limit command signal is received than when the operation command signal is received. For example, when the operation command signal is received, the control unit 25 sets the target detection period P1 by the sonar 22. On the other hand, when the stop command signal is received, the target detection period P2 (<P1) by the sonar 22 is set. As described above, when the limit command signal is received, the target detection operation can be limited by setting the target detection period longer than when the operation command signal is received. The durability of the 22 (second sensor) can be improved.

  -In the above, according to the approach state of the target with respect to the own vehicle M1, the detection period of the target by the sonar 22 (second sensor) may be variably set. For example, the detection period of the sensor may be controlled to be shorter as the target approaches the host vehicle M1.

  In the above, the operation of the sonar 22 (second sensor) may be controlled based on the detection result of any of the current position X0, the extended position X1, and the predicted position X2 of the detection target T. That is, in the flowchart of FIG. 3, the determination processes of S14, S16, and S17 may be omitted as appropriate. As described above, the determination process can be simplified.

  In the above, when the radar 21 detects the detection target T, the sonar 22 may detect the detection target T at the current time and after the current time. Therefore, the target detection operation by the sonar 22 may be controlled based only on whether or not the radar 21 has detected the target T. For example, when the radar 21 has not detected the detection target T, the target detection operation by the sonar 22 is stopped. On the other hand, when the radar 21 detects the detected target T, the target detection operation by the sonar 22 is performed regardless of whether or not the detected target T is included in the detection range S2. May be.

  Specifically, in the flowchart of FIG. 3, all the determination processes of S14, S16, and S17 are omitted. In addition, when it is determined that there is a detected target T (S13: YES), an operation command signal is output to the sonar 22 (S15), and it is determined that there is no detected target T. (S13: NO), a restriction command signal is output to the sonar 22 (S18). As described above, the determination process can be simplified.

  In the above, when the detected target T is a moving object accompanying movement of another vehicle or the like, if the moving speed (traveling speed) of the moving object is constant, the predicted position X2 is obtained by the above-described arithmetic expression. The detection range S2 is reached in time. However, the moving speed of the moving object may change, and when the moving speed changes, the time when the predicted position X2 actually reaches the detection range S2 is before or after the time obtained by the calculation formula. There is a possibility of deviation.

  Therefore, at the time of start-up, the radar 21 (first sensor) and the sonar 22 (second sensor) are set in an operating state. At this time, the detection cycle of the target by the sonar 22 may be set to a detection cycle P2 (<P1) that is shorter than the detection cycle P1 when the operation of target detection by the sonar 22 is not limited. When it is determined that the sonar 22 does not detect the detection target T based on the detection result of the detection target T by the radar 21, the state of the target detection period P2 by the sonar 22 is continued. On the other hand, when it is determined that the sonar 22 detects the detection target T, the detection period P1 of the target by the sonar 22 is set. By performing such processing, when the detected target T is a moving object, unnecessary operation by the sonar 22 is suppressed while considering the speed change, and the target detection operation by the sonar 22 is more appropriately controlled. can do.

  As shown in the sensor arrangement example in FIG. 2, the detection ranges S1 and S2 of the plurality of sensors have an overlapping range AR2 in which the mutual detection ranges overlap and a non-overlapping range AR1 in which the mutual detection ranges do not overlap. In such a case, the operation of the other sensor can be controlled based on whether or not the detected target T detected by one sensor is included in the overlapping range AR2. Therefore, in this case, the target detection operation by the other sensor may be controlled based on the determination result of whether the detected target T is included in the overlapping range AR2 or the non-overlapping range AR1. Good.

  For example, in the processing of S14, S16, and S17 in the flowchart of FIG. 3, it is determined whether or not each position (current position X0, predicted position X2, extended position X1) of the detection target T is included in the overlapping range AR2. . If it is determined that any of the positions of the detection target T is included in the overlapping range AR2, an operation command signal is output to the sonar 22 (S15). On the other hand, when it is determined that none of the positions of the detection target T is included in the overlapping range AR2, a restriction command signal is output to the sonar 22 (S18). That is, when all the positions of the detection target T are included only in the non-overlapping range AR1, a restriction command signal is output to the sonar 22.

  2 shows an example in which the detection ranges of the radar 21 and the sonar 22 are determined so that the entire detection range S2 is included in the detection range S1, and the radar 21 and the sonar 22 are attached to the vehicle body. It was. In addition to this, the detection ranges of the radar 21 and the sonar 22 may be determined so that at least a part of the detection range S2 overlaps the detection range S1, and the attachment positions of the vehicle bodies of the radar 21 and the sonar 22 may be determined. .

  In the above, even if the sonar 22 can detect the detection target T, if the detection target T is not close to the host vehicle M1, the possibility of collision with the detection target T may be increased. It is considered that it is not necessary to increase the recognition accuracy for the detected target T. Therefore, even if it is determined that the sonar 22 detects the detection target T, the operation of the target detection by the sonar 22 may be limited if the detection target T is not close to the host vehicle M1.

  That is, a function of an approach state determination unit that determines whether or not the detected target T is approaching the host vehicle M1 is added to the target recognition device 10. For example, the approach state determination unit obtains a change in the distance between the own vehicle M1 and the detected target T based on the target information acquired from the radar 21, and the detected target T approaches the own vehicle M1. Can be determined. The operation control unit 14 controls the target detection operation by the sonar 22 based on the determination result of whether the sonar 22 detects the detection target T and the approaching state of the detection target T.

  That is, in the flowchart of FIG. 3, a process for determining whether or not the detected target T is approaching the host vehicle M1 is added. In addition, when it is determined that there is a detected target T (S13: YES) and it is determined that the sonar 22 detects the detected target T (S14: YES, or S15: YES, or S16: YES). Then, it is determined whether or not the detection target T is approaching the host vehicle M1. And when it determines with the detection target T not approaching with the own vehicle M1, a restriction | limiting command signal is output with respect to the sonar 22 (S16). On the other hand, if it is determined that the detected target T is approaching the host vehicle M1, an operation command signal is output to the sonar 22 (S15).

  As described above, when controlling the target detection operation by the sonar 22 in consideration of the approach state with the detected target T, the sonar is compared with the case where the approach state of the detected target T with respect to the host vehicle M1 is not considered. The operation of target detection by 22 can be more appropriately limited.

  In the above, when the type of the detected target T detected by the radar 21 is not a moving target accompanying movement of another vehicle or the like but a fixed target such as a roadside object not moving, the fixed target Since it is unlikely that the vehicle approaches the host vehicle M1, it is considered unnecessary to increase the recognition accuracy for a fixed target.

  Therefore, a function of a type determination unit that recognizes the shape of the target is added to the target recognition apparatus 10 based on the target information acquired from the radar 21. The type determination unit recognizes the type of the target by associating the target information from the target detection device other than the radar 21 mounted on the vehicle, for example, the target information from the imaging device with the target information of the radar 21. May be. Then, the operation control unit 14 performs the target detection operation by the sonar 22 based on the determination result of whether or not the detection target T is detected by the sonar 22 and the determination result of the target type by the type determination unit. Control.

  That is, in the flowchart of FIG. 3, the type of the detected target T detected by the radar 21 is acquired, and a process for determining whether or not the type is a fixed target is added. In addition, if it is determined that the type of the detected target T is a fixed target, even if it is determined that the sonar 22 detects the detected target T (S14: YES, S15: YES or S16: YES), a restriction command signal is output to the sonar 22 (S18). In addition, when the type of the detection target T is a moving target, one of the operation command signal and the stop command signal is output based on the determination result of each position X0, X1, X2 of the detection target T. To do.

  As described above, the target detection operation by the sonar 22 can be more appropriately controlled by controlling the target detection operation by the sonar 22 in consideration of the type of the detection target T.

  In a situation where the host vehicle speed is less than a predetermined value (for example, when traveling in a traffic jam), there is a high possibility that the other vehicle M2 traveling in the adjacent lane from the front side or the rear side of the host vehicle M1 will be interrupted. It is considered preferable to increase the recognition accuracy for. Therefore, a function of a speed recognition unit for recognizing the own vehicle speed is added to the target recognition device 10. The speed recognition unit recognizes the vehicle speed by reading the vehicle speed detected by a vehicle speed sensor (not shown). Then, the operation control unit 14 determines whether or not the detected target T is detected by the sonar 22 and whether or not the vehicle speed recognized by the speed recognition unit is less than a predetermined value (low vehicle speed). The operation of target detection by the sonar 22 may be controlled.

  That is, in the flowchart of FIG. 3, a process for determining whether or not the vehicle speed is less than a predetermined value is added. In addition, when it is determined that the sonar 22 does not detect the detected target T (S14: NO, S15: NO and S17; NO), a process for determining whether or not the vehicle speed is less than a predetermined value is performed. . In this process, if it is determined that the host vehicle speed is less than the predetermined value, an operation command signal is output to the sonar 22 even if it is determined that the sonar 22 does not detect the detection target T. (S15).

  As described above, even if it is determined that the sonar 22 does not detect the detection target T, when the vehicle speed is low, the target detection operation by the sonar 22 is not limited. The recognition accuracy of the other vehicle M2 that interrupts from the front side or the rear side of the host vehicle M1 can be increased.

  In the above, even if the sonar 22 can detect the detection target T, if the detection target T and the own vehicle M1 have a low possibility of collision, the recognition accuracy for the detection target T It is considered unnecessary to increase the value. Therefore, even if it is determined that the sonar 22 detects the detection target T, the operation of the target detection by the sonar 22 is controlled based on the possibility of collision with the detection target T. Good.

  For example, in the flowchart of FIG. 3, when it is determined that the sonar 22 detects the detected target T (S14: YES, S15: YES, or S16: YES), the collision margin time with the detected target T is a predetermined threshold value. It is determined whether it is above. When it is determined that the collision margin time is less than the predetermined threshold, an operation command signal is output to the sonar 22 (S15). On the other hand, when it is determined that the collision margin time is equal to or greater than the predetermined threshold, a limit command signal is output to the sonar 22 (S18).

  As described above, by considering the possibility of collision between the host vehicle M1 and the detected target T, the operation of detecting the target by the sonar 22 can be controlled more appropriately.

  In the sensor arrangement example of FIG. 2, a plurality of sensors are arranged so that an overlapping range AR2 is generated in a part of each detection range. In addition to this, the above-described processing can be applied even when a plurality of sensors have only the non-overlapping range AR1 without the overlapping range AR2 in the mutual detection range.

  For example, as shown in FIG. 7, when focusing on the radar 21F provided on the front right side of the vehicle body and the radar 21B provided on the rear right side of the vehicle body, the detection range S1F of the radar 21F and the detection range S1B of the radar 21B are the same as the own vehicle M1. On the other hand, on the same side (right side), there is no overlapping range AR2 in the mutual detection range, and only the non-overlapping range AR1.

  On the other hand, the detection range S1B of the radar 21B includes a range behind the detection range S1F of the radar 21F in the traveling direction of the host vehicle M1. In such a case, the target such as the other vehicle M2 that approaches the host vehicle M1 from behind is included in the detection range S1B before the detection range S1F. Therefore, the target detection operation by the radar 21F can be controlled based on the detection result of the detection target T of the radar 21B.

  That is, in FIG. 7, the radar 21B corresponds to the “first sensor” and the radar 21F corresponds to the “second sensor”. The detection range S1B corresponds to the “first detection range”, and the detection range S1F corresponds to the “second detection range”.

  Here, the target detection operation control in the case of FIG. 7 will be described in detail. In addition, in FIG. 7, in addition to the current position X0 of the detection target T, the extended position X1 and the predicted position X2 are also shown.

  First, when the host vehicle M1 is started before time t1, the target detection operation by the radar 21B is started, but the target detection operation by the radar 21F is stopped (restricted). At time t1, the other vehicle M2 traveling in the adjacent lane AL of the host vehicle M1 exists, but the other vehicle M2 is not included in the detection range S1B, and the detection target T is not detected by the radar 21B. In this case, since a command signal is not output to the radar 21F, the state in which the target detection operation by the radar 21F is stopped is continued.

  When the other vehicle M2 traveling in the adjacent lane AL approaches the host vehicle M1 at time t2, the radar 21B causes the other vehicle M2 as the detection target T when it comes within the detection range S1B of the radar 21B. Detected. However, since none of the current position X0, the extended position X1, and the predicted position X2 of the detected target T is included in the detection range S1F of the radar 21F, a restriction command signal is output to the radar 21F. Therefore, even at time t2, the state in which the target detection operation by the radar 21F is stopped is continued.

  When the other vehicle M2 traveling in the adjacent lane AL further approaches the host vehicle M1 at time t3, the predicted position X2 of the other vehicle M2 (detection target T) is included in the detection range S1F of the radar 21F. Then, an operation command signal is output to the radar 21F. Then, the target detection operation by the radar 21F is performed. Thereafter, if any of the current position X0, the extended position X1, and the predicted position X2 of the detected target T is included in the detection range S1F, target detection by the radar 21F is performed.

  After that, when the other vehicle M2 passes the own vehicle M1 at time t4, and any of the current position X0, the extended position X1, and the predicted position X2 of the detected target T is out of the detection range S1F, a restriction command is given to the radar 21F. A signal is output. Thereby, the operation of detecting the target by the radar 21F is returned to the stopped state.

  In the above, the plurality of sensors may be a combination of an imaging device and a radar that are provided in front of the vehicle body and detect a target such as another vehicle in front of the traveling direction of the host vehicle M1. For example, when the detection range of the camera is wider than the detection range of the radar, a target that moves in a direction orthogonal to the traveling direction of the host vehicle and approaching the host vehicle (for example, A pedestrian crossing a lane, a bicycle, or the like) is first detected by the camera and then detected by the radar.

  Therefore, it is determined whether the radar (second sensor) detects the detected target T based on the recognition result of the detected target T by the camera (first sensor). When the radar determines that the detected target T is not detected, the target detection operation by the radar is limited. On the other hand, when it is determined that the radar detects the detected target T, the operation of the target detection by the radar can be prevented from being limited. In this case, the durability of the radar can be improved.

  In the above, when the sensor (for example, sonar 22) receives the restriction command signal, the target detection operation by the sensor may be restricted by weakening the operation of the sensor (decreasing the intensity of the transmitted / received wave), . Alternatively, when the sensor outputs a restriction command signal, the sensor may output a command signal for stopping power supply from the battery to the host vehicle M1.

  In the above, the position recognition unit 12 may obtain the predicted position X2 on the condition that the detected target T recognized by the target recognition unit 11 is a moving target. Whether it is a moving target can be determined based on a change in the relative speed V between the detected target T and the host vehicle M1.

  -In the above, the lane information acquisition part 23 may acquire external information, such as navigation information and vehicle-to-vehicle communication, and recognize an own lane and an adjacent lane.

  DESCRIPTION OF SYMBOLS 12 ... Position recognition part, 13 ... Detection determination part, 14 ... Operation control part, 21 ... Radar, 22 ... Sonar, 100 ... Vehicle system, S1 ... Detection range, S2 ... Detection range.

Claims (13)

A first sensor for detecting a target in a first detection range (S1) around the host vehicle and a target in a second detection range (S2) different from the first detection range around the host vehicle. A second sensor that detects the vehicle, and is applied to a vehicle system that supports driving of the host vehicle based on a detection result of the target detected by the first sensor and the second sensor;
A position recognition unit (12) for recognizing the position of the detected target that is the target detected by the first sensor as a target position;
A detection determination unit (13) for determining whether or not the detection target is detected by the second sensor based on the target position;
An operation control unit (14) configured to control an operation of target detection by the second sensor based on a determination result of the detection determination unit.   The operation control unit is configured to determine that the detection target is detected by the second sensor when the detection determination unit determines that the detection target is not detected by the second sensor. The target recognition apparatus according to claim 1, wherein the target detection operation by the second sensor is limited. The second sensor detects the target by receiving a reflected wave of a transmission wave transmitted to the second detection range at a predetermined detection cycle,
The operation control unit is configured to determine that the detection target is detected by the second sensor when the detection determination unit determines that the detection target is not detected by the second sensor. 3. The target recognition apparatus according to claim 1, wherein the target detection operation is controlled such that a detection cycle of the target by the second sensor is longer. The first detection range and the second detection range are determined so that at least a part of the second detection range is included in the first detection range,
The detection detection unit determines that the detection target is detected by the second sensor if the current target position is included in the second detection range. Target recognition device according to item. The position recognizing unit recognizes the target position after the present time of the detected target based on the current target position and the relative speed of the detected target with respect to the host vehicle.
The detection detection unit determines that the detection target is detected by the second sensor if the target position after the current time is included in the second detection range. The target recognition apparatus according to item 1. The position recognizing unit recognizes an extended position (X1) including an error in a detection position of the target by the first sensor,
The detection detection unit according to any one of claims 1 to 5, wherein the detection determination unit determines that the detection target is detected by the second sensor if the extended position is included in the second detection range. Target recognition device. The first detection range and the second detection range have a non-overlapping range (AR1) in which the mutual detection ranges do not overlap with each other around the host vehicle and an overlapping range (AR2) in which the mutual detection ranges overlap. ,
The detection determination unit determines that the second sensor detects the detection target when the detection target is included in the overlapping range, and the detection determination unit determines that the detection target is not included in the overlapping range. The target recognition apparatus according to claim 1, wherein two sensors determine that the detected target is not detected.   In the first sensor and the second sensor, the first detection range and the second detection range are on the same side of the left and right sides of the host vehicle, and the first detection range is greater than the second detection range. The target recognition apparatus according to any one of claims 1 to 7, wherein the target recognition apparatus is provided on a side of the vehicle body so as to include a range behind the traveling direction of the host vehicle. An approach state determination unit (10) for determining whether or not the detected target is approaching the host vehicle;
The operation control unit has been determined that the detected target is detected by the second sensor if the approaching state determining unit determines that the detected target is not approaching the host vehicle. However, the target recognition apparatus according to claim 1, wherein the target detection operation by the second sensor is limited. A type determining unit (10) for determining whether the type of the detected target is a fixed target without movement or a moving target with movement;
If the type of the detected target is determined to be the fixed target by the type determination unit, the operation control unit is determined to be detected by the second sensor as the detected target. The target recognition apparatus according to claim 1, wherein the target detection operation by the second sensor is limited. A speed recognition unit (10) for recognizing the vehicle speed,
Even if it is determined that the detection target is not detected by the second sensor if the own vehicle speed recognized by the speed recognition unit is less than a predetermined value, the operation control unit may detect the object by the second sensor. The target recognition apparatus according to claim 1, wherein the target detection operation is not limited. The target recognition device according to any one of claims 1 to 11,
A lane recognition unit (31) for recognizing an own lane in which the own vehicle is traveling and an adjacent lane adjacent to the own lane;
A lane change determination unit (32) for determining whether or not the lane change of the host vehicle is possible based on the possibility of collision between the detected target and the host vehicle in the adjacent lane;
A vehicle control unit (33) that implements lane change support for the host vehicle based on a determination result of whether or not the lane change is possible by the lane change determination unit;
A vehicle control device comprising: A first sensor for detecting a target in a first detection range (S1) around the host vehicle and a target in a second detection range (S2) different from the first detection range around the host vehicle. A second sensor that detects the vehicle, and is applied to a vehicle system that supports driving of the host vehicle based on a detection result of the target detected by the first sensor and the second sensor;
Recognizing the position of the detected target that is the target detected by the first sensor as a target position;
Determining whether the detected target is detected by the second sensor based on the target position;
A target recognition method comprising: controlling an operation of target detection by the second sensor based on a determination result of whether or not the detection target is detected by the second sensor.

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