JP3341186B2 - Object discriminating apparatus and method, and vehicle equipped with object discriminating apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention discriminates whether an object to be detected detected by projecting a laser beam based on the reflected light is road equipment (roadside reflector, central reflector, etc.) provided on the roadside or in the center of the road. The present invention relates to an object discriminating apparatus and method, and a vehicle equipped with the object discriminating apparatus.

[0002]

2. Description of the Related Art An example of an inter-vehicle distance detecting apparatus for detecting an inter-vehicle distance with a vehicle existing ahead is disclosed in Japanese Patent Application Laid-Open No. 61-239.
No. 85. The inter-vehicle distance detection device emits an electromagnetic wave while sweeping it forward, and receives a reflected wave from a reflecting object. The distance to the reflecting object is calculated based on the propagation time of the electromagnetic wave from the emission of the electromagnetic wave to the reception of the reflected wave. The emitted electromagnetic wave is swept at a constant cycle. The distance to the reflective object detected at a certain angle in the current electromagnetic wave sweep and the distance to the reflective object detected at the same sweep angle as the one detected at the same sweep angle as the above-mentioned reflected object in the sweep before the fixed period Calculate the distance difference. Based on the calculated distance difference and the vehicle speed of the vehicle (own vehicle) equipped with the inter-vehicle distance detection device, it is determined whether the reflective object is a preceding vehicle or a roadside reflector provided on the left and right sides of the road. . The traveling lanes of the own vehicle and the preceding vehicle are determined based on the position (sweep angle) of the reflective object identified as the roadside reflector. The distance to the preceding vehicle traveling on the own lane is output as the following distance. This inter-vehicle distance is used to avoid the danger of rear-end collision with the preceding vehicle.
It is used to maintain a safe distance from the preceding vehicle.

However, this inter-vehicle distance detecting device is based on the premise that the same reflecting object exists in the same sweep angle direction as viewed from the inter-vehicle distance detecting device within one cycle of the electromagnetic wave sweep. However,
A vehicle equipped with the inter-vehicle distance detection device is running. Assuming that roadside reflectors provided continuously on the roadside or reflectors provided continuously on the center line are provided at a small interval, these adjacent reflectors are provided at two different times at the same sweep angle. They may be mistaken for the same reflective object. The distance difference is calculated by erroneously recognizing the same reflective object as two different reflective objects detected at the same sweep angle at different times, and the reflective object is identified based on the erroneous distance difference. Since the reflection object is identified based on the incorrect distance difference, the roadside reflector and the preceding vehicle cannot be accurately identified, and the roadside reflector may be erroneously recognized as the preceding vehicle. The traveling lane of the preceding vehicle cannot be accurately discriminated, and a malfunction may be caused by erroneously recognizing the roadside reflector having a low risk as the preceding vehicle.

[0004]

DISCLOSURE OF THE INVENTION The present invention provides an object discriminating apparatus capable of reliably extracting a roadside reflector provided on a roadside of a road and a central reflector provided on a center line from detected objects to be detected. The purpose is.

[0005] A laser beam is projected while being swept in a predetermined measurement angle range, and an object to be detected is detected. The detected object is, for example, a vehicle reflector attached to a general four or more-wheeled vehicle such as a passenger car, a bus, a truck, a motorcycle, a roadside reflector provided on a roadside, and a central reflector provided on a center line. . The vehicle reflector exists discretely, and the roadside reflector or the central reflector exists continuously along the road (in the traveling direction of the host vehicle). The present invention makes use of the property that the plurality of roadside reflectors and the central reflector are continuous at substantially constant intervals in a predetermined direction.

An object discriminating apparatus according to the present invention comprises a light emitting means for emitting laser light at a predetermined time interval in response to a given light emitting timing signal indicating a time at which laser light is emitted, and a laser light from the light emitting means. Sweep means for sweeping and projecting at predetermined angular intervals based on a given sweep angle control signal in a predetermined measurement angle range, sweep angle detection means for detecting a sweep angle of laser light by the sweep means, and sweep means A light receiving means for receiving the reflected light of the laser light swept and projected by the object to be detected and outputting a light receiving timing signal indicating a point in time of receiving the reflected light; and outputting a light emitting timing signal to the light emitting means. And outputting a sweep angle control signal to the sweep means, and from an output time of the light emission timing signal to an input time of a light reception timing signal obtained by the light receiving means. Control means for calculating the distance from the light emitting / receiving position to the object to be detected based on the time interval of the light source; and calculating the relative position of the object to be detected based on the distance to the object to be detected and the sweep angle. There is provided continuity determining means for extracting a detected object continuously present in a predetermined direction from the detected objects.

The object discriminating method according to the present invention emits a laser beam at a predetermined time interval in response to a given light emitting timing signal indicating a time point at which the laser beam is projected, and sets the emitted laser beam at a predetermined measurement angle. Sweeps and emits light at predetermined angular intervals based on a given sweep angle control signal in a range, detects the sweep angle of the swept laser light, and detects the swept and projected laser light from the object to be detected. Receiving the reflected light, outputting a light receiving timing signal indicating a point in time of receiving the reflected light, outputting a light emitting timing signal, outputting a sweep angle control signal, and receiving light from the output time of the light emitting timing signal. The distance from the light emitting / receiving position to the detected object is calculated based on the time interval up to the timing signal input time,
The relative position of the detected object is calculated based on the distance to the detected object and the sweep angle, and a detected object continuously existing in a predetermined direction is extracted from the detected detected objects.

According to the present invention, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. Based on the calculated relative position, detected objects continuously existing in a predetermined direction are extracted.
The predetermined direction is the traveling direction of the host vehicle.

Therefore, it is possible to extract a detected object continuously existing in the traveling direction of the host vehicle from the detected detected objects. The continuously detected object is a roadside reflector or a central reflector. As a result, the continuous roadside reflector or the central reflector can be reliably identified without being erroneously recognized as a preceding vehicle such as a vehicle or a motorcycle existing in front of the own vehicle.

In the first embodiment of the present invention, the continuity judging means detects the detected object based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated. Relative position calculating means for calculating the relative position of the object, rearranging means for rearranging the detected object on the memory in order of the relative position closer to the light emitting / receiving position based on the relative position calculated by the relative position calculating means; According to the order rearranged by the rearranging means, it is determined whether or not the two detected objects have continuity in a predetermined direction based on the relative positions of the two detected objects adjacent to each other. Grouping means for grouping the detected objects based on the result of the determination of continuity; and each group formed by the grouping means is classified into a group. Object classification means for determining whether a group is a continuous object or a discrete object based on the total number of detected objects to be detected and their relative positions, and the object determination means determines that the group is a continuous object When there are a plurality of groups, it is determined whether one continuous object and another continuous object are the same continuous object,
When it is determined that they are the same, this is realized by a continuous object associating unit that groups the one continuous object and the other continuous object into one group.

According to the first embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. The detected objects are rearranged in order from the position closest to the light emitting / receiving position based on the relative position. It is determined whether the two detected objects adjacent to each other in the rearranged order have continuity in a predetermined direction,
Grouping is performed based on the continuity determination result.
The predetermined direction is the traveling direction of the host vehicle. It is determined whether each formed group is a continuous object that exists continuously or a discrete object that exists discretely. If there are multiple continuous objects, it is determined whether they are one continuous object,
When they are determined to be the same, they are put into one group.

Therefore, it is possible to extract, from the detected objects, the detected objects continuously existing in the traveling direction of the host vehicle as the continuous objects. This continuous object is a roadside reflector or a central reflector.

[0013] A roadside reflector is provided along the left and right side of the road, or a roadside reflector is provided along the left side of the road and a central reflector is provided along the center line. There are cases.
In such a case, if the object to be detected is rearranged in the direction of proximity to the light emitting / receiving position along the traveling direction of the host vehicle, the roadside reflector and the central reflector may alternately exist, and the roadside reflector and the central reflector may have continuity. Are lost and they may be mistaken as preceding vehicles.

In a second embodiment of the present invention, the continuity judging means detects the detected object based on a calculated distance to the object to be detected and a sweep angle of a laser beam from which the distance is calculated. A relative position calculating means for calculating a relative position of the object, dividing the measurement angle range into a plurality of areas, and for each of the areas, a detected object is stored in a memory based on the relative position calculated by the relative position calculating means. The rearranging means for rearranging the relative positions in the order of being closer to the light emitting / receiving position. According to the order rearranged by the rearranging means, the two objects to be detected adjacent to each other are determined based on their relative positions. Grouping means for determining whether the two detected objects have continuity in a predetermined direction, and grouping the detected objects into the respective regions based on a result of the continuity determination; For each group formed by the looping means, an object classification means for determining whether the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions; When there are a plurality of groups that are determined to be continuous objects by the object determination means, it is determined whether one continuous object and another continuous object are the same continuous object, and when it is determined that they are the same, This is realized by a continuous object associating unit that groups the one continuous object and the other continuous object into one group.

According to the second embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. The above measurement angle range is divided into a plurality of regions. The measurement angle range is divided into, for example, two regions left and right with respect to the traveling direction of the host vehicle. The detected objects are rearranged for each region in order from the position closest to the light emitting / receiving position based on the relative position. It is determined whether two detected objects adjacent to each other have continuity in a predetermined direction in the rearranged order, and the two detected objects are grouped based on the result of the continuity determination. The predetermined direction is the traveling direction of the host vehicle. It is determined whether each formed group is a continuous object that exists continuously or a discrete object that exists discretely. When there are a plurality of continuous objects, it is determined whether or not they are one continuous object, and when they are determined to be the same, they are combined into one group.

Therefore, when a roadside reflector is provided along the left and right roadsides of the road, or a roadside reflector is provided along the left side of the road, and a central reflector is provided along the center line. Even if two or more reflectors as road facilities exist continuously, as in the case where there is a road facility, the reflectors can be extracted one by one as a continuous object independently of each other, and the roadside reflector and the central reflector can be extracted. Will not be mistaken for the preceding vehicle.

In the case where the central reflectors are provided in two rows along the center line and the intervals between the two rows of central reflectors are narrow in the width direction of the road, a plurality of measurement angle ranges are required as in the second embodiment. Even if it is divided and rearranged, two rows of central reflectors may be present alternately. In such a case, the two rows of central reflectors lose continuity and they may be mistaken as preceding vehicles.

In a third embodiment of the present invention, the continuity judging means detects the detected object based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated. Relative position calculating means for calculating the relative position of the object, based on the relative position calculated by the relative position calculating means, arranges the detected objects on a memory in a fixed order according to the magnitude of the coordinates of the relative position. Rearranging means for determining a reference object to be detected in accordance with the predetermined order arranged by the rearranging means, based on a relative position between the reference object to be detected and a first object to be subsequently arranged; Then, it is determined whether or not the two detected objects have continuity in a predetermined direction. When it is determined that there is continuity, the first detected object is determined as a new reference detected object, This new The process proceeds to the continuity inspection of the reference detected object and the second detected object arranged next to the reference detected object. If it is determined that there is no continuity, the reference detected object is fixed and the first detected object is fixed. The inspection of the continuity of the two detected objects is sequentially determined, for example, the process proceeds to the inspection of the continuity of the second detected object arranged next to the objects. By repeating the inspection of continuity for these detected objects by rearranging the detected objects determined to have no continuity at the end of the above-mentioned array after the continuity inspection is completed, Grouping means for grouping the detected objects; for each group formed by the grouping means, whether the group is a continuous object based on the total number of detected objects belonging to the group and their relative positions; If there are a plurality of target classification means for determining whether the target is a discrete target and a plurality of groups determined to be continuous targets by the target determination means, one continuous target and another continuous target are the same continuous target. Is determined, and when it is determined that they are the same, the one continuous object and the other continuous object are
This is realized by the continuous object associating means for grouping into two groups.

According to the third embodiment, the relative position of the detected object is calculated based on the detected distance to the detected object and the sweep angle. Based on the calculated relative positions, the detected objects are arranged in a certain order according to the magnitude of the coordinates of the relative positions. A reference target object is determined in accordance with the fixed order, and the two detected objects are determined based on the relative positions of the reference target object and the first target object arranged next to the reference target object. It is determined whether there is continuity in a predetermined direction. The predetermined direction is the traveling direction of the host vehicle. When it is determined that there is continuity, the first object to be detected is determined as a new reference object to be detected, and the continuity between the new reference object to be detected and the second object to be subsequently arranged is determined. When it is determined that there is no continuity, the reference detected object is fixed, and then the continuity test is performed on the second detected object arranged next to the first detected object. Thus, the continuity inspection of the two detected objects is sequentially performed. 1 for all detected objects
After the continuity test is completed, the detected objects determined to have no continuity with the reference detected object are rearranged at the end of the above arrangement, and the continuous inspection is repeated for these detected objects. As a result, the detected objects are grouped. It is determined whether each formed group is a continuous object that exists continuously or a discrete object that exists discretely.
When there are a plurality of continuous objects, it is determined whether or not they are one continuous object, and when they are determined to be the same, they are combined into one group.

Therefore, even when the central reflectors are provided in two rows along the center line, the roadside reflector or the central reflector can be extracted as a continuous object, and the roadside reflector and the central reflector can be extracted from the preceding vehicle. Will not be mistaken.

In the first, second, and third embodiments of the present invention, a group determined to be a discrete object by the object classification means is determined to be a preceding vehicle, and is a continuous object by the object classification means. It is further provided with a judging means for judging the group judged to be and the group put together by the continuous object associating means as road equipment.

Therefore, the continuous object is determined to be road equipment, and the discrete object is determined to be a preceding vehicle.

In the first, second and third embodiments of the present invention, preferably, the rearranging means is configured to detect the detected object based on one of two coordinates representing the relative position of the detected object. Are arranged according to their magnitudes.
When there are a plurality of detected objects having the same one coordinate, the detected objects are arranged in ascending order of the difference between the previously arranged detected objects and other coordinates.

Therefore, even if there are a plurality of detected objects having the same one of the two coordinates representing the relative position of the detected object (coordinates of the coordinate axes along the traveling direction of the host vehicle), even if there are a plurality of detected objects, The detected objects can be rearranged in a predetermined direction on the memory.

The object discriminating apparatus according to the present invention is mounted on a vehicle. The vehicle on which the object discriminating device is mounted is called the own vehicle. Preferably, the object identification device is positioned as a part of the inter-vehicle distance detection device. As described above, when the road equipment (the roadside reflector and the central reflector) is identified and the preceding vehicle is identified, the inter-vehicle distance to the preceding vehicle (preferably, the preceding vehicle in which the own vehicle is traveling in the traveling lane) is calculated. You. Based on the calculated inter-vehicle distance, safety measures such as display, warning output, and control are taken.

[0026]

【Example】

Table of Contents 1 Overview 2 Hardware Configuration 3 Averaging of Distance to Detected Object and Averaging of Sweep Angle 4 Judgment of Target (First Embodiment) 4.1 Collection of Data 4.2 Calculation of Relative Position of Detected Object 4.3 Sorting of detected objects 4.4 Continuity identification and grouping of detected objects 4.4.1 Continuity identification of detected objects 4.4.2 Grouping of detected objects 4.5 Group classification 4.6 Association of continuous objects 4.7 Comprehensive judgment of objects 5 Judgment (Second Embodiment) 5.1 Segmentation of Measurement Angle Range 6 Judgment of Target (Third Embodiment) 6.1 Continuity Identification of Detected Object

1 Outline

FIG. 1 shows a state in which two vehicles and one motorcycle run on the road. This road has two lanes on each side. These lanes are denoted by L1, L2, L3 and L4.

The vehicle 1 and the motorcycle 3 are traveling on an inner lane L2, and the vehicle 2 is traveling on an outer lane L1. Many reflectors R are provided on the center line C at appropriate intervals. The reflector R provided on the center line C is hereinafter simply referred to as “central reflector”. Also, a number of reflectors (not shown) may be provided at appropriate intervals along the road side. The reflector provided on the road side is hereinafter simply referred to as “roadside reflector”.

In general, vehicles having four or more wheels (hereinafter, simply referred to as "vehicles") such as passenger cars, buses, trucks, etc., are provided at both ends (near the location where the taillights are attached) at a rear end thereof for a total of two vehicles. Reflectors are mounted. One reflector is mounted on the motorcycle. The reflector attached to the vehicle and the motorcycle is hereinafter simply referred to as “vehicle reflector”. These vehicle reflectors are used to detect the presence of vehicles and two-wheeled vehicles, as described in more detail below. Wheels include vehicles and motorcycles. In particular, when referring to motorcycles, the term motorcycle rather than vehicle is used.

The central reflector, the roadside reflector, and the vehicle reflector are referred to as retroreflectors, and have substantially the same reflection direction as the incident direction.

As will be described later, the central reflector and the roadside reflector are distinguished from the vehicle reflector by the processing in the object determination device, and are recognized as road facilities. In the following description (only the first embodiment), only the central reflector is considered as road equipment for simplicity.

The object determining and measuring device is mounted on a vehicle. In this embodiment, it is assumed that an object discriminating device is mounted on the vehicle 1. FIG. 2 shows a state in which the detection head of the object determination device is mounted on a vehicle. The detection head 10 of the object identification device is mounted on a bumper at the front of the vehicle. The vehicle on which the object discriminating device is mounted is referred to as “own vehicle”. The traveling lane of the own vehicle is called "own lane", and lanes other than the own lane are called "other lanes". Vehicles existing in front of the own vehicle are referred to as "preceding vehicles" regardless of their own lane or another lane and include motorcycles and the like.

The detection head 10 of the object discriminating device projects a pulsed laser beam toward the front of the host vehicle. This laser light is swept over a predetermined measurement angle range. The laser light is projected at a constant angular interval within the above measurement angle range.

For example, the measurement angle range is 200 [mrad], and has a spread of 100 [mrad] on the left and right sides in the traveling direction of the vehicle. Also, the time required for one laser light sweep in this measurement angle range (hereinafter referred to as “sweep time”).
Is 100 [ms]. This measurement angle range is divided into 100 regions at equal angular intervals, and one region is further divided into 40 regions. In other words, the measurement angle range is 0.05 [mrad]
Divided into 4000. The laser beam is projected on the inner 80 areas, excluding 10 areas on both sides of the 100 areas. The measurable distance is 150 [m], and the resolution of the measurement distance (measurement distance accuracy) is about 0.15 [m].

The laser light projected from the detection head 10 of the object discriminating device is reflected by the central reflector R or a vehicle reflector attached to the preceding vehicle (vehicle 2, motorcycle 3) and returns to the detection head 10. The target discriminating device detects the central reflector R and the vehicle reflectors of the preceding vehicles (vehicle 2 and two-wheeled vehicle 3) as detected objects based on the reflected light.

Based on the relative positional relationship between the detected objects, the central reflector is determined to be continuously present in the traveling direction of the own vehicle, and the discrete reflector is determined to be the vehicle of the preceding vehicle. It is determined that it is a reflector.

The road shape is recognized based on the arrangement of the central reflector. Since the central reflector is provided on the center line C of the road, the arrangement of the central reflector represents the road shape. Distance (interval) from the center line to the preceding vehicle (the detected object determined to be a discrete object)
(Distance in the width direction of the road) is calculated, and the preceding vehicle on the own lane is identified based on this distance.

If the preceding vehicle exists on the traveling lane (on the own lane), the preceding vehicle may stop suddenly, and there is a risk that the own vehicle will collide. Since the central reflector is located along the road, there is no danger of rear-end collision. The distance to the preceding vehicle traveling on the own lane, which is a dangerous object, is the inter-vehicle distance.

According to the inter-vehicle distance to the preceding vehicle, measures are taken to avoid danger such as a rear-end collision with the preceding vehicle. For example, when the inter-vehicle distance to the preceding vehicle is small, operations such as sounding an alarm and braking the own vehicle are performed to notify the driver of the own vehicle that the inter-vehicle distance is small.

2 Hardware Configuration

FIG. 3 is a block diagram showing the electrical configuration of the object determination and measurement device. The target discriminating device includes a detecting head 10, a vehicle speed sensor 18, and a signal processing device 19. Detection head
Reference numeral 10 includes a control circuit 11, a laser diode (LD) drive circuit 12, a laser diode (LD) 13, a scanner 14, a scan position detection circuit 15, a photodiode (PD) 16, and a light receiving circuit 17.

The control circuit 11 controls the operation of the detection head 10. The control device 11 outputs to the laser diode drive circuit 12 a light emission timing signal indicating the timing at which the laser light is emitted, and outputs a scanner control signal for controlling the scanner 14 to the scanner 14.

As shown in FIG. 4A, the light emission timing signal is a pulse signal repeatedly output at a time interval of 25 [μs] from 10 [ms] to 90 [ms] after the start of the sweep. The scanner control signal is an analog signal representing the sweep angle as an analog value (or multi-value) as shown in FIG. The half cycle of this control signal is 100 [ms], and the level increases linearly in the first half cycle and decreases linearly in the second half cycle.

The laser diode driving circuit 12 drives the laser diode 13 in response to the light emitting timing signal given from the control circuit 11, and drives the laser diode 13
To emit a pulsed laser beam.

The scanner 14 has a mirror for reflecting the laser light projected from the laser diode 13, and a motor for rotating the mirror back and forth within the range of the sweep angle. The motor is rotationally driven based on a scanner control signal provided from the control circuit 11. The laser light reflected by the mirror is projected radially forward at a constant angular interval (equal angular interval as described above) at every light emitting time interval. The scanner 14 is provided with a transducer that generates a sweep angle position signal indicating a rotation angle position of a mirror (or a rotation axis of a motor). The sweep angle position signal is supplied from the scanner 14 to the sweep angle detection circuit 15.

FIG. 4C shows an example of the sweep angle position signal output from the scanner 14. Since the motor reciprocates in the sweep angle range (measurement angle range), it temporarily stops at both ends. Because of this turning direction, there is a region where the sweep angle does not change (both ends of the measurement angle range).
When the laser beams are projected at both ends, laser beams for a plurality of pulses are projected in substantially the same angular direction. If a pedestrian exists near both ends of the measurement angle range (when there is a sidewalk on the road side of the road), there is a risk that laser light will continuously enter the eyes of the pedestrian. In order to avoid such a situation, as described above, 10 regions (corresponding to 10 [ms]) in the angular direction where the amount of change of the mirror angle is small, that is, at both ends of the measurement angle range. Stops driving of laser diode 13 in the range of (control circuit
11 does not provide the laser diode 12 with a light emission timing signal) so as not to emit laser light.

The sweep angle detection circuit 15 calculates a sweep angle φ (based on a direction perpendicular to the running direction of the vehicle 1) at which the laser beam is projected based on a sweep angle position signal given from the scanner 14. Data representing the calculated sweep angle φ is provided from the sweep angle detection circuit 15 to the control circuit 11.

The laser beam projected from the scanner 14 is an object to be detected (the central reflector or the vehicle reflector described above).
The reflected light is received by the photodiode 16.

Upon receiving the light reflected by the object to be detected, the photodiode 16 outputs a light receiving signal representing the reflected light to the light receiving circuit 17.

When the level of the light receiving signal from the photodiode 16 is equal to or higher than a predetermined threshold, the light receiving circuit 17 outputs a light receiving timing signal indicating a point in time when the photodiode 16 receives the reflected light. The reflected light is received between the time when the laser light is projected from the scanner 14 and the time when the next laser light is projected. The light receiving timing signal is provided from the light receiving circuit 17 to the control circuit 11.

The control circuit 11 measures the time interval from the output time of the light emitting timing signal to the input time of the light receiving timing signal given from the light receiving circuit 17, and calculates the distance D to the object to be detected. Thereafter, the control circuit 11 calculates the distance D
The distance d and the sweep angle θ are calculated for each area (for 80 areas) by performing an averaging process described later between the area and the corresponding sweep angle φ detected by the sweep angle detection circuit 15 within the range of each area. I do. The distance d to the object to be detected and the sweep angle θ are provided from the control circuit 11 to the signal processing device 19.

The vehicle speed sensor 18 detects the vehicle speed (the vehicle speed of the vehicle 1 equipped with the object discriminating device). Data representing the vehicle speed v is provided from the vehicle speed sensor 18 to the signal processing device 19.

The signal processing device 19 includes a distance d to the object to be detected and a sweep angle θ given from the control circuit 18 of the distance measuring device 10, and a vehicle speed v given from the vehicle speed sensor 18.
Based on the target, a target determination process described later and other processes are performed.

The object discriminating process can be performed by further using the output of the steering angle sensor for detecting the steering angle of the host vehicle and the output of the acceleration sensor for detecting the acceleration (yaw rate) of the host vehicle.

3 Averaging processing of distance to detected object and averaging processing of sweep angle

The averaging process of the distance D to the detected object and the averaging process of the sweep angle φ in the control circuit 11 are performed as follows.

After calculating the distance D to the object to be detected, the control circuit 11 temporarily stores the sweep angle φ detected by the sweep angle detection circuit 15 sequentially in the memory. When there is no input of the light receiving timing signal from the light receiving circuit 17, the control circuit 11 stores data indicating that there is no distance D in the memory together with the sweep angle φ.

The control circuit 11 controls the
Except for data indicating that there is no distance D, the distance D is read from the memory and integrated, and the total number is counted.
The distance d in the area is obtained by dividing the integrated value of the distance D by the total number. The control circuit 11 controls the sweep angle φ except for data indicating that there is no distance D for each region.
Are read from the memory and integrated, and the total number is counted. The value obtained by dividing the integrated value of the sweep angle φ by the total number is the sweep angle θ in that region.

The distance d and the sweep angle θ calculated by the control circuit 11 in this way are supplied to the signal processing device 20. If the distance D has not been detected at all 40 division angles included in one area, the control circuit 11 does not output the distance d and the sweep angle θ to the signal processing device 19.

4. Judgment of Object (First Embodiment)

FIG. 5 is a flow chart showing the processing procedure of one processing cycle of the object determination processing in the signal processing device 19. The signal processing device 19 can be realized by a computer system and software for operating the computer system.

The one cycle process is synchronized with one sweep of the laser beam over the measurement angle range. From one end of the measurement angle range to the other end (for example, from the left end to the right end)
The laser light is swept in one direction, and the object to be detected is detected by one sweep of the laser light. After this, step 21 ~
A series of processes in step 27 is performed. After this series of processing, the laser beam is swept again in the other direction over the measurement angle range. The sweep of the laser beam and a series of subsequent processes are repeatedly performed at regular time intervals.

The processing of the signal processing device 19 performed on the detected object detected by the k-th laser light sweep will be described below as a current processing cycle k.

4.1 Collection of Data (FIG. 5; Step 2)
1)

The signal processing device 19 stores the sweep angle θ and the distance d given from the control circuit 15 of the detection head 10 as paired data in a paired data storage area provided in the memory in the given order. The maximum number of pair data stored in the pair data storage area is 80. Since there is an area where the distance d is not calculated, the number of pairs of data is actually less than 80.

FIG. 6 shows an example of pair data stored in the pair data storage area. The pair data is stored in the pair data storage area corresponding to the detection order i. In FIG. 6, 10
Pieces of pair data are stored. FIG. 7 shows these paired data on a graph. In FIG. 7, paired data is displayed with the vertical axis representing the distance d to the detected object and the horizontal axis representing the sweep angle θ.

In FIG. 1, the vehicle reflectors of the motorcycle 3 and the vehicle 2 and a part of the central reflector are detected. The laser light projected from the detection head 10 has a spread in the vertical direction. However, the detection head 10 is
Since the central reflector is located at a position higher than the road surface and is located very close to the host vehicle, the central reflector becomes a shadow of the laser beam (the laser beam is not projected) and is not detected.

4.2 Calculation of relative position of detected object (FIG. 5;
Step 22)

The distance d of the object to be detected and the sweep angle θ detected by the sweep of the laser beam are expressed in a polar coordinate system. The signal processing device 19 converts the relative position of the detected object expressed in the polar coordinate system into a coordinate in a rectangular coordinate system.

The pair data of the i-th detected object OBk, i stored in the pair data storage area of the memory is represented by dk, i and θk, i. The relative position Qk, i (xk, i, yk, i) of the detected object OBk, i in the orthogonal coordinate system is calculated based on the pair data dk, i and θk, i.
The distance dk, i to the detected object OBk, i and the sweep angle θ
k and i are expressed in a polar coordinate system. The polar coordinate system is transformed into a rectangular coordinate system, and the relative position of the detected object is represented by the rectangular coordinate system. Relative position Q of detected object OBk, i
k, i (xk, i, yk, i) is coordinate-transformed by the following equation.

[0072]

Xk, i = dk, i · cos θk, i (1) yk, i = dk, i · sin θk, i (2)

For example, when i = 1, the pair data is θk,
Since 1 = 1650.8 [mrad] and dk, 1 = 34 [m], the equation
When coordinates are transformed according to (1) and (2), xk, 1 =
34 × cos 1.6508 = −3.4, yk, 1 = 34 × sin 1.6508 = 34

As a result of performing the coordinate conversion processing on the pair data shown in FIG. 6 as described above, relative position data in the orthogonal coordinate system as shown in FIG. 8 is obtained. The relative position Qk, i (xk, i, y) of the coordinate-transformed detected object OBk, i
The data representing (k, i) is stored in the relative position data temporary storage area of the memory as shown in FIG. FIG. 9 shows the relative position of the detected object OBk, i based on the relative position data stored in the relative position data temporary storage area on a horizontal plane graph. The Y-axis direction is a traveling direction of the vehicle, and the X-axis direction is a direction orthogonal to the traveling direction. The origin is the detection head 10 of the own vehicle
Position.

4.3 Sorting of Objects to be Detected (FIG. 5; Step 23)

In order to identify the central reflector provided continuously on the center line, the signal processor 19 converts the relative position Qk, i (xk, i, yk, i) data of the detected object OBk, i into data. Based on this, a sort process is performed to sort the detected objects in ascending order of their Y coordinates.

The relative position Qk, i (xk, i, yk, yk) of the detected object OBk, i stored in the relative position data temporary storage area.
i) Data is stored in a data storage area provided in the memory in ascending order of the Y coordinate yk, i. If there are a plurality of relative position data having the same Y coordinate, the relative position data having the Y coordinate smaller than the Y coordinate and the X coordinate data of the relative position data sorted immediately before are used as the reference. Become. X coordinate data of a plurality of relative position data having the same Y coordinate are compared with the reference X coordinate data,
The plurality of relative position data are arranged in ascending order of the difference from the reference X coordinate data.

For example, by performing a sort process on the data shown in FIG. 8, the data shown in FIG. 10 can be obtained. OBk, i identifying the detected object is the order j after sorting.
Has been changed to OBj. 10, the detected objects OBk, 1, OBk, 2, OBk, 3 and OBk, 7 shown in FIG.
Since the Y coordinate of the target object OBk, 8 is the same as "34", sorting is performed based on those X coordinates, and the detected object having the X coordinate closest to the X coordinate of the immediately preceding detected object OBk, 8 O
Bk, 7 is given priority, followed by the detected objects OBk, 3, OBk,
2, OBk, 1.

4.4 Continuity identification and grouping of detected objects (FIG. 5, step 24)

In order to identify the central reflector that is continuously present, the signal processing device 19 determines whether or not the detected object is continuously present (identification of the continuity of the detected object), and is continuously present. The object to be detected is grouped into the objects to be detected and the objects to be detected that are discretely present (grouping of the objects to be detected). 4.4.1 Continuity identification of detected object

The fact that the central reflectors are continuously provided along the road means that they are continuously present in the traveling direction (Y direction) of the own vehicle. In the relative position data sorted by the processing of “4.3 Sorting of Detected Objects”, the X-coordinate of the relative position data of the two detected objects that are continuously present in the Y direction is seen in the Y direction. Is small.

The identification of the continuity of the detected object is performed according to (j-1)
The object to be detected OBk, j-1 and the j-th object to be detected O
Bk, j, and their relative positions Qk, j-1 (x
k, j-1, yk, j-1) and Qk, j (xk, j, yk, j), the difference between the X coordinates dx, j = xk, j-1-xk, j. This difference dx, j is calculated for each pair of adjacent relative position data and stored in the data storage area of the memory (see FIG. 10).

If the difference dx, j between the X coordinates is equal to or smaller than the continuity determination threshold (for example, 1 [m]), the (j-1) -th object to be detected OBk, j-1 and the j-th object It is determined that the detected object OBk, j has continuity. J-th object to be detected O
Bk, j is accompanied by a continuity identification flag indicating that the (j-1) th object OBk, j-1 and the jth object OBk, j are continuous. , This flag is set to "1".

When the difference dx, j is equal to or smaller than the continuity judgment threshold,
It is determined that the (j-1) th detected object OBk, j-1 and the jth detected object OBk, j do not have continuity, and the continuity identification flag of the detected object OBk, j is set to " 0 ".
Since the difference dx, j cannot be calculated for the first detected object OBk, 1, the continuity identification flag is set to "0".

For example, for the data shown in FIG.
j = 1, that is, since the difference dx, 1 is not calculated for the detected object OBk, 1 located closest to the host vehicle, the difference dx, 1 is indicated by "*" indicating that there is no data. ing. Therefore, the continuity identification flag of the detected object OBk, 1 also becomes "0". Next, the detected object OB2
For the object to be detected OBk, 1
Is "0". Therefore, this difference dx,
2 is equal to or smaller than the threshold value, the detected objects OBk, 1 and OBk, 2
Is determined to have continuity, and the detected object OBk, 2
Is set to "1".
When the continuity identification processing is performed in the same manner, the detected objects having continuity are OBk, 2 and OBk, 3, OBk, 3 and OBk, 4, O
Bk, 6 and OBk, 7, OBk, 8 and OBk, 9 and OBk, 9
And OBk, 10, and the detected object without continuity is OBk, 4
And OBk, 5, OBk, 5 and OBk, 6, OBk, 7 and OBk, 8
It is.

4.4.2 Grouping of detected objects

The signal processing device 19 divides the detected objects into groups based on the continuity identification flag set by determining whether or not there is continuity between two detected objects that are adjacent to each other. Grouping of detected objects).

The grouping of the detected objects is performed according to the sorting order j. J-th object to be detected OB
The continuity identification flag of k, j is “0”, and the next (j +
If the continuity identification flag of the 1) th detected object is “1”, the jth and (j + 1) th detected objects are determined to be in the same group. Further, if the detected objects whose continuity identification flag is “1” continue after the (j + 2) th, the detected objects are determined to be the same group as the above group. If there is a detected object whose continuity identification flag is “0” next to a detected object whose continuity identification flag is “1”, the detected object whose continuity identification flag is “0” The object is determined to belong to a different group from the previous detected object. The continuity identification flag of the j-th detected object is “0”, and the next (j +
If the continuity identification flag of the No. 1 detected object is "0", it is determined that they belong to different groups. Each group formed by grouping is assigned a group number m in the order in which the group was formed. In this way, the detected objects are grouped based on the continuity identification flag.

For example, for the data shown in FIG.
Since the continuity identification flag of the detected object OBk, 1 is "0" and the continuity identification flag of the next detected object OBk, 2 is "1", they are in the same group (first group). It is determined to belong. Further, the detected object OBk, 3
And the continuity identification flag of OBk, 4 is continuously "1", and the continuity identification flag of detected object OBk, 5 is "0".
Therefore, these detected objects OBk, 1, OBk, 2,
OBk, 3 and OBk, 4 are determined to belong to the same group (first group). The detected object OBk, 5 is determined to belong to a group (second group) different from the above group (first group). Since the continuity identification flag of the detected object OBk, 6 following the detected object OBk, 5 is "0", the detected object OBk, 5
5 and OBk, 6 are determined to belong to mutually different groups. Similarly, the detected objects OBk, 6 and O
Bk, 7 is determined to belong to the same group (third group), and the detected objects OBk, 8, OBk, 9 and OBk, 10 are determined to belong to the same group (fourth group).

4.5 Group Classification (FIG. 5; Step 25)

The signal processing device 19 determines whether the group formed by the processing of “4.4.2 Grouping of detected objects” represents a continuous object representing a central reflector provided continuously. Alternatively, it is determined whether the object represents a discrete object representing a vehicle, a motorcycle, or the like (group classification).

The discrimination between the continuous object and the discrete object is made by determining the number of data of the detected objects included in one group and the Y coordinate of the first detected object and the Y coordinate of the last detected object included in the one group. This is performed based on the difference dy, m.

The number of data of the detected object included in one group is counted, and the difference dy, m is calculated. If the number of data is equal to or greater than a predetermined threshold (eg, 3) and the Y difference is equal to or greater than a threshold (eg, 2 [m]), the group is determined to be a continuous target. If the above condition is not satisfied, the group is determined to be a continuous object.

In the data shown in FIG. 10, the detected objects belonging to the first group are OB
Since k, 1, OBk, 2, OBk, 3 and OBk, 4, the number of data is "4" and the difference dy, 1 is "4", the above condition is satisfied and "continuous object" Is determined.
Similarly, the fourth group also satisfies the above condition, and is determined to be “continuous target”. Since the second group and the third group do not satisfy the above conditions, they are determined to be “discrete targets”.

4.6 Associating Continuous Objects (FIG. 5; Step
26)

Even if the central reflector is continuously provided on the center line, a plurality of detected objects representing the central reflector form one group representing one continuous object due to the presence of a vehicle or the like. May be divided into a plurality of continuous target groups. For this reason, the signal processing device 19 associates the plurality of continuous target groups into a group representing one continuous target, and associates the continuous targets with each other.

If there are two or more groups located before and after the group determined to be a continuous object, the X coordinate of the relative position between the last detected object in the previous group and the first detected object in the subsequent group Is a predetermined threshold (for example, 1.
If it is 5 [m]) or less, the preceding group and the following group are determined to represent one continuous object, and the groups are combined into one group.

For example, in the example shown in FIG. 10, both the first group and the fourth group represent continuous objects.
Since the X coordinate of the relative position of the detected object between the rearmost detected object OBk, 4 of the first group and the earliest detected object OBk, 8 of the fourth group is both "2", their difference d
y, m is “0”, which is equal to or less than the threshold. Therefore, these first and fourth groups are grouped as the same continuous object. Therefore,
As shown in FIG. 11, the detected objects OBk, 1, OBk, 2, O
Bk, 3, OBk, 4, OBk, 8, OBk, 9 and OBk, 10
Is a target 1 and a detected object OB
The group to which k, 5 belongs to the target 2 and the detected objects OBk, 6 and OBk, 7 belong to the group to which the target 3 belongs.

4.7 Comprehensive Judgment of Target (FIG. 5; Step 27)

The signal processor 19 determines whether the detected object represents the preceding vehicle or the central reflector provided continuously.

The group determined to be a discrete object is determined to be a preceding vehicle. If the group includes a plurality of detected objects, they are put together as one detected object. The central relative position of the collected detected objects becomes the average value of the relative positions of the detected objects belonging to the group.

For example, in FIG. 12, the second group (object 2) and the third group (object 3) are determined to be preceding vehicles. For the third group, since two detected objects OBk, 6 and OBk, 7 are included in the group, the object 3 (objects to be detected OBk, 6 and OBk, 7 are combined into one) Is the average value of these detected object relative positions, that is, ([(-3) + (-3.4)] /
2, [34 + 34] / 2) = (-3.2, 34).

The detected object included in the group (object 1) determined to be a continuous object and grouped by associating the continuous object is determined to be the central reflector (road equipment). These detected objects can be used for recognition of a road shape.

5. Judgment of Target (Second Embodiment)

It is assumed that the own vehicle is traveling on a road as shown in FIG. In this road, a roadside reflector R is provided continuously on the roadside of a road L having one lane on each side, and a central reflector R is provided continuously on a center line C. In such a situation, the roadside reflector and the central reflector are detected as detected objects. For the detected detected objects, see “4.3 Sorting of detected objects” above.
, The roadside reflectors and the central reflector may be mixed alternately. At this time, the sorted detected objects lose continuity. Therefore, the roadside reflector and the central reflector cannot be identified as continuous objects, respectively, and are identified as discrete objects. Eventually, a large number of roadside reflectors and central reflectors are mistaken as preceding vehicles.

The second embodiment is intended to cope with the above case.

FIG. 13 is a flowchart showing a processing procedure in the second embodiment. In FIG. 13, the same processes as those shown in FIG. 5 are denoted by the same reference numerals, and detailed description thereof will be omitted.

5.1 Segmentation of Measurement Angle Range (FIG. 13; Step 22A)

The measurement angle range is divided into a plurality of areas.
Here, the measurement angle range is divided into two regions on the left and right by the Y axis.

The detected object OBk, i has its relative position Qk,
Based on i (xk, i, yk, i), the area is classified into one of the above two areas.

Then, the detected object O classified into each area is
For Bk, i, the above-described process of “4.3 Sorting of Detected Objects (Step 23)” is performed.

6. Judgment of target (third embodiment)

It is assumed that the host vehicle 1 is traveling on a road where a road L2 joins a road L1 having one lane on one side as shown in FIG. A center reflector R is provided continuously on the center line C. The central reflectors R on the center line C are provided in a row at a position close to the host vehicle 1, and are provided in two rows R1 and R2 at a distant position ahead in the traveling direction. In such a situation, the central reflector detected as the object to be detected is subjected to the area segmentation described in “5.1 Area segmentation of measurement angle range” above.
Even if the objects to be detected are sorted, two rows of central reflectors R1 and R2 may be alternately mixed. Also at this time, the sorted detected objects lose continuity. Therefore, the two rows of central reflectors cannot be identified as continuous objects, and they are identified as discrete objects. If it is determined to be a discrete object, it will be mistaken for a preceding vehicle.

The third embodiment is intended to cope with the above case.

FIG. 15 is a flowchart showing a processing procedure in the third embodiment. In FIG. 15, the same processes as those shown in FIG. 5 are denoted by the same reference numerals, and detailed description will be omitted.

6.1 Continuity identification of detected object (FIG. 15; step 24A)

In the third embodiment, “
The processing in “4.4.1 Continuity identification of detected object” is performed as follows.

The continuity of the detected object is determined by the (j-1)
The object to be detected OBk, j-1 and the j-th object to be detected O
For two of Bk, j, their relative positions Qk, j-1 (x
k, j-1, yk, j-1) and Qk, j (xk, j, yk, j)
The coordinate difference dx, j = xk, j-1 -xk, j is calculated. Difference d
If x, j is equal to or less than the continuity determination threshold, the (j-1) th detected object OBk, j-1 and the jth detected object Ok
Bk, j is determined to have continuity. Therefore, the continuity identification flag of the j-th object to be detected OBk, j becomes “1”.

If the difference dx, j is equal to or greater than the continuity determination threshold, the (j-1) th detected object OBk, j-1 and the jth
It is determined that there is no continuity with the second detected object OBk, j. In this case, the relative position Qk, j (xk, j, yk, j) of the j-th object to be detected OBk, j having no continuity is saved in the data temporary storage area, and the (j-1) The relative positions Qk, j-1 (xk, j-1) of the two detected objects OBk, j-1 and the (j + 1) -th (j + 1) -th detected object OBk, j + 1 j-1, yk, j-1) and Qk, j + 1
(Xk, j + 1, yk, j + 1) and the difference dx, j + 1 = xk,
j−1−xk, j + 1 is calculated.

When the difference dx, j + 1 is equal to or smaller than the continuity determination threshold, the (j-1) th detected object OBk, j-1 and the (j + 1) th detected object OBk, j +1 is determined to have continuity. Therefore, the continuity identification flag of the (j + 1) -th object to be detected OBk, j + 1 becomes “1”.
In this case, the relative position data after the detected object OBk, j + 1 stored in the data storage area is sequentially shifted. That is, the detected object OBk, j + 1 is
k, j, the detected object OBk, j + 2 is the detected object OBk, j + 1,
...

Thereafter, j is incremented, and continuity is determined for a new (j-1). That is, the continuity of the detected object OBk, j + 1 and the detected object OBk, j + 2 before the relative position data of the detected object is shifted is determined. The detected object O which has been evacuated to the data temporary storage area before the relative position data of the detected object stored in the data storage area is shifted.
Bk, j indicates that the data is temporarily stored when the continuity determination is completed for the relative position data in the data storage area or when the relative position data in the data storage area is saved to the temporary data area and no longer exists. If there is any other relative position data saved in the area, it is returned to the data storage area together with them. Thereafter, continuity is determined from the first relative position data returned to the data storage area.

If the difference dx, j + 1 is equal to or greater than the continuity determination threshold, the (j-1) th detected object OBk, j-1 and the (j + 1) th detected object OBk, j It is determined that +1 is not continuous. In this case, the continuity discrimination processing is performed on two objects, the (j-1) th detected object OBk, j-1 and the (j + 2) th detected object OBk, j + 2 that is further downstream. Is performed.

In this way, the continuity of the (j-1) -th object to be detected OBk, j-1 is determined up to the last data stored in the data storage area.

If there is no detected object having continuity, all data saved in the temporary data storage area is returned to the data storage area. Thereafter, continuity is determined from the first data returned to the data storage area.

The continuity identification processing is performed as described above.

Instead of the above-described object determination processing, Hough transform,
The roadside reflector and the central reflector may be extracted by using image processing such as a Friman chain code (direction code).

[Brief description of the drawings]

FIG. 1 shows a state in which two vehicles and one motorcycle are traveling on a road.

FIG. 2 shows a state in which the object identification device is mounted on a vehicle.

FIG. 3 is a block diagram illustrating an electrical configuration of the object identification device.

4A shows a light emission timing signal, FIG. 4B shows a scanner control signal, and FIG. 4C shows a sweep angle.

FIG. 5 is a flowchart illustrating a processing procedure of one processing cycle of a target determination process in the signal processing device according to the first embodiment.

FIG. 6 shows an example of pair data stored in a pair data storage area.

FIG. 7 is a graph in which the distance to the detected object is plotted on the vertical axis, and the sweep angle is plotted on the horizontal axis.

FIG. 8 shows an example of relative position data stored in a relative position data temporary storage area.

FIG. 9 shows the relative position of the detected object based on the relative position data stored in the relative position data temporary storage area.

FIG. 10 shows an example of data stored in a data storage area.

FIG. 11 shows an example of an identified target.

FIG. 12 shows an example of a road in which a roadside reflector is provided continuously on the roadside of one lane on one side, and a central reflector is provided continuously on a center line.

FIG. 13 is a flowchart illustrating a processing procedure of one processing cycle of target determination processing in the signal processing device according to the second embodiment.

FIG. 14 shows a road on which a central reflector is provided continuously in two rows.

FIG. 15 is a flowchart illustrating a processing procedure of one processing cycle of target determination processing in the signal processing device of the third embodiment.

[Explanation of symbols]

 10 Detection head 11 Control circuit 12 Laser diode drive circuit 13 Laser diode 14 Scanner 15 Scanner position detection device 16 Photodiode 17 Light receiving circuit 18 Vehicle speed sensor 19 Signal processing device

Continuation of front page (56) References JP-A-3-111785 (JP, A) JP-A-4-279890 (JP, A) JP-A-5-80154 (JP, A) JP-A-5-159199 (JP) JP-A-5-189699 (JP, A) JP-A-7-140247 (JP, A) JP-A-7-225276 (JP, A) JP-A-61-23985 (JP, A) 5-288847 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S ⁷ /00-7/51 G01S 13/00-13/95 G01S 17/00-17/95 G01B 11 / 00-11/30 B60R 21/00-21/34 G08G 1/16

Claims (8)

(57) [Claims] 1. A light emitting means for emitting a laser beam at a predetermined time interval in response to a given light emitting timing signal indicating a time point at which the laser light is projected, and a laser beam emitted from the light emitting means in a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angular interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting a sweeping angle of laser light by the sweeping means, and sweeping and projecting light by the sweeping means Light receiving means for receiving the reflected light of the laser light from the object to be detected and outputting a light receiving timing signal indicating a point in time of receiving the reflected light; outputting a light emitting timing signal to the light emitting means; A signal is output to the sweeping means, and the light is projected based on a time interval from the output time of the light emitting timing signal to the input time of the light receiving timing signal obtained by the light receiving means. Control means for calculating the distance from the light position to the object to be detected; calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated; Based on the relative position calculated by the relative position calculating means, rearranging means for rearranging the detected objects in the memory in the order of their relative positions closer to the light emitting / receiving position; Therefore, for two detected objects adjacent to each other, it is determined whether or not the two detected objects have continuity in a predetermined direction based on their relative positions. Grouping means for grouping the detected objects based on the determination result; for each group formed by the grouping means, the detected objects belonging to the group A target classification unit that determines whether a group is a continuous target or a discrete target based on the total number and their relative positions, when there are a plurality of groups that are determined to be continuous targets by the target determination unit described above; , Determine whether one continuous object and another continuous object are the same continuous object,
When it is determined that they are the same, the continuous object associating means for combining the one continuous object and the other continuous object into one group, and the group determined to be a discrete object by the object classification means as a preceding vehicle. An object discriminating apparatus comprising: a group determined to be a continuous object by the object classifying means; and a group integrated into one by the continuous object associating means as road equipment. 2. A light emitting means for emitting laser light at a predetermined time interval in response to a given light emitting timing signal representing a time point at which the laser light is emitted, wherein the laser light from the light emitting means is emitted within a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angular interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting a sweeping angle of laser light by the sweeping means, and sweeping and projecting light by the sweeping means Light receiving means for receiving the reflected light of the laser light from the object to be detected and outputting a light receiving timing signal indicating a point in time of receiving the reflected light; outputting a light emitting timing signal to the light emitting means; A signal is output to the sweeping means, and the light is projected based on a time interval from the output time of the light emitting timing signal to the input time of the light receiving timing signal obtained by the light receiving means. Control means for calculating the distance from the light position to the object to be detected; calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated; A relative position calculating unit that divides the measurement angle range into a plurality of regions, and for each of the regions, based on the relative position calculated by the relative position calculating unit, projects the relative position of the detected object on a memory. Rearranging means for rearranging in order from a position closest to the light receiving position; in accordance with the order rearranged by the rearranging means, two adjacent detected objects are determined based on their relative positions. Grouping means for determining whether or not there is continuity in the direction of the object, and grouping the detected object into groups based on the result of the continuity determination; Object classification means for each group formed based on the total number of detected objects belonging to the group and their relative positions, for determining whether the group is a continuous object or a discrete object; If there is more than one group that is determined to be a continuous object by the following, it is determined whether one continuous object and another continuous object are the same continuous object,
When it is determined that they are the same, the continuous object associating means for combining the one continuous object and the other continuous object into one group, and the group determined to be a discrete object by the object classification means as a preceding vehicle. An object discriminating apparatus comprising: a group determined to be a continuous object by the object classifying means; and a group integrated into one by the continuous object associating means as road equipment. 3. A light emitting means for emitting laser light at a predetermined time interval in response to a given light emitting timing signal representing a time point at which the laser light is emitted, wherein the laser light from the light emitting means is emitted within a predetermined measurement angle range. Sweeping means for sweeping and projecting light at a constant angular interval based on a given sweeping angle control signal, sweeping angle detecting means for detecting a sweeping angle of laser light by the sweeping means, and sweeping and projecting light by the sweeping means Light receiving means for receiving the reflected light of the laser light from the object to be detected and outputting a light receiving timing signal indicating a point in time of receiving the reflected light; outputting a light emitting timing signal to the light emitting means; A signal is output to the sweeping means, and the light is projected based on a time interval from the output time of the light emitting timing signal to the input time of the light receiving timing signal obtained by the light receiving means. Control means for calculating the distance from the light position to the object to be detected; calculating the relative position of the object to be detected based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated; Based on the relative position calculated by the relative position calculating means, the rearranging means for arranging the detected objects in a fixed order on a memory according to the magnitude of the coordinates of the relative position; According to the above-mentioned fixed order arranged by the replacement means,
A reference object to be detected is determined, and based on a relative position between the reference object and a first object to be arranged next thereto,
It is determined whether the two detected objects have continuity in a predetermined direction. If it is determined that there is continuity, the first detected object is determined as a new reference detected object. Then, the continuity check is performed between the reference object to be detected and the second object to be arranged next. When it is determined that there is no continuity, the reference object to be detected is fixed and the first object is fixed. The inspection of the continuity of the two detected objects is sequentially determined, for example, the continuity inspection of the second detected object arranged next to the detected objects is performed. After the inspection of continuity is completed, the detected objects whose reference object is determined to have no continuity are rearranged at the end of the above arrangement, and the continuity inspection is repeated for these detected objects. Grouping method to group detected objects Object classification means for determining, for each group formed by the grouping means, whether the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions; When there are a plurality of groups determined to be continuous objects by the above object determination means, it is determined whether one continuous object and another continuous object are the same continuous object,
When it is determined that they are the same, the continuous object associating means for combining the one continuous object and the other continuous object into one group, and the group determined to be a discrete object by the object classification means as a preceding vehicle. An object discriminating apparatus comprising: a group determined to be a continuous object by the object classifying means; and a group integrated into one by the continuous object associating means as road equipment. 4. The rearranging means for arranging the detected objects in accordance with one of two coordinates representing the relative position of the detected object in accordance with the size of the one coordinate. 4. The method according to claim 1, wherein, when there are a plurality of detected objects having the same, the difference between the previously detected detected objects and other coordinates is arranged in ascending order. The object discriminating apparatus described in the above. 5. A vehicle equipped with the object discriminating apparatus according to claim 1. 6. A laser beam is emitted at a predetermined time interval in response to a given projection timing signal representing a projection time point of the laser beam, and the emitted laser beam is swept in a predetermined measurement angle range. Sweeps and emits light at regular angular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light of the swept and projected laser light from the object to be detected. And outputs a light-receiving timing signal indicating a light-receiving time of the reflected light, outputs a light-emitting timing signal, and outputs a sweep angle control signal. The distance from the light emitting / receiving position to the object to be detected is calculated based on the time interval of, and based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated, The relative position of the detected object is calculated. Based on the calculated relative position, the detected object is rearranged in the memory in the order in which the relative position is closer to the light emitting / receiving position, and are adjacent to each other according to the rearranged order. For the two detected objects, it is determined whether or not the two detected objects have continuity in a predetermined direction based on their relative positions. Based on the result of the continuity determination, the detected objects are grouped. For each formed group, it is determined whether the group is a continuous object or a discrete object based on the total number of detected objects belonging to the group and their relative positions. If there are multiple determined groups, it is determined whether one continuous object and another continuous object are the same continuous object, and if it is determined that they are the same, the one continuous object And the other continuous objects are grouped into one group, the group determined to be a discrete object is determined to be a preceding vehicle, and the group determined to be a continuous object and the group combined are defined as road equipment. Judgment, object identification method. 7. A laser beam is emitted at a predetermined time interval in response to a given projection timing signal representing a projection time of the laser beam, and the emitted laser beam is swept in a predetermined measurement angle range. Sweeps and emits light at regular angular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light of the swept and projected laser light from the object to be detected. , And outputs a light-receiving timing signal indicating a light-receiving time of the reflected light, outputs a light-emitting timing signal, and outputs a sweep angle control signal. The distance from the light emitting / receiving position to the object to be detected is calculated based on the time interval of, and based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated, The relative position of the detected object is calculated, and the measurement angle range is divided into a plurality of regions, and for each of the regions, the relative position of the detected object is stored in the memory as a light emitting / receiving position based on the calculated relative position. Rearranged in the order of proximity, and thus determined whether or not the two detected objects have continuity in a predetermined direction based on the relative positions of the two detected objects adjacent to each other. Then, the detected objects are divided into groups based on the continuity determination results, and for each formed group, a group is formed based on the total number of detected objects belonging to the group and their relative positions. Judge whether the object is a continuous object or a discrete object. If there are multiple groups that are determined to be continuous objects, check whether one continuous object and another continuous object are the same continuous object. If it is determined that they are the same, the one continuous object and the other continuous object are combined into one group, and the group determined to be a discrete object is determined to be a preceding vehicle. An object determination method for determining a group determined to be present and a group that has been combined into one as road equipment. 8. A laser beam is emitted at a predetermined time interval in response to a given projection timing signal indicating a projection time point of the laser beam, and the emitted laser beam is swept in a predetermined measurement angle range by a predetermined sweep. Sweeps and emits light at regular angular intervals based on the angle control signal, detects the sweep angle of the swept laser light, and receives the reflected light of the swept and projected laser light from the object to be detected. , And outputs a light-receiving timing signal indicating a light-receiving time of the reflected light, outputs a light-emitting timing signal, and outputs a sweep angle control signal. The distance from the light emitting / receiving position to the object to be detected is calculated based on the time interval of, and based on the calculated distance to the object to be detected and the sweep angle of the laser beam from which the distance is calculated, The relative positions of the detected objects are calculated. Based on the calculated relative positions, the detected objects are arranged in a memory in a fixed order according to the magnitude of the coordinates of the relative positions. Therefore, a reference object to be detected is determined, and the two detected objects have continuity in a predetermined direction based on the relative positions of the reference object to be detected and the first object to be arranged next to the reference object. If it is determined that there is continuity, the first detected object is determined as a new reference detected object, and the new reference detected object and the second When the continuity check with the detected object is performed and it is determined that there is no continuity, the reference detected object is fixed and the second detected object arranged next to the first detected object is fixed. Moving on to the continuity inspection, The continuity test is sequentially determined, and after one continuity test has been completed for all the detected objects, the reference detected object determined to be non-continuous is the last detected object in the above array. By repeating the continuity check on these detected objects by rearranging them in the tail, the detected objects are grouped, and for each formed group, the total number of detected objects belonging to the group and their relative positions and It is determined whether a group is a continuous object or a discrete object based on the above. If there are multiple groups that are determined to be continuous objects, one continuous object and another continuous object are the same continuous object. Judgment is made as to whether the object is an object, and when it is judged that they are the same, the one continuous object and the other continuous object are put into one group, and the group judged as a discrete object is preceded. Both DOO judgment judges groups and groups that are grouped together it is determined that the continuous target road facilities, subject identification method.