Object size estimation device and method

Abstract

The present disclosure relates to an object size estimation device and method. Specifically, the object size estimation device of the present disclosure includes: an antenna unit, which includes one or more transmitting antennas and one or more receiving antennas; a radar signal transmitting unit, which uses the transmitting antenna to transmit a radar signal toward an object; a receiving unit, which receives a received signal reflected and received from an object through a receiving antenna; an object length calculation unit, which calculates a reflection point based on the position frequency of a measurement value (Measurement) included in the received signal, calculates the horizontal length of the object based on the distance between a first straight line through the calculated reflection point and the measurement value, and calculates the vertical length of the object based on the distance between a second straight line orthogonal to the first straight line and the measurement value; and an object size estimation unit, which estimates the size of the object formed by the horizontal length and the vertical length.

Description

Technical Field

[0001] The present embodiment relates to an object size estimation device and method for estimating the size of an object. Background Art

[0002] In order to recognize the vehicle ahead and estimate the size of the vehicle while driving, the information of the vehicle is received from surrounding vehicles using sensors such as radar (Lidar) or cameras or using V2V communication.

[0003] However, in the case of radar, regarding the measurement value of the vehicle ahead detected by the radar, in most cases, only the result of one of the longitudinal and transverse planes can be obtained. Only in limited cases can both the longitudinal and transverse planes of the target vehicle be detected to know its size. When a part of the target vehicle is out of view or blocked, its size cannot be known at all.

[0004] In addition, in the case of V2V communication information, the correct size can be known, but the relative position depends on GPS, so in general, the accuracy of the position cannot be fully guaranteed. Summary of the invention

[0005] Problems to be solved by the invention

[0006] In this context, the present disclosure provides an object size estimation device and method for estimating the size of an object by accumulating measurement values ​​(Measurement).

[0007] Means for solving problems

[0008] In order to solve the above-mentioned problems, according to one aspect, the present disclosure provides an object size estimation device, which includes: an antenna unit, which includes one or more transmitting antennas and one or more receiving antennas; a radar signal transmitting unit, which uses the transmitting antenna to transmit a radar signal toward an object; a receiving unit, which receives a received signal reflected from the object through the receiving antenna; an object length calculating unit, which calculates a reflection point based on the position frequency of a measurement value (Measurement) included in the received signal, calculates the lateral length of the object based on the distance between a first straight line of the calculated reflection point and the above-mentioned measurement value, and calculates the longitudinal length of the object based on the distance between a second straight line orthogonal to the first straight line and the measurement value; and an object size estimating unit, which estimates the size of the object formed by the lateral length and the longitudinal length.

[0009] According to another aspect, the present disclosure provides an object size estimation method, including: an object information receiving step of transmitting a radar signal toward an object using a transmitting antenna, and receiving a received signal reflected from the object using a receiving antenna; an object length calculation step of calculating a reflection point based on the position frequency of a measurement value (Measurement) included in the received signal, calculating a lateral length of the object based on a distance between a first straight line through the calculated reflection point and the measurement value, and calculating a longitudinal length of the object based on a distance between a second straight line orthogonal to the first straight line and the measurement value; and an object size estimation step of estimating the size of the object formed by the lateral length and the longitudinal length.

[0010] Effects of the Invention

[0011] According to the present disclosure, an object size estimation device and method estimate the size of an object using a measurement value, and apply the estimated size information of a sensed object to improve the performance of an AEB (Autonomous Emergency Braking) / ACC (Adaptive Cruise Control) system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram for describing an object size estimation device according to an embodiment of the present disclosure.

[0013] Figure 2 It is a diagram for explaining the positions of measurement values ​​in one embodiment.

[0014] Figure 3 It is a diagram for explaining the calculation of reflection points according to one embodiment.

[0015] Figure 4 FIG. 1 is a diagram for explaining a first straight line passing through a reflection point according to an embodiment.

[0016] Figure 5 This is a diagram for explaining the case of calculating the length of an object according to one embodiment.

[0017] Figure 6 This is a diagram for explaining how measured values ​​are filtered based on a size estimation range according to one embodiment.

[0018] Figure 7 is a flowchart for describing an object size estimation method according to an embodiment of the present disclosure.

[0019] Figure 8 It is a flowchart for more specifically describing step S720 of an embodiment.

[0020] Fig. 9 It is a flowchart for specifically describing step S810 of an embodiment.

[0021] (Explanation of symbols)

[0022] 10: Object size estimation device 11: Own vehicle

[0023] 20: Object 110: Antenna

[0024] 120: Transmitting unit 130: Receiving unit

[0025] 140: object length calculation unit 150: object size estimation unit DETAILED DESCRIPTION

[0026] Below, with reference to the accompanying drawings, a part of the embodiments of the present disclosure is described in detail. When adding symbols to the constituent elements of each figure, even if the figures are shown in different drawings, the same symbols are used for the same constituent elements. In addition, when describing the present embodiment, if it is determined that the specific description of the relevant known structure or function makes the gist of the technical idea unclear, its detailed description is omitted. When "including", "having", "constituting" and the like are used in this specification, other parts can be added as long as "~only" is not used. When the constituent elements are expressed in the singular, multiple cases are included unless there is a particularly clear record.

[0027] In addition, when describing the constituent elements of the present disclosure, terms such as first, second, A, B, a, and b are used. Such terms are only used to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order, sequence, or quantity of the constituent elements.

[0028] When describing the positional relationship of constituent elements, when it is described that two or more constituent elements are “connected,” “combined,” or “accessed,” etc., the two or more constituent elements may be directly “connected,” “combined,” or “accessed,” or the two or more constituent elements may be “connected,” “combined,” or “accessed” with other constituent elements “intervening.” Here, other constituent elements may be included in one or more of the two or more constituent elements that are “connected,” “combined,” or “accessed” to each other.

[0029] When describing the temporal process relationship of constituent elements or methods of action or production methods, for example, when describing the temporal sequence relationship or process sequence relationship through "after", "next", "then", "before", etc., as long as "immediately" or "directly" is not used, discontinuous situations are included.

[0030] On the other hand, when referring to a numerical value or its corresponding information (for example, level, etc.) regarding a constituent element, even if there is no separate clear record, the numerical value or its corresponding information should be interpreted as including the error range that may occur due to various reasons (for example, process reasons, internal or external impact, noise, etc.).

[0031] Hereinafter, an object size estimation device 10 according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0032] Figure 1 Detailed description is a block diagram for describing an object size estimation apparatus 10 according to an embodiment of the present disclosure.

[0033] Reference Figure 1 An object size estimation device 10 according to an embodiment of the present disclosure includes an antenna unit 110, a transmitting unit 120, a receiving unit 130, an object length calculation unit 140, and an object size calculation unit.

[0034] An object size estimation device 10 according to an embodiment of the present disclosure is an Advanced Driver Assistance System (ADAS) mounted on a vehicle 11 to provide information that helps the vehicle 11 travel or helps the driver control the vehicle 11 .

[0035] Here, ADAS refers to various advanced driver assistance systems, and as driver assistance systems, for example, they include autonomous emergency braking system, smart parking assistance system (SPAS: Smart Parking Assistance System), blind spot detection (BSD) system, adaptive cruise control (ACC: Adaptive Cruise Control) system, lane departure warning system (LDWS: Lane Departure Warning System), lane keeping assist system (LKAS: Lane Keeping Assist System), lane change assist system (LCAS: Lane Change Assist System), etc. However, it is not limited to these.

[0036] The object size estimation device 10 is mounted on the own vehicle 11 and senses an object 20 approaching the stopped own vehicle 11 and estimates the size of the object 20. When the own vehicle 11 is moving, the object size estimation device 10 senses the stopped object 20 or the moving object 20 approaching within the sensing range and estimates the size of the object 20.

[0037] Here, the vehicle 11 is a vehicle that is equipped with a prime mover and rotates wheels with its power, thereby moving on the ground without relying on railways or virtual lines. In addition, the vehicle 11 may be an electric car that obtains driving energy by rotating a motor with electricity stored in a battery instead of obtaining driving energy from the combustion of fossil fuels.

[0038] The object size estimation device 10 may be applicable to manned vehicles and autonomous vehicles in which a driver is sitting in the vehicle and controls the vehicle 11 .

[0039] The antenna unit 110 includes one or more transmitting antennas and one or more receiving antennas. Each of the transmitting and receiving antennas is an array antenna in which one or more radiating elements are connected in series via a power supply line, but the invention is not limited thereto.

[0040] Such an antenna unit 110 includes a plurality of transmitting antennas and a plurality of receiving antennas, and has various antenna arrangement structures depending on the arrangement order and arrangement intervals thereof.

[0041] The transmission unit 120 has a function of switching one of the plurality of transmission antennas included in the antenna unit 110 and transmitting a transmission signal through the switched transmission antenna or transmitting a transmission signal through a plurality of transmission channels allocated to the plurality of transmission antennas.

[0042] Such a transmission unit 120 includes an oscillator that generates a transmission signal for one transmission channel assigned to a switched transmission antenna or a plurality of transmission channels assigned to a plurality of transmission antennas. Such an oscillator includes, for example, a voltage-controlled oscillator (VCO) and an oscillator.

[0043] The receiving unit 130 receives the reception signal reflected by the object 20 through the reception antenna.

[0044] In addition, the receiving unit 130 has the following functions: switching one of the multiple receiving antennas to receive a reflected signal (i.e., a received signal) obtained by reflecting the transmitted signal through a target through the switched receiving antenna or receiving a received signal through multiple receiving channels allocated to the multiple receiving antennas.

[0045] Such a receiving unit 130 includes: a low noise amplifier (LNA: Low Noise Amplifier), which performs low noise amplification on the above-mentioned receiving signal received through a receiving channel assigned to a switched receiving antenna or received through T receiving channels assigned to multiple transmitting antennas; a mixing unit (Mixer), which mixes the low noise amplified receiving signals; an amplifier (Amplifier), which amplifies the mixed receiving signal; a conversion unit (ADC: Analog Digital Converter), which performs digital conversion on the amplified receiving signal to generate receiving data, etc.

[0046] Figure 2 This is a diagram for explaining the positions of measured values ​​in one embodiment.

[0047] The object length calculation unit 140 calculates a reflection point based on the position frequency of a measurement value (Measurement) included in the received signal, calculates a lateral length of the object 20 based on a distance between a first straight line 410 through the calculated reflection point and the measurement value, and calculates a longitudinal length of the object 20 based on a distance between a second straight line 420 orthogonal to the first straight line 410 and the measurement value.

[0048] Reference Figure 2 , the actual position of the object 20 and the position of the measurement value included in the received signal are shown by two-dimensional coordinates, and the number of received measurement values ​​is different according to the position of the object 20. And, the transmission signal is transmitted by the transmission antenna included in the antenna unit 110, the reception signal is received by the reception antenna and the positions of the measurement values ​​included in the reception signal are accumulated until the transmission signal is transmitted again by the transmission antenna, and it is represented by a scanning cycle, an nth scanning, a sensing cycle, etc.

[0049] Here, the object length calculation unit 140 is based on Figure 2 The length of the object 20 is calculated based on the measurement value (Measurement) received in the first scan (1Scan) of Figure 2 The object size estimation device 10 calculates the length of the object 20 based on the measurement value (Measurement) received in the 10th scan (10Scan). In addition, the object size estimation device 10 completes the calculation of the length of the object 20 and executes the last scan and the next scan that are the basis for the calculation. The next scan can be executed simultaneously while calculating the length of the object 20.

[0050] Figure 3 It is a diagram for explaining the calculation of reflection points according to one embodiment.

[0051] Reference Figure 3The object length calculation unit 140 calculates the reflection point based on the position frequency of the measurement value included in the received signal. Specifically, the object length calculation unit 140 calculates the reflection point by using the coordinates with the highest horizontal position frequency and the coordinates with the highest vertical position frequency as two-dimensional coordinates based on the horizontal position frequency and the vertical position frequency of the measurement value received up to the n-th scan.

[0052] Reference Figure 3 , for example, in Figure 3 Among the multiple measurement values ​​received in (a), the values ​​with horizontal positions between -2.5 and -2.75 have a highest frequency of 12, and the values ​​with vertical positions between -13.75 and -14 have a highest frequency of 10. Therefore, the object length calculation unit 140 uses the values ​​with the highest frequency as two-dimensional coordinates to calculate the reflection point.

[0053] As another example, in Figure 3 Among the multiple measurement values ​​received in (b), the value with the highest frequency in the horizontal position between -2.5 and -2 is 16, and the value with the highest frequency in the vertical position between -2.6 and 2.4 is 21. Therefore, the object length calculation unit 140 uses each value with the highest frequency as a two-dimensional coordinate to calculate the reflection point.

[0054] The horizontal position value and the vertical position value of the frequencies of the horizontal position and the vertical position are calculated by calculating the values ​​included in each interval as the frequencies corresponding to each interval according to predetermined intervals, and the value corresponding to the highest frequency calculated in this way is calculated as the median value of the corresponding interval.

[0055] For example, Figure 3 In (a), each interval is set to 0.25 and the frequency is calculated. Figure 3 In (a), the horizontal position value of the reflection point is 2.625, and the vertical position value is -13.875.

[0056] As another example, Figure 3 In (b), the horizontal interval is set to 0.5 and the vertical interval is set to 0.2 to calculate the frequency. Figure 3 In (b), the horizontal position value of the reflection point is 2.25, and the vertical position value is 2.5.

[0057] Figure 4 4 is a diagram for explaining a first straight line 410 passing through a reflection point according to one embodiment.

[0058] The object length calculation unit 140 calculates the lateral length of the object 20 based on the distance between the first straight line 410 passing through the calculated reflection point and the measured value.

[0059] Reference Figure 4The first straight line 410 forms a predetermined angle with the traveling direction of the own vehicle 11 , and the predetermined angle is calculated based on the longitudinal velocity and the lateral velocity sensed by the object 20 .

[0060] The first straight line 410 forms a predetermined angle θ with respect to the traveling direction of the own vehicle 11 and passes through the reflection point. It is the direction of travel of the own vehicle and the sensing angle of the reflection point.

[0061] Here, θ is calculated based on the speed of the object 20 sensed by the vehicle speed sensor and the position and speed Dx, Dy, Vx, and Vy of the object 20 estimated by the following kinematic model such as [Formula 1]:

[0062] [Mathematical formula 1]

[0063]

[0064]

[0065] Here, x k represents the position (Dx, Dy) and velocity (Vx, Vy) of the object 20 estimated at the current time point (k-th scan) calculated based on the position (Dx, Dy) and velocity (Vx, Vy) of the object 20 estimated at the previous time point (k-1-th scan). And, z k represents the estimated position at the current time point calculated based on the position and velocity of the object 20 detected at the previous time point.

[0066] This estimation method is the result of applying the Kalman filter model, w k 、v k Represents the noise generated by the estimation at the current time point.

[0067] [Mathematical formula 2]

[0068]

[0069] Figure 5 This is a diagram for explaining the calculation of the length of the object 20 according to one embodiment.

[0070] The object length calculator 140 calculates the lateral length of the object 20 based on the distance between the first straight line 410 of the calculated reflection point and the measured value, and calculates the longitudinal length of the object 20 based on the distance between the second straight line 420 orthogonal to the first straight line 410 and the measured value.

[0071] Specifically, the object length calculation unit 140 calculates the horizontal length of the object 20 based on the first measurement value 510 at the position farthest from the first straight line 410 and the second measurement value 520 at the position farthest from the first straight line 410 in the opposite direction of the first measurement value 510. Furthermore, the object length calculation unit 140 calculates the horizontal length of the object 20 as the sum of the distance between the first straight line 410 and the first measurement value 510 and the distance between the first straight line 410 and the second measurement value 520.

[0072] Reference Figure 5 The sum of the distance L1-1 between the first straight line 410 which forms an angle θ with the traveling direction of the own vehicle 11 and passes through the reflection point and the first measurement value 510 at the farthest position, and the distance L1-2 between the first straight line 410 and the second measurement value 520 at the farthest position on the opposite side of the first straight line 410 is calculated as the lateral length of the object 20.

[0073] The calculation of the longitudinal length of the object 20 is described as follows: the object length calculation unit 140 calculates the longitudinal length of the object 20 based on the third measurement value 530 at the position farthest from the second straight line 420 orthogonal to the first straight line 410 and the fourth measurement value 540 at the position farthest from the second straight line 420 in the opposite direction of the third measurement value 530. Furthermore, the object length calculation unit 140 calculates the longitudinal length of the object 20 as the sum of the distance between the second straight line 420 and the third measurement value 530 and the distance between the second straight line 420 and the fourth measurement value 540.

[0074] Reference Figure 5 The sum of the distance L2-1 between the second straight line 420 orthogonal to the first straight line 410 and the third measurement value 530 at the farthest position and the distance L2-2 between the second straight line 420 on the opposite side of the second straight line 420 and the fourth measurement value 540 at the farthest position is calculated as the longitudinal length of the object 20.

[0075] The longitudinal length and the lateral length of the object 20 mentioned above are merely names used to distinguish each other when calculating the length of the object 20, and they can certainly be used interchangeably.

[0076] In addition, according to the positions of the sensed measurement values, one measurement value may be referred to as a plurality of measurement values ​​with respect to the first to fourth measurement values ​​540. For example, specific values ​​may be referred to as the second measurement value 520 at the position farthest from the first straight line 410 and the fourth measurement value 540 at the position farthest from the second straight line 420.

[0077] Figure 66 is a diagram for explaining how measurement values ​​are filtered according to a size estimation range 610 according to one embodiment.

[0078] Reference Figure 6 The object length calculation unit 140 may remove the measurement values ​​outside the predetermined range, ie, the size estimation range 610, and calculate the reflection points.

[0079] More specifically, the fifth measurement value 550 outside the size estimation range 610 is removed when calculating the horizontal position frequency and the vertical position frequency when calculating the reflection point.

[0080] The measurement values ​​included in the received signal include measurement values ​​at positions that do not represent the correct position of the object 20 but are separated from the object 20. When the reflection point is calculated including such measurement values, the size that is different from the actual object 20 is estimated. Thus, the size estimation range 610 for estimating the size of the primary object 20 is set so as to exclude the noise (Noise) included in the received signal. That is, the size estimation range 610 represents a primary filter.

[0081] Such a size estimation range 610 may be set based on the image information of the object 20 sensed from the image sensor. Specifically, the type of the object 20 is classified based on the image information, and the size estimation range 610 determined thereby is set. For example, in the case where the object 20 is determined to be a vehicle, the size estimation range 610 may be set based on the size of the lane. In addition, the size estimation range 610 may be the same range as the track (Track) calculated based on a plurality of measurement values.

[0082] The object size estimation unit 150 estimates the size of the object 20 formed in a horizontal length and a vertical length.

[0083] Specifically, the object size estimation unit 150 may estimate the object 20 to be a rectangle whose horizontal and vertical lengths are perpendicular to each other. Therefore, the horizontal and vertical lengths of the object 20 are consistent with the horizontal and vertical lengths calculated by the object length calculation unit 140.

[0084] In addition, the object 20 is estimated to have each side including the first measurement value 510, the second measurement value 520, the third measurement value 530, and the fourth measurement value 540. Specifically, the object 20 size calculation unit estimates that the object 20 exists at a position where each side of the object 20 includes the first measurement value 510, the second measurement value 520, the third measurement value 530, and the fourth measurement value 540 used when the object length calculation unit 140 calculates the length of the object 20.

[0085] Next, a method for estimating the size of the object 20 using the object size estimation device 10 of the present disclosure that can execute the above-mentioned object size estimation will be described.

[0086] Figure 7 2 is a flow chart for describing a method for estimating the size of an object 20 according to an embodiment of the present disclosure.

[0087] Reference Figure 7 The object 20 size estimation method disclosed in the present invention includes: an object 20 information receiving step S710 of transmitting a radar signal toward the object 20 by using a transmitting antenna, and receiving a reception signal reflected and received by the object 20 by using a receiving antenna; a reflection point (Reflection point) is calculated based on the position frequency of the measurement value (Measurement) included in the received signal, a lateral length of the object 20 is calculated based on the distance between a first straight line 410 of the calculated reflection point and the measurement value, a longitudinal length of the object 20 is calculated based on the distance between a second straight line 420 orthogonal to the first straight line 410 and the above measurement value, and an object 20 size estimation step S730 of estimating the size of the object 20 formed by the lateral length and the longitudinal length.

[0088] Figure 8 It is a flowchart that describes step S720 in more detail according to an embodiment.

[0089] Reference Figure 8 The object size estimation apparatus 10 calculates the reflection point based on the measurement value included in the received signal S810. Specifically, the object size estimation apparatus 10 calculates the position with the highest frequency of the horizontal position of the measurement value and the position with the highest frequency of the vertical position of the measurement value as the above reflection point.

[0090] The object size estimation apparatus 10 calculates the lateral length S820 of the object 20 based on the distance between the calculated first straight line 410 of the reflection point and the measured value. Specifically, the object size estimation apparatus 10 calculates the lateral length of the object 20 based on the first measured value 510 at the position farthest from the first straight line 410 and the second measured value 520 at the position farthest from the first straight line 410 in the opposite direction of the first measured value 510. Furthermore, the object size estimation apparatus 10 calculates the sum of the distance between the first straight line 410 and the first measured value 510 and the distance between the first straight line 410 and the second measured value 520 as the lateral length of the object 20.

[0091] The object size estimation apparatus 10 calculates the longitudinal length of the object 20 based on the distance between the second straight line 420 orthogonal to the first straight line 410 and the measured value S830. Specifically, the object size estimation apparatus 10 calculates the longitudinal length of the object 20 based on the third measured value 530 at the position farthest from the second straight line 420 and the fourth measured value 540 at the position farthest from the second straight line 420 in the opposite direction of the third measured value 530. And, the object size estimation apparatus 10 calculates the sum of the distance between the second straight line 420 and the third measured value 530 and the distance between the second straight line 420 and the fourth measured value 540 as the longitudinal length of the object 20.

[0092] Fig. 9 It is a flowchart for specifically explaining step S810 of an embodiment.

[0093] Reference Fig. 9 The object size estimation apparatus 10 receives the measurement value included in the received signal S910. Specifically, the object size estimation apparatus 10 stores the position of the sensed measurement value as a two-dimensional coordinate.

[0094] The object size estimation apparatus 10 determines whether the position of the received measurement value is included in the size estimation range 610 S920 .

[0095] In a case where the position of the measurement value is included in the size estimation range 610 (Yes in S920 ), the object size estimating apparatus 10 may accumulate frequencies for calculating reflection points from the position of the measurement value S930 .

[0096] When the position of the measurement value is not included in the size estimation range 610 (No in S920), the object size estimation apparatus 10 removes the fifth measurement value 550 located outside the size estimation range 610 when calculating the reflection point. The measurement value located outside the size estimation range 610 is also removed when calculating the horizontal length and the vertical length of the object 20. Here, the size estimation range 610 may be the same range as the trajectory calculated by the plurality of measurement values.

[0097] As described above, according to the present disclosure, in the object size estimation device and method, the size of the object 20 is estimated using the measurement value, and the estimated size information of the sensed object is applied to improve the performance of the AEB (Autonomous Emergency Braking) / ACC (Adaptive Cruise Control) system.

[0098] The above description is merely an illustrative description of the technical idea of ​​the present disclosure, and those skilled in the art may make various modifications and variations without departing from the essential characteristics of the technical idea of ​​the present disclosure. In addition, the present embodiment does not limit the technical idea of ​​the present disclosure, but rather illustrates it, and the scope of the technical idea of ​​the present disclosure is not limited to such an embodiment. The scope of protection of the present disclosure shall be interpreted by the following claims, and all technical ideas within the same scope shall be included in the scope of rights of the present disclosure.

Claims

1. An object size estimation device, comprising: An antenna unit, which includes one or more transmitting antennas and one or more receiving antennas; A radar signal transmitting unit, which transmits a radar signal toward an object using the transmitting antenna; a receiving unit that receives a reception signal reflected from an object through a receiving antenna; an object length calculation unit, which calculates a reflection point based on the position frequency of the measurement value included in the received signal, calculates a lateral length of the object based on a distance between a first straight line passing through the calculated reflection point and the measurement value, and calculates a longitudinal length of the object based on a distance between a second straight line orthogonal to the first straight line and the measurement value; and an object size estimating unit for estimating the size of the object formed by the horizontal length and the vertical length, The object length calculation unit calculates the position with the highest horizontal position frequency of the measurement value and the position with the highest vertical position frequency of the measurement value as the reflection point. Among them, the horizontal position value and the vertical position value of the frequency of the horizontal position and the vertical position are calculated by calculating the values ​​included in each interval as the frequency corresponding to each interval according to a predetermined interval, and the value corresponding to the highest calculated frequency is calculated as the middle value of the interval corresponding to this, thereby calculating the horizontal position value of the above-mentioned reflection point and the vertical position value of the above-mentioned reflection point.

2. The object size estimation device according to claim 1, wherein: The object length calculation unit calculates the lateral length of the object based on a first measurement value at a position farthest from the first straight line and a second measurement value at a position farthest from the first straight line in an opposite direction to the first measurement value.

3. The object size estimation device according to claim 2, wherein: The object length calculation unit calculates a sum of a distance between the first straight line and the first measurement value and a distance between the first straight line and the second measurement value as a lateral length of the object.

4. The object size estimation device according to claim 1, wherein: The object length calculation unit calculates the longitudinal length of the object based on a third measurement value at a position farthest from the second straight line and a fourth measurement value at a position farthest from the second straight line in an opposite direction to the third measurement value.

5. The object size estimation device according to claim 4, wherein: The object length calculation unit calculates a sum of a distance between the second straight line and the third measurement value and a distance between the second straight line and the fourth measurement value as a longitudinal length of the object.

6. The object size estimation device according to claim 1, wherein: The first straight line forms a predetermined angle with the traveling direction of the own vehicle. The predetermined angle is calculated based on the longitudinal velocity and the lateral velocity sensed by the object.

7. The object size estimation device according to claim 1, wherein: The object is estimated as each edge including a first measurement value, a second measurement value, a third measurement value and a fourth measurement value.

8. The object size estimation device according to claim 1, wherein: The object length calculation unit calculates the reflection point by removing the measured values ​​outside the size estimation range, which is a predetermined range.

9. The object size estimation device according to claim 8, wherein: The size estimation range described above is the same range as the trajectory calculated based on multiple measurements.

10. A method for estimating the size of an object, comprising: An object information receiving step of transmitting a radar signal toward an object using a transmitting antenna and receiving a receiving signal reflected from the object using a receiving antenna; an object length calculation step, calculating a reflection point based on the position frequency of the measurement value included in the received signal, calculating the lateral length of the object based on the distance between a first straight line passing through the calculated reflection point and the measurement value, and calculating the longitudinal length of the object based on the distance between a second straight line orthogonal to the first straight line and the measurement value; and an object size estimating step of estimating the size of the object formed by the horizontal length and the vertical length, In the object length calculation step, the position with the highest frequency of the horizontal position of the measured value and the position with the highest frequency of the vertical position of the measured value are calculated as the reflection point. Among them, the horizontal position value and the vertical position value of the frequency of the horizontal position and the vertical position are calculated by calculating the values ​​included in each interval as the frequency corresponding to each interval according to a predetermined interval, and the value corresponding to the highest calculated frequency is calculated as the middle value of the interval corresponding to this, thereby calculating the horizontal position value of the above-mentioned reflection point and the vertical position value of the above-mentioned reflection point.

11. The object size estimation method according to claim 10, wherein: In the object length calculation step, the lateral length of the object is calculated based on a first measurement value at a position farthest from the first straight line and a second measurement value at a position farthest from the first straight line in an opposite direction of the first measurement value.

12. The object size estimation method according to claim 11, wherein: In the object length calculation step, the sum of the distance between the first straight line and the first measurement value and the distance between the first straight line and the second measurement value is calculated as the lateral length of the object.

13. The object size estimation method according to claim 10, wherein: In the object length calculation step, the longitudinal length of the object is calculated based on a third measurement value at a position farthest from the second straight line and a fourth measurement value at a position farthest from the second straight line in an opposite direction of the third measurement value.

14. The object size estimation method according to claim 13, wherein: In the object length calculation step, the sum of the distance between the second straight line and the third measurement value and the distance between the second straight line and the fourth measurement value is calculated as the longitudinal length of the object.

15. The object size estimation method according to claim 10, wherein: The first straight line forms a predetermined angle with the traveling direction of the own vehicle. The predetermined angle is calculated based on the longitudinal velocity and the lateral velocity sensed by the object.

16. The object size estimation method according to claim 10, wherein: The object is estimated as each edge including a first measurement value, a second measurement value, a third measurement value and a fourth measurement value.

17. The object size estimation method according to claim 10, wherein: In the object length calculation step, the reflection points are calculated by removing the measured values ​​outside the size estimation range, which is a predetermined range.

18. The object size estimation method according to claim 17, wherein: The size estimation range described above is the same range as the trajectory calculated based on multiple measurements.

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