Object Detection Device and Driving Assistance System

Abstract

Comprising: a first detection unit that detects an object by transmitting ultrasonic waves in the moving direction of a moving body and receiving the reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from that of the first detection unit and receiving the reflected waves of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in the moving direction of the moving body based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit; and a lateral passing determination unit that, in a state where the obstacle determination unit determines the presence of an obstacle, determines that lateral passing of the obstacle has occurred when the state of detecting the object by the first detection unit and the second detection unit changes to a state where the first detection unit does not detect the object. Wherein, when the lateral passing determination unit determines that lateral passing has occurred, the travel restriction control for restricting the movement of the moving body is released, and when a release determination unit that prohibits the release of the travel restriction control for the moving body determines that release is prohibited, the travel control unit is made to prohibit the release of the travel restriction control.

Description

Technical Field

[0001] The present disclosure relates to an object detection device and a driving assistance system for detecting surrounding objects. Background Art

[0002] Conventionally, the following technique has been proposed: a ranging sensor such as an ultrasonic sensor is mounted on a vehicle to detect objects existing around the vehicle such as a preceding vehicle or a pedestrian obstacle, and various controls for improving the driving safety of the vehicle, such as the operation of a control device and notification to a driver, are performed based on the detection result of the object.

[0003] As a device for detecting objects around a vehicle, there is an object detection device described in Patent Document 1. In the object detection device described in Patent Document 1, when the state of detecting an object by the first detection unit and the second detection unit changes to a state where the first detection unit does not detect the object, it is determined that a lateral crossing of an obstacle has occurred, and thus the driving restriction control for restricting the movement of the moving body is released.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2016-81449 Summary of the Invention

[0007] The present disclosure provides an object detection device capable of performing driving assistance in accordance with a driver's intention according to a situation.

[0008] An object detection device according to one aspect of the present disclosure is mounted on a moving body and is configured to detect objects existing around the moving body. The object detection device includes: a first detection unit configured to detect an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit configured to detect an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving reflected waves of the ultrasonic waves; an obstacle determination unit configured to determine the presence of an obstacle in the moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; and a lateral crossing determination unit configured to determine that a lateral crossing of an obstacle has occurred when the state of detecting an object by the first detection unit and the second detection unit changes to a state where the first detection unit does not detect the object in a state where the obstacle determination unit determines the presence of an obstacle. When the lateral crossing determination unit determines that a lateral crossing has occurred, the driving restriction control for restricting the movement of the moving body is released, and when it is determined that the release of the driving restriction control for the moving body is prohibited under a specified condition, the driving control unit prohibits the release of the driving restriction control.

[0009] In addition, a driving assistance system according to one aspect of the present disclosure is characterized by including: a first detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body and receiving the reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving the reflected waves of the ultrasonic waves; an obstacle determination unit that determines whether there is an obstacle in the moving direction of the moving body based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit; a lateral crossing determination unit that determines that a lateral crossing of the obstacle has occurred when the state changes from the state where the object is detected by the first detection unit and the second detection unit to the state where the object is not detected by the first detection unit in a state where the obstacle determination unit determines that there is an obstacle; and a travel control unit that cancels the travel restriction control for restricting the movement of the moving body when the lateral crossing determination unit determines that a lateral crossing has occurred, wherein when it is determined under a specified condition that the cancellation of the prohibition of canceling the travel restriction control for the moving body is prohibited, the travel control unit prohibits the cancellation of the travel restriction control. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a diagram showing an example of the structure of the object detection device.

[0011] Figure 2 is an example of a functional block diagram of the object detection device according to the first embodiment.

[0012] Figure 3 is a diagram for explaining a method of calculating the estimated position of the obstacle.

[0013] Figure 4 is a diagram showing the detection state of an object when another vehicle stops in front of the vehicle.

[0014] Figure 5 is a diagram showing the detection state of an object when another vehicle in front of the vehicle has moved.

[0015] Figure 6 is a flowchart showing the operation of the sonar control unit according to the first embodiment.

[0016] Figure 7 is a flowchart showing the operation of the sonar control unit according to the second embodiment.

[0017] Figure 8 is a flowchart showing the operation of the sonar control unit according to the third embodiment.

[0018] Figure 9This is an example of a functional block diagram of the object detection device according to the fourth embodiment.

[0019] Figure 10 This is a diagram showing the detection state of an object when there is a following vehicle for another vehicle.

[0020] Figure 11 This is a diagram showing the detection state of an object when another vehicle is a trailer connecting a first container and a second container.

[0021] Figure 12 This is a flowchart showing the operation of the sonar control unit according to the fourth embodiment.

[0022] Figure 13 This is a flowchart showing the operation of the sonar control unit according to the fifth embodiment.

[0023] Figure 14 This is a flowchart showing the operation of the sonar control unit according to the sixth embodiment.

[0024] Figure 15 This is a flowchart showing the operation of the sonar control unit according to the seventh embodiment.

[0025] Figure 16 This is an example of a functional block diagram of the object detection device according to the eighth embodiment.

[0026] Figure 17 This is a flowchart showing the operation of the sonar control unit according to the eighth embodiment.

[0027] Figure 18 This is a diagram showing the detection state of an object when determining lateral crossing with the front end of another vehicle.

[0028] Figure 19 This is a flowchart showing the operation of the sonar control unit according to the ninth embodiment.

[0029] Figure 20 This is a diagram showing the detection state of an object when another vehicle according to the tenth embodiment includes a two-wheeled vehicle.

[0030] Figure 21 This is a diagram showing the detection state of an object when another vehicle according to the modification example includes a two-wheeled vehicle. Detailed Embodiments

[0031] Hereinafter, each embodiment of the present disclosure will be described in detail with reference to the drawings.

[0032] (First Embodiment)

[0033] Next, a first embodiment of the object detection device 1 embodied in a mobile body will be described with reference to the accompanying drawings. The object detection device 1 according to this embodiment is an in-vehicle device mounted on a vehicle 100 as a mobile body, and detects an object such as an obstacle 3 or another vehicle existing around the vehicle 100 by receiving detection information about the object from the obstacle sensor 2. In addition, the object detection device 1 and the vehicle control device 5 together form a part of the driving assistance system.

[0034] First, Figure 1 the structure of the object detection device 1 according to this embodiment will be described.

[0035] The obstacle sensor 2 is, for example, an ultrasonic sensor, and has a function of transmitting ultrasonic waves of 20 kHz to 100 kHz as transmission waves and a function of receiving ultrasonic waves reflected from an object as reflected waves. In this embodiment, the first detection unit 21 and the second detection unit 22 are arranged at a predetermined interval in a direction orthogonal to the traveling direction of the vehicle 100, that is, the vehicle width direction, and are mounted in front of the vehicle.

[0036] Specifically, the first detection unit 21 is provided at a position on the right side of the center line of the vehicle 100. In addition, the second detection unit 22 is provided at a position on the left side of the center line of the vehicle 100. In addition, the first detection unit 21 and the second detection unit 22 are not limited to being mounted in front of the vehicle, and can also be mounted, for example, behind the vehicle.

[0037] The first detection unit 21 and the second detection unit 22 are set with an object detection range as an area capable of receiving the reflected waves of the ultrasonic waves transmitted by themselves. Moreover, the first detection unit 21 and the second detection unit 22 are mounted in such a way that a part of the object detection ranges of the two obstacle sensors 2 overlaps.

[0038] In addition, in this embodiment, two obstacle sensors 2, that is, the first detection unit 21 and the second detection unit 22, are provided in the vehicle, but the present disclosure is not limited to this. For example, multiple other obstacle sensors 2 such as corner sensors can be additionally provided.

[0039] Next, the structure of the object detection device 1 will be described. Figure 2 is a block diagram showing the structure of the object detection device 1. The object detection device 1 has an obstacle sensor 2 and a sonar control unit 4. The obstacle sensor 2 has a first detection unit 21 and a second detection unit 22. The sonar control unit 4 has a distance calculation unit 41, an obstacle determination unit 42, a lateral crossing determination unit 43, and a restriction release determination unit 44.

[0040] The sonar control unit 4 is mainly composed of a microcomputer including a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. Based on the detection information of the obstacle 3 received from the obstacle sensor 2, it detects whether there is an obstacle 3 around the vehicle.

[0041] In addition, the sonar control unit 4 generates a control signal through the cooperation of the above-mentioned processor such as the CPU and the program (software) stored in the ROM, etc. In addition, the function of the sonar control unit 4 is not limited to being realized by software, and can also be realized by a hardware structure such as a dedicated circuit.

[0042] In addition, the object detection device 1 is connected to the vehicle control device 5. The vehicle control device 5 has a travel control unit 51. The vehicle control device 5 is connected to the operation unit 6. The operation unit 6 has an accelerator pedal 61, a brake pedal 62, and a notification unit 63. Here, the vehicle control device 5 is an example of the "travel control unit" in the claims.

[0043] The first detection unit 21 and the second detection unit 22 each have a transmission unit (not shown) and a reception unit (not shown). The transmission unit is formed by an ultrasonic microphone using a piezoelectric element, transmits ultrasonic waves with a frequency equal to the frequency of the input transmission signal to an object such as the obstacle 3, and outputs an electrical signal corresponding to the transmitted ultrasonic waves to the distance calculation unit 41. The transmitted ultrasonic waves are reflected by the object.

[0044] The reception unit is also formed by an ultrasonic microphone using a piezoelectric element like the transmission unit. The reception unit receives the ultrasonic waves reflected by an object such as the obstacle 3, converts them into electrical signals, and then outputs them to the distance calculation unit 41. In addition, the transmission unit and the reception unit can be formed as one body or exist as separate individuals. In addition, the number of the transmission unit and the reception unit may not be the same. For example, the following structure may also be adopted: the second detection unit does not have a transmission unit but only has a reception unit, and the reception unit of the second detection unit receives the ultrasonic waves transmitted by the transmission unit of the first detection unit.

[0045] The distance calculation unit 41 calculates the distance to the object based on the electrical signals output from the transmission unit and the reception unit. Specifically, according to the signals output from the transmission unit and the reception unit, the distance to the object is measured based on the time difference from the transmission to the reception of the ultrasonic waves. The calculated distance is sent to the obstacle determination unit 42 as an electrical signal. Here, the object refers to an object including other vehicles, people, walls, etc.

[0046] The obstacle determination unit 42 determines the presence or absence of an obstacle 3 based on the electrical signal sent from the distance calculation unit 41 and the electrical signal output from the receiving unit. Specifically, the obstacle determination unit 42 has a threshold value. When the signal strength (amplitude) output from the receiving unit is greater than the threshold value, the obstacle determination unit 42 determines that an obstacle 3 exists. In addition, it is also possible to perform the determination of the presence or absence of an obstacle 3 by the obstacle determination unit 42 before the distance to the object is measured by the distance calculation unit 41. In this case, the distance calculation unit 41 measures the distance to the obstacle detected by the obstacle determination unit 42 based on the time difference from the transmission to the reception of the ultrasonic wave. Here, the obstacle 3 refers to an object existing at a position within a specified distance from the vehicle 100 in the traveling direction of the vehicle 100, for example.

[0047] In addition, it may be that the obstacle determination unit 42 compares the signal strength (amplitude) output from the receiving unit with the threshold value multiple times. When the signal strength (amplitude) is greater than the threshold value continuously multiple times, the obstacle determination unit 42 determines that an obstacle 3 exists. Alternatively, it may be that even when the signal strength (amplitude) output from the receiving unit is greater than the threshold value, according to the distance information sent from the distance calculation unit 41, it is not determined as an obstacle when the distance to the object is large.

[0048] When the obstacle determination unit 42 determines that an obstacle 3 exists, it sends the obstacle information to the travel control unit 51 in the vehicle control device 5. At this time, the travel control unit 51 performs steering control, acceleration suppression control, and braking control on the vehicle 100 as contact avoidance control so that the vehicle 100 does not come into contact with the obstacle 3. Alternatively, it may be that the notification unit 63 gives a notification to prompt the driver's attention. The notification unit is, for example, a speaker, a display, etc.

[0049] In addition, the distance calculation unit 41 not only calculates the distance to the obstacle 3, but also uses the signal information obtained from the first detection unit 21 and the second detection unit 22, and calculates the relative position of the obstacle 3 with respect to the vehicle 100 using the principle of triangulation.

[0050] In addition, triangulation is used to calculate the coordinates of the measurement point based on the known distance between two points and the distances between each of the known two points and the measurement point.

[0051] Figure 3 It is a diagram showing the calculation method of the position of the obstacle 3. The first detection unit 21, the second detection unit 22, and the obstacle 3 located in front of the first detection unit 21 and the second detection unit 22 are shown in a top view.

[0052] In addition, when the sensor that emits ultrasonic waves is the same as the sensor that receives the ultrasonic waves, the received ultrasonic wave is called a direct wave, and the sensor that has received the wave is called a direct detection sensor. In contrast, when the sensor that emits ultrasonic waves is different from the sensor that receives the ultrasonic waves, the received ultrasonic wave is called an indirect wave, and the sensor that has received the wave is called an indirect detection sensor. In Figure 3 the first detection unit 21 is a direct detection sensor that emits ultrasonic waves with its own transmission unit and receives them with its own reception unit. In contrast, the second detection unit 22 is an indirect detection sensor that receives the ultrasonic waves emitted by the transmission unit of the first detection unit 21 with its own reception unit.

[0053] The distance calculation unit 41 sets a coordinate system with the straight line passing through the first detection unit 21 and the second detection unit 22 as the X-axis and the straight line passing through the midpoint between the first detection unit 21 and the second detection unit 22 and perpendicular to the X-axis as the Y-axis, and calculates the X coordinate and the Y coordinate of this coordinate system as the position of the obstacle 3.

[0054] Specifically, when ultrasonic waves are emitted from the transmission unit of the first detection unit 21 and the ultrasonic waves are reflected by the obstacle 3 and received by the reception unit of the first detection unit 21 as a direct wave, the distance calculation unit 41 calculates the distance between the first detection unit 21 and the obstacle 3 based on the direct wave.

[0055] In addition, when the reflected wave of the ultrasonic wave reflected by the obstacle 3 is received by the reception unit of the second detection unit 22 as an indirect wave, the distance calculation unit 41 calculates the distance between the second detection unit 22 and the obstacle 3 based on the received indirect wave.

[0056] The distance from the origin O, which is the intersection of the X-axis and the Y-axis, to the first detection unit 21 is equal to the distance from the origin O to the second detection unit 22, and this distance is pre-stored in a storage unit (not shown) in the sonar control unit 4.

[0057] In addition, the distance calculation unit 41 calculates a first time t1 by subtracting the time when the transmission unit of the first detection unit 21 emits ultrasonic waves from the time when the direct wave is received by the first detection unit 21. In addition, the distance calculation unit 41 calculates a second time t2 by subtracting the time when the transmission unit of the first detection unit 21 emits ultrasonic waves from the time when the indirect wave is received by the second detection unit 22.

[0058] The value obtained by multiplying the first time t1 by the speed of sound is twice the distance between the first detection unit 21 and the obstacle 3. In addition, the value obtained by multiplying the second time t2 by the speed of sound is the total value of the distance between the first detection unit 21 and the obstacle 3 and the distance between the second detection unit 22 and the obstacle 3.

[0059] The distance calculation unit 41 can calculate the coordinates of the obstacle 3 by using the distance between the first detection unit 21 and the second detection unit 22, as well as the first time t1 and the second time t2 which are the measured times, and performing triangulation calculations, thereby determining the position.

[0060] In addition, in Figure 3 , the first detection unit 21 is described by taking the case of a direct detection sensor as an example, and the second detection unit 22 is described by taking the case of an indirect detection sensor as an example. However, the same applies when the first detection unit 21 is an indirect detection sensor and the second detection unit 22 is a direct detection sensor. The distance calculation unit 41 can determine the position of the obstacle 3.

[0061] In addition, as Figure 4 shown, there is another vehicle existing as the obstacle 3 in a way that blocks the moving direction (which can also be described as the traveling direction) of the vehicle 100. At this time, based on the detection results of the first detection unit 21 and the second detection unit 22, it is possible to determine whether there is an obstacle 3 blocking the moving direction of the vehicle 100. In Figure 4 's case, it is the state where the first detection unit 21 and the second detection unit respectively detect an object. Figure 4 The case where the moving direction (or traveling direction) of the vehicle 100 is in front of the vehicle 100 is exemplified. However, when the vehicle 100 is reversing, the moving direction of the vehicle 100 becomes the rear of the vehicle 100. Therefore, it is desirable to understand after respectively replacing the illustrated direction and the explanatory statements of the figure.

[0062] In Figure 4 , another vehicle exists as the obstacle 3 in a way that blocks the traveling direction (which can also be described as the moving direction) of the vehicle 100. Therefore, the ultrasonic wave transmitted by the obstacle sensor 2 is reflected by the side of the other vehicle. The ultrasonic wave transmitted by the first detection unit 21 is reflected by the side of the other vehicle, enters the first detection unit 21 as a direct wave, and enters the second detection unit 22 as an indirect wave. Then, a point on the side of the vehicle in front is detected as the first obstacle 3a.

[0063] At this time, the determination of whether there is the first obstacle 3a is completed by whether the position of the first obstacle 3a can be stably calculated in multiple transmissions. For example, if the position of the first obstacle 3a can be calculated continuously for multiple times, the obstacle determination unit 42 determines that there is the first obstacle 3a.

[0064] Similarly, the ultrasonic waves transmitted by the second detection unit 22 are reflected by the side surface of another vehicle and incident on the second detection unit 22 as direct waves and on the first detection unit 21 as indirect waves. Then, a point on the side surface of the other vehicle is detected as the second obstacle 3b. Similar to the case of the first obstacle 3a, the determination of whether the second obstacle 3b exists is also completed by whether the position of the second obstacle 3b can be stably calculated.

[0065] Then, when the obstacle determination unit 42 determines that any one of the first obstacle 3a and the second obstacle 3b exists as the obstacle 3, it is regarded that there is a possibility of contact between the vehicle 100 and the vehicle ahead as the obstacle 3 when the vehicle 100 starts, and the travel control unit 51 performs travel restriction control on the vehicle 100.

[0066] In the travel restriction control, for example, there is acceleration suppression that suppresses the acceleration of the vehicle 100 when the driver operates the accelerator pedal 61, and braking control that brakes the vehicle 100 even when the driver does not operate the brake pedal 62. Alternatively, the travel control unit 51 may also perform steering control to prevent contact with the obstacle 3.

[0067] When the obstacle 3 is another vehicle, sometimes after the other vehicle stops in front of the vehicle 100, it moves in a manner of traversing horizontally in front of the vehicle 100. For example Figure 5 As shown, if the state changes from a state where both the first obstacle 3a and the second obstacle 3b are detected to a state where the first obstacle 3a is not detected and only the second obstacle 3b is detected, and then the other vehicle disappears from in front of the vehicle 100, it becomes a state where neither the first obstacle 3a nor the second obstacle 3b is detected.

[0068] In addition, in Figure 5 it is described that the other vehicle moves from right to left in front of the vehicle 100, but the same applies when the other vehicle moves from left to right in front of the vehicle 100. In this case, it is only necessary to set the obstacle sensor 2 provided on the left front of the vehicle 100 as the first detection unit 21 and the obstacle sensor 2 provided on the right front of the vehicle 100 as the second detection unit 22.

[0069] At this time, even though the driver of the vehicle 100 is aware of the movement of other vehicles in front, the driving restriction control is applied until the other vehicles completely pass in front of the vehicle 100. That is, the driving restriction control is released by waiting for the state in which both the first obstacle 3a and the second obstacle 3b are not detected. Therefore, even if the driver is aware of the movement of other vehicles in front and steps on the accelerator, as long as the other vehicles have not completely passed in front of the vehicle 100 at that time, the driving restriction control will take effect, so that the vehicle does not move forward against the driver's intention. In addition, the detection time lag will also aggravate the problem of driving restriction control. In obstacle detection, in order to improve the reliability of the detection result, when an obstacle is detected at the same distance for multiple times in a row, it is determined that "an obstacle exists". When it has been determined that "an obstacle exists", even if there is a situation in which the obstacle is not detected once, the determination result will not be immediately changed to not detected. When the obstacle is not detected for multiple times in a row, the determination result will be changed to not detected. The time delay of the change of the detection result is the detection time lag. That is, even after the other vehicle has completely passed in front of the vehicle 100, the determination result of "obstacle presence" remains unchanged due to the detection time lag, during which the travel restriction control takes effect, and the vehicle will not move forward even if the accelerator is pressed.

[0070] This type of driving restriction control is a control that violates the intention of the driver who is aware of the movement of other vehicles ahead, and therefore needs to be improved. Therefore, a lateral crossing determination unit is added, which is used to determine whether the vehicle is lateral crossing ahead. Moreover, when the lateral crossing determination unit 43 determines that other vehicles are lateral crossing, the determination result is sent to the driving control unit 51. After receiving the lateral crossing determination, the driving control unit 51 releases the driving restriction control of the vehicle 100, thereby performing driving assistance that follows the driver's intention.

[0071] Specifically, when the state changes from where the first obstacle 3a and the second obstacle 3b are both detected (the first detection unit 21 and the second detection unit 22 are both detected) to where the first obstacle 3a is not detected and only the second obstacle 3b is detected (the first detection unit 21 is not detected and the second detection unit 22 is detected), the lateral crossing determination unit 43 detects the lateral crossing of other vehicles.

[0072] When the lateral crossing determination unit 43 determines that the vehicle is crossing sideways, the driving control unit 51 releases the driving restriction control on the vehicle 100. In other words, the acceleration suppression control and the braking control on the vehicle 100 are released. Since the driver is likely to see other vehicles crossing sideways in front of the vehicle 100, the release of the driving restriction control on the vehicle 100 when the lateral crossing is detected can be said to be driving assistance that follows the driver's intention.

[0073] However, depending on the driving condition of the vehicle 100 and the conditions around the vehicle 100, it may be better not to release the driving restriction control on the vehicle 100 for safety reasons. In the present embodiment, the object detection device 1 includes a restriction release determination unit 44. The restriction release determination unit 44 determines whether the driving restriction control should be released based on the driving condition of the vehicle 100 and the conditions around the vehicle 100.

[0074] In other words, even when the lateral crossing determination unit 43 determines that another vehicle is crossing sideways, the driving restriction control is prohibited from being released in consideration of the driver's safety, based on the driving condition of the vehicle 100 and the conditions around the vehicle 100. Here, the driving condition of the vehicle 100 and the conditions around the vehicle 100 are examples of "prescribed conditions" in the claims.

[0075] In addition, "lateral crossing" means that other vehicles as obstacles 3 are present in a state of being in front of or behind the vehicle 100 as a moving body and drive through in a direction intersecting the moving direction of the vehicle 100. For example, it also includes the situation that other vehicles invade from the right side in front of the vehicle 100 and then return to the right side. In the case of lateral crossing judgment, it is not limited to the case where the moving direction is the forward direction, and the moving direction can also be the backward direction. The place where the obstacle sensor is set is not limited to the front of the vehicle. On the contrary, there are more examples where the obstacle sensor is set at the rear of the vehicle. The front is easy for the driver to observe, while the rear is a wide range of blind spots for the driver. Therefore, in order to detect obstacles that the driver cannot see, an obstacle sensor is set on the rear bumper of the vehicle. As a scene for applying lateral crossing judgment when backing up, there is the following situation: when backing up the vehicle from the position of the parking frame parked in parallel parking mode to leave the garage, the vehicle is backed up to the back of the vehicle passing through the passage and laterally crossing behind the vehicle. The prior art also assumes that the lateral crossing determination is performed for vehicles crossing laterally in the traveling direction, and is not limited to the forward movement.

[0076] In the present embodiment, even when the lateral crossing determination unit 43 determines that another vehicle is crossing lateral, the restriction release determination unit 44 prohibits the release of the travel restriction control when the gear position of the vehicle 100 is the reverse position.

[0077] The restriction release determination unit 44 determines the running condition of the vehicle 100 based on the position of the gearshift. The running condition is, for example, a condition in which the vehicle 100 is moving forward or backward.

[0078] In other words, when the driving condition of the vehicle 100 is reverse, the restriction release determination unit 44 prohibits the release of the driving restriction. This is because it is more difficult for the driver to confirm the safety around the vehicle 100 when the vehicle 100 is reversing than when it is moving forward. When it is determined that another vehicle is passing laterally, that is, when another vehicle is detected at least in the traveling direction of the vehicle 100, if the other vehicle stops before completely passing through the traveling direction of the vehicle 100, there is a concern of a collision occurring when the vehicle is moving forward due to the release of the driving restriction. Originally, when an obstacle sensor detects an obstacle, driving restrictions (deceleration, braking) are performed to avoid a collision. However, when the driving restriction is released through the lateral passing determination, there is a possibility of a collision occurring because the driving restriction does not work. Even if the driving restriction does not work, if the driver is looking at the traveling direction, the driver can step on the brake to brake when the other vehicle stops without completely passing through the traveling direction of the vehicle 100, or can release the accelerator to decelerate when it takes time for the other vehicle to completely pass through the traveling direction of the vehicle 100 because the speed of the other vehicle is slow. Therefore, a collision does not occur in many cases. However, sometimes the driver's field of vision is restricted when reversing, so there is a concern of not noticing the stop or slowness of the other vehicle and continuing to reverse and colliding. In addition, sometimes the driver of a vehicle equipped with an obstacle sensor may think that "braking should be automatically applied when there is a risk of collision" and step on the accelerator without fully confirming safety. Thus, when the driving restriction is released through the lateral passing determination during reverse travel, there is a concern of causing a collision. Therefore, when the driver reverses the vehicle 100, the restriction release determination unit 44 prohibits the release of the driving restriction.

[0079] When the restriction release determination unit 44 prohibits the release of the driving restriction, it is sent as driving restriction information to the driving control unit 51 in the vehicle control device 5. In this case, the driving control unit 51 causes the acceleration suppression control or the braking control of the vehicle 100 to be maintained.

[0080] Use Figure 6 to explain the operation of the sonar control unit 4 according to the present embodiment. Figure 6 It is a flowchart showing the operation of the sonar control unit 4. Figure 6 The shown flowchart starts when the ignition switch of the vehicle 100 is turned on and is executed every time the obstacle sensor 2 transmits ultrasonic waves.

[0081] First, in step S001, the obstacle determination unit 42 determines whether a first obstacle 3a is detected based on the received wave signal from the first detection unit 21. When the obstacle determination unit 42 determines that the first obstacle 3a is detected (Yes in step S001), the process proceeds to step S002. When the obstacle determination unit 42 determines that the first obstacle 3a is not detected (No in step S001), the process returns to before step S001. Additionally, when the obstacle determination unit 42 detects the first obstacle 3a, the distance calculation unit 41 calculates the distance to the first obstacle 3a. Further, when the obstacle determination unit 42 detects the first obstacle 3a in S0001, the obstacle determination unit 42 notifies the travel control unit 51 that an obstacle has been detected, and as a result, the travel control unit 51 executes travel restriction control.

[0082] Next, in step S002, the obstacle determination unit 42 determines whether a second obstacle 3b is detected based on the received wave signal from the second detection unit 22. When the obstacle determination unit 42 determines that it is detected (Yes in step S002), the process proceeds to step S003. When the obstacle determination unit 42 determines that the second obstacle 3b is not detected (No in step S002), the process returns to before step S001. Additionally, when the obstacle determination unit 42 detects the second obstacle 3b, the distance calculation unit 41 calculates the distance to the second obstacle 3b.

[0083] Furthermore, steps S001 and S002 do not have a specific order. It is also possible that the obstacle determination unit 42 first detects the second obstacle 3b based on the received wave signal from the second detection unit 22, and then detects the first obstacle 3a based on the received wave signal from the first detection unit 21. Additionally, the obstacle determination unit 42 can also determine the detection of the first obstacle 3a and the second obstacle 3b simultaneously in parallel.

[0084] In step S003, the timer included in the sonar control unit 4 measures whether a predetermined time (e.g., 3 seconds) has elapsed. If the predetermined time has elapsed (Yes in step S003), the process proceeds to step S004. If the predetermined time has not elapsed (No in step S003), the process returns to before step S003. Additionally, the step of the timer determining whether the predetermined time has elapsed is not an essential structure in this embodiment.

[0085] In step S004, the obstacle determination unit 42 determines whether any one of the first obstacle 3a and the second obstacle 3b is not detected based on the received wave signals from the first detection unit 21 and the second detection unit 22. When the obstacle determination unit 42 determines that any one of the first obstacle 3a and the second obstacle 3b is not detected ("Yes" in step S004), the process transfers to step S005.

[0086] When the obstacle determination unit 42 determines that both the first obstacle 3 a and the second obstacle 3 b are still detected (No in step S004 ), the flow returns to the process before step S004 .

[0087] In step S005, the lateral crossing determination unit 43, to which the obstacle information is sent in the form of a signal from the obstacle determination unit 42 and the distance calculation unit 41, determines that another vehicle has crossed sideways. When the lateral crossing determination unit 43 determines that another vehicle has crossed sideways, the flowchart moves to step S006. The lateral crossing information of another vehicle is sent to the restriction release determination unit 44 as a signal.

[0088] In step S006, the restriction release determination unit 44 receives the gear position information from the driving information held by the vehicle control device 5. When the gear is in the reverse position (R) ("Yes" in step S006), the restriction release determination unit 44 sends information to the driving control unit 51 to prohibit the driving restriction control from being released. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or the braking control of the vehicle 100 (step S007).

[0089] When the gear is in a position other than the reverse position such as the parking position (P) or the driving position (D) ("No" in step S006), the restriction release determination unit 44 sends information to the travel control unit 51 to release the travel restriction control. In other words, the travel control unit 51 controls the vehicle 100 to release the acceleration suppression control or the braking control of the vehicle 100 (step S008).

[0090] This flowchart ends at step S007 and step S008. In addition, the control performed by the travel control unit 51 is not limited to the acceleration suppression control and the braking control. The travel control unit 51 may also perform steering control on the vehicle 100.

[0091] This concludes the description of the object detection device 1 according to the first embodiment. In addition, in this embodiment, the restriction release determination unit 44 does not necessarily have to be present in the sonar control unit 4. For example, it may also be present in the vehicle control device 5. Additionally, the travel control unit 51 may also be present in the object detection device 1. Also, the distance calculation unit 41, the obstacle determination unit 42, the lateral crossing determination unit, and the restriction release determination unit 44 have been described as having different functions, but their functions may also be shared and made common.

[0092] In this embodiment, the restriction release determination unit 44 determines whether to prohibit the release of the travel restriction based on the position information of the shift lever received from the travel control unit 51 as the travel condition of the vehicle 100, and thus can perform travel assistance in accordance with the driver's intention according to the situation.

[0093] (Second Embodiment)

[0094] Next, a second embodiment in which the object detection device 1a is embodied as being mounted on the vehicle 100 will be described with reference to the drawings. The block diagram of the object detection device 1a according to this embodiment is the same as that of the first embodiment, Figure 2 so it is omitted. Also, the principle of detecting the position of the obstacle 3 is the same, so it is omitted.

[0095] In the object detection device 1a according to this embodiment, compared with the object detection device 1 according to the first embodiment, the conditions under which the restriction release determination unit 44a prohibits the release of the travel restriction control are different.

[0096] Specifically, in the restriction release determination unit 44a, even when the lateral crossing determination unit 43a determines the lateral crossing of another vehicle, if an operation of the accelerator pedal 61 is detected at the time point when the state of detecting the first obstacle 3a and the second obstacle 3b from the first detection unit 21a and the second detection unit 22a respectively changes to a state where any one of the obstacle sensors 2a in the first detection unit 21a and the second detection unit 22a does not detect an obstacle, the restriction release determination unit 44a also prohibits the release of the travel restriction control. The information prohibiting the release of the travel restriction control is sent as a signal to the travel control unit 51 in the vehicle control device 5.

[0097] In other words, when the driver operates the accelerator pedal 61 of the vehicle 100 at the time point when the lateral crossing determination unit 43 determines the lateral crossing of another vehicle, the travel control unit 51 maintains the travel restriction control of the vehicle. In addition, regarding the operation information of the accelerator pedal 61, the restriction release determination unit 44 receives the information from the travel control unit 51.

[0098] When the driver operates the accelerator pedal 61 of the vehicle 100, sometimes it may cause the vehicle 100 to suddenly start when a lateral crossing is determined by the lateral crossing determination unit 43a, making it difficult to avoid contact with other vehicles. Therefore, the above control is performed. Even when the driver steps on the accelerator when a lateral crossing is determined by the lateral crossing determination unit 43a, the risk of contact with other vehicles can be reduced.

[0099] Use Figure 7 to describe the operation of the sonar control unit 4a according to this embodiment. Figure 7 is a flowchart showing the operation of the sonar control unit 4a. Figure 7 The flowchart shown starts when the ignition switch of the vehicle 100 is turned on and is executed each time the obstacle sensor 2b transmits ultrasonic waves. In addition, steps S001 to S005 are the same as those in the first embodiment, so the description is omitted.

[0100] After step S005, the flowchart proceeds to step S009. In step S009, the restriction release determination unit 44a receives information from the driving information of the vehicle control device 5 as to whether the driver is operating the throttle of the vehicle 100. When the driver is operating the throttle ( "Yes" in step S009), the restriction release determination unit 44a sends information to the driving control unit 51 to prohibit the release of the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or braking control of the vehicle 100 (step S010).

[0101] In addition, preferably, when the driver is operating the throttle ( "Yes" in step S009), the sonar control unit 4a causes the notification unit 63 provided in the operation unit 6 to perform a notification for requesting the driver not to operate the accelerator pedal 61.

[0102] Regarding the notification to the driver, it is notified by visual information, voice information, or other methods of conveying instructions to the driver. Instead of performing a notification for requesting the driver not to operate the accelerator pedal 61, a notification for requesting the driver to operate the brake pedal 62 may be performed.

[0103] When the driver is not operating the throttle ( "No" in step S009), the restriction release determination unit 44 sends information to the driving control unit 51 to release the driving restriction control. In other words, the driving control unit 51 performs control to release the acceleration suppression control or braking control of the vehicle 100 on the vehicle 100 (step S011). This flowchart ends at steps S010 and S011.

[0104] (Modification example)

[0105] In the above-described embodiment, a structure is shown in which when the lateral crossing determination unit 43 determines the lateral crossing of another vehicle and the driver operates the accelerator pedal 61 of the vehicle 100, the release of the driving restriction control is prohibited. However, it may also be that when the lateral crossing determination unit 43 determines the lateral crossing of another vehicle and the driver does not operate the brake pedal 62 of the vehicle 100, the release determination unit 44a prohibits the release of the driving restriction control. That is to say, in Figure 7 In the flowchart of, step S009: There is an accelerator operation may also be read as step S009: There is no brake operation.

[0106] When the lateral crossing determination unit 43a determines the lateral crossing when the driver does not operate the brake pedal 62 of the vehicle 100, there is a possibility that the vehicle 100 will suddenly start and collide with another vehicle. Therefore, the above control is performed. If the driver steps on the brake when the lateral crossing determination unit 43a determines the lateral crossing, the vehicle can be stopped only by stepping on the pedal. Therefore, even if the vehicle 100 moves forward, the risk of collision with another vehicle can be reduced.

[0107] In the case of this modification, in step S009, the release determination unit 44a receives information from the driving information of the vehicle control device 5 as to whether the driver is operating the brake of the vehicle 100. When the driver does not perform the brake operation (\"Yes\" in step S009), the release determination unit 44a sends information to the driving control unit 51 to prohibit the release of the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or the braking control of the vehicle 100 (step S010). Preferably, when the driver does not perform the brake operation, the sonar control unit 4a causes the notification unit 63 provided in the operation unit 6 to perform a notification for requesting the driver to operate the brake pedal 62.

[0108] When the driver is performing the brake operation (\"No\" in step S010), the release determination unit 44 sends information to the driving control unit 51 to release the driving restriction control. In other words, the driving control unit 51 performs control for releasing the acceleration suppression control or the braking control of the vehicle 100 on the vehicle 100 (step S011). This flowchart ends at steps S010 and S011.

[0109] In addition, in step S009 of this modification, the release determination unit 44a determines whether to prohibit the release of the driving restriction control based on whether the driver of the vehicle 100 is performing the brake operation, but it is not limited to this.

[0110] Brake operation can be permitted even without stepping on the brake pedal. In an automatic transmission vehicle, even if the accelerator pedal is not stepped on, as long as the brake pedal is not stepped on, the vehicle can move forward slowly by creep driving. If the driver places their foot on the brake pedal 62, they can immediately step on the brake pedal to stop the vehicle 100 in case of danger, so it is safer compared to the case where no brake operation is performed. For example, it is also possible to detect whether the driver of the vehicle 100 has placed their foot on the brake pedal 62, and the restriction release determination unit 44a determines whether to prohibit the release of the driving restriction control based on the detection result. In addition, the time point for determining whether brake operation is being performed in step S009 is not limited to the moment when a lateral crossing is detected in step S005. It can also be the case that when the state of detecting the first obstacle 3a and the second obstacle 3b from the first detection unit 21a and the second detection unit 22a respectively changes to the situation where any one of the obstacle sensors 2a in the first detection unit 21a and the second detection unit 22a does not detect an obstacle and a lateral crossing is determined, when no brake operation is being performed, even if it is not the moment when a lateral crossing is determined, the release of the driving restriction control is prohibited. More specifically, it can be set that the period during which at least one of the first detection unit 21c and the second detection unit 22c detects an obstacle conforms to the situation where a lateral crossing is determined. That is to say, even after the driver is performing brake operation and releases the driving restriction control at the time point when a lateral crossing is determined, if no brake operation is performed during the period when an obstacle is detected ahead, the release of the driving restriction control is prohibited. Thus, even after a lateral crossing is determined and the vehicle starts to move forward, if the state of stepping on the pedal to apply braking is not maintained, the driving restriction control can be performed again to stop the vehicle 100, thereby further suppressing the risk of contact with the vehicle ahead. In addition, when doing so, since braking is applied when the foot is removed from the brake pedal, there is also a concern that the driver may feel unnatural. Therefore, preferably, even when the driver is performing brake operation, the sonar control unit 4a causes the notification unit 63 provided in the operation unit 6 to give a notification such as "Please release the brake to move forward" to request the driver to continue to operate the brake pedal 62.

[0111] This concludes the description of the object detection device 1a according to the second embodiment.

[0112] In the present embodiment, the restriction release determination unit 44 determines whether to prohibit the release of the driving restriction based on the accelerator operation information or the brake operation information of the driver received from the driving control unit 51 as the driving condition of the vehicle 100. Therefore, the object detection device 1a of the present embodiment has the same effect as the first embodiment, and can reduce the risk of contact with other vehicles when a lateral crossing is determined and the driver is stepping on the accelerator.

[0113] (Third Embodiment)

[0114] Next, a third embodiment of the object detection device 1b embodied in a mobile body will be described with reference to the drawings. The block diagram of the object detection device 1b according to this embodiment is the same as that of the first embodiment, and thus will be omitted. Figure 2 Same, thus omitted.

[0115] In the object detection device 1b according to this embodiment, compared with the object detection device 1 according to the first embodiment, the conditions for the restriction release determination unit 44b to prohibit the release of the travel restriction control are different.

[0116] When this embodiment is applied, it is possible to cope with a situation where an obstacle detected by one detection unit is not another vehicle but a fixed object such as a wall or a concrete column. Even if the obstacle detected by the other detection unit is a vehicle and moves from the front of the own vehicle 100 and is no longer detected, since a fixed object such as a wall or a column does not move laterally, it is necessary to prohibit the release of braking in order to avoid a collision between the vehicle 100 and the fixed object. Specifically, even when the lateral movement determination unit 43b determines the lateral movement of another vehicle (the state where the first obstacle 3a and the second obstacle 3b are respectively detected by the first detection unit 21b and the second detection unit 22b changes to the state where any one of the obstacle sensors 2b in the first detection unit 21b and the second detection unit 22b does not detect an obstacle), when the variance of the distance information to the second obstacle 3b detected by the second detection unit 22b is below the threshold value, the restriction release determination unit 44b prohibits the release of the travel restriction control. The information for prohibiting the release of the travel restriction control is sent as a signal to the travel control unit 51 in the vehicle control device 5.

[0117] In other words, for example, when another vehicle moves laterally from the front right side to the front left side of the own vehicle and is detected by the second detection unit 22b which is the left obstacle sensor 2b, and the variance of the distance information from the vehicle 100 to the second obstacle 3b calculated by the distance calculation unit 41b is below the threshold value, the restriction release determination unit 44b prohibits the release of the travel restriction control.

[0118] As Figure 1 shown, actually, the obstacle sensor 2b transmits ultrasonic waves having a breadth (object detection range) in the vehicle width direction (horizontal direction) and the height direction (vertical direction) orthogonal to the traveling direction and the vehicle width direction. In addition, since the obstacle 3 is an object having a width and a height in the horizontal direction and the vertical direction, the obstacle sensor 2b receives received wave signals corresponding to each point on the obstacle 3.

[0119] Therefore, the distance calculation unit 41 b calculates the distance from the vehicle 100 to each point on the obstacle 3 using the time when the obstacle sensor 2 b emits waves and the time when the obstacle sensor 2 b receives each reflected wave corresponding to each point on the obstacle 3 .

[0120] Here, when the obstacle 3 is another vehicle, the distance from the vehicle 100 to each point on the obstacle 3 is different. This is because there are concave and convex parts on the surface of the object such as the vehicle, so the time when the ultrasonic wave reflected by the concave part and the convex part reaches the obstacle sensor 2b is different. For example, the side of the vehicle body and the wheel part are more concave than the side of the vehicle body, so the detection distance is different. In addition, the material of the vehicle body and the tire is different, so the reflectivity is also different, so the intensity of the reflected wave is also different.

[0121] On the other hand, when the obstacle 3 is an object with relatively few concave and convex surfaces, such as a wall, the detected distance is approximately constant, but the detected distance may vary due to the influence of wind, etc., so-called detection fluctuation. However, the deviation caused by the detection fluctuation is smaller than the deviation caused by the concave and convex surfaces when the obstacle 3 is another vehicle. Therefore, by evaluating the size of the deviation, it is possible to distinguish whether the obstacle 3 is an object with concave and convex surfaces, such as another vehicle, or an object such as a wall.

[0122] As a method for evaluating such deviation, a statistical index called variance is used. Variance is a value indicating the degree of dispersion of data. If the dispersion of data is large, the variance also becomes large. Variance can be calculated by averaging the square of the deviation (the difference between the value and the average value).

[0123] The obstacle determination unit 42b determines whether the variance of the distance information acquired by the distance calculation unit 41b is less than a threshold value. If the variance of the distance information is less than a threshold value, the obstacle determination unit 42b determines that the obstacle 3 is a fixed object such as a wall, and sends the determination result to the restriction release determination unit 44b.

[0124] Even when the lateral crossing determination unit 43b detects lateral crossing, if the obstacle determination unit 42b determines that the obstacle 3 is a fixed object such as a wall (when the variance of the distance information is determined to be below the threshold), the restriction release determination unit 44b prohibits the release of the driving restriction control.

[0125] Even when the lateral crossing determination unit 43b determines that there is a lateral crossing of another vehicle (the state where the first obstacle 3a and the second obstacle 3b are detected by the first detection unit 21b and the second detection unit 22b respectively changes to the state where either one of the obstacle sensors 2b in the first detection unit 21b and the second detection unit 22b does not detect), there is actually a case where no lateral crossing of another vehicle occurs.

[0126] When applying the new embodiment described below, it is possible to cope with the case where the obstacles detected by the two detection units are fixed objects such as walls and concrete columns instead of other vehicles. Even for the walls and columns detected by both detection units, sometimes one detection unit will no longer detect them as obstacles. At this time, since the walls and columns as fixed objects do not cross laterally, it is necessary to prohibit the release of braking in order to avoid the vehicle 100 colliding with the fixed objects. The ultrasonic waves transmitted by the obstacle sensor 2b are easily affected by the wind and the external air temperature. This is because the attenuation rate of ultrasonic waves changes according to the state of the wind speed and the external air temperature. In addition, due to the angle of the surface of the obstacle relative to the detection unit and the difference in raw materials, sometimes the reflected wave of one side is weaker than the reflected wave of the other side. At this time, when the intensity of the reflected wave changes from slightly higher than the threshold value that can be detected as an obstacle to slightly lower than the threshold value, it becomes no longer detected as an obstacle. Due to the influence of the conditions around the vehicle 100, there is a possibility that the lateral crossing determination unit 43b misdetects that a lateral crossing has occurred although there is no lateral crossing of other vehicles. By performing the control in this embodiment, even when the lateral crossing determination unit 43b misdetects the obstacle 3 as a lateral crossing of another vehicle due to detection fluctuations, the risk of collision with the obstacle 3 can be reduced.

[0127] The object detection device 1b according to this embodiment evaluates the variance of the distance information from the vehicle 100 to the second obstacle 3b detected by the second detection unit 22b and calculated by the distance calculation unit 41b as the conditions around the vehicle 100, thereby being able to correctly determine the lateral crossing.

[0128] Use Figure 8 to explain the operation of the sonar control unit 4b according to this embodiment. Figure 8 It is a flowchart showing the operation of the sonar control unit 4b. Figure 8 The flowchart shown starts when the ignition switch of the vehicle 100 is turned on and is executed each time the obstacle sensor 2b transmits ultrasonic waves. In addition, steps S001 to S005 are the same as those in the first embodiment, so the description is omitted.

[0129] After step S005, the flow chart transfers to step S012. In step S012, the distance operation unit 41b calculates the variance of the distance information to the second obstacle 3b detected by the second detection unit 22b. The distance operation unit 41b sends the calculated variance information to the obstacle determination unit 42b, and the flow chart transfers to step S013.

[0130] In step S013, the obstacle determination unit 42b determines whether the variance obtained from the distance operation unit 41b is below the threshold. When the variance of the distance information is below the threshold (Yes in step S013), the restriction release determination unit 44a sends information to the travel control unit 51 to prohibit the release of the travel restriction control (step S014).

[0131] When the variance of the distance information is greater than the threshold (No in step S013), the restriction release determination unit 44 sends information to the travel control unit 51 to release the travel restriction control (step S015). This flow chart ends at steps S014 and S015. In addition, in this embodiment, the distance operation unit 41b calculates the variance of the distance information, but the variance of the distance information may also be calculated by the obstacle determination unit 42b.

[0132] (Variant example)

[0133] In the above embodiment, a structure is shown in which the release of the travel restriction control is prohibited when the variance of the distance information to the obstacle detected by the second detection unit 22b is below the threshold. However, in this variant example, when the variance of the intensity (amplitude) information of the received wave signal detected by the second detection unit 22b is below the threshold, the restriction release determination unit 44a prohibits the release of the travel restriction control.

[0134] Regarding the variance of the intensity information of the received wave signal detected by the second detection unit 22b, similar to the variance of the distance information to the obstacle detected by the second detection unit 22b, the variance of the intensity information of the received wave signal detected by the second detection unit 22b becomes smaller when the obstacle 3 is an object with fewer irregularities such as a wall compared to the case where the obstacle 3 is another vehicle.

[0135] This is because the greater the deviation of the distance, the greater the deviation in the degree of attenuation, and as a result, the deviation of the intensity of the received wave signal is also greater.

[0136] Therefore, by evaluating the deviation of the intensity of the received wave signal, it is possible to distinguish whether the obstacle 3 is an object with irregularities such as another vehicle or an object such as a wall. The description of the object detection device 1b according to the third embodiment ends above.

[0137] In the present embodiment, the restriction release determination unit 44 determines whether to prohibit the release of the driving restriction based on the variance of the distance information from the vehicle 100 to the obstacle 3 detected by the second detection unit 22b or the variance of the intensity information of the received wave signal detected by the second detection unit 22b, which is obtained from the obstacle determination unit 42b, as the basis for the condition around the vehicle 100. Therefore, the object detection device 1b of the present embodiment has the same effect as the first embodiment, and can perform appropriate driving assistance on the basis of distinguishing whether the obstacle 3 is an object with unevenness such as another vehicle or an object such as a wall. In addition, in the present embodiment, the variance is used as an index for evaluating the degree of dispersion of the data, but the standard deviation may also be used.

[0138] (Fourth Embodiment)

[0139] Next, a fourth embodiment in which the object detection device 1c is embodied as being mounted on a moving body will be described with reference to the drawings.

[0140] Figure 9 is a block diagram of the object detection device 1c according to the present embodiment. Compared with the object detection device 1 according to the first embodiment, the object detection device 1c according to the present embodiment is different in that, as the obstacle sensor 2c, a third detection unit 23c and a fourth detection unit 24c are further provided.

[0141] The third detection unit 23c is provided on the right side in front of the vehicle 100 and at a position outside the vehicle relative to the first detection unit 21c. The fourth detection unit 24c is provided on the left side in front of the vehicle and at a position outside the vehicle relative to the second detection unit 22c. The third detection unit 23c and the fourth detection unit 24c function as corner sensors for detecting obstacles 3 existing obliquely to the vehicle 100.

[0142] In addition, the first detection unit 21c to the fourth detection unit 24c are not limited to being provided in front of the vehicle 100, and may be provided behind the vehicle 100. Further, in the present embodiment, the fourth detection unit 24c is not an essential structure, and the object detection device 1c only needs to have at least the first detection unit 21c to the third detection unit 23c.

[0143] In the object detection device 1c according to the present embodiment, compared with the object detection device 1 according to the first embodiment, the conditions for the restriction release determination unit 44c to prohibit the release of the driving restriction control are different.

[0144] Specifically, in a case where the lateral passing determination unit 43c determines that another vehicle is passing laterally (the state where the first obstacle 3a and the second obstacle 3b are respectively detected by the first detection unit 21c and the second detection unit 22c changes to a state where any one of the obstacle sensors 2c in the first detection unit 21c and the second detection unit 22c does not detect an obstacle), the obstacle determination unit 42c determines whether the third detection unit 23c detects a third obstacle 3c.

[0145] When the obstacle determination unit 42c detects a third obstacle 3c in the right front of the vehicle 100 based on the received wave signal of the third detection unit 23c, it sends its detection signal to the restriction release determination unit 44c. Even when the lateral passing determination unit 43c determines that lateral passing of another vehicle has occurred, the restriction release determination unit 44c prohibits releasing the driving restriction control when the third detection unit 23c detects an obstacle 3. A signal for prohibiting the release of the driving restriction control is sent to the driving control unit 51.

[0146] The reason for performing the above control is that the following situation can be considered: as Figure 10 shown, for example, even when another vehicle passes laterally from the right front to the left front of the vehicle 100, there is a following vehicle of the other vehicle on the right front of the vehicle 100. In this case, when the driving restriction control is released, it is sometimes difficult for the vehicle 100 to avoid contact with the following vehicle. By prohibiting the restriction release determination unit 44c from releasing the driving restriction control, the risk of the vehicle contacting the following vehicle can be reduced.

[0147] In addition, the above control is also effective in a case where another vehicle is a trailer connecting a first container and a second container and passes laterally from the right front to the left front of the vehicle 100 as Figure 11 shown. The following situation can be considered: at the container connection part connecting a plurality of containers, the reflecting surface that reflects the ultrasonic wave transmitted by the obstacle sensor 2c is small, so the obstacle 3 is not detected. However, there is a second container as an obstacle 3 after the container connection part.

[0148] Therefore, even in a case where the state where the first obstacle 3a and the second obstacle 3b are respectively detected by the first detection unit 21c and the second detection unit 22c changes to a state where the first detection unit 21c does not detect the first obstacle 3a, and thus the lateral passing determination unit 43c determines that another vehicle (the first container) is passing laterally, by detecting the second container as the third obstacle 3c with the third detection unit 23c and prohibiting the release of the driving restriction on the vehicle 100, the risk of collision with another vehicle can also be reduced.

[0149] In the present embodiment, a case where another vehicle passes laterally from the front right side to the front left side of the host vehicle 100 has been described. However, the same applies to the case where a vehicle passes laterally from the front left side to the front right side of the host vehicle 100. In this case, the state where the first obstacle 3a and the second obstacle 3b are respectively detected by the first detection unit 21c and the second detection unit 22c changes to a state where the second detection unit 22c does not detect the second obstacle 3b. Therefore, it is sufficient that the fourth detection unit 24c detects the obstacle 3 existing on the front left side of the host vehicle 100.

[0150] Use Figure 12 to describe the operation of the sonar control unit 4c according to the present embodiment. Figure 12 is a flowchart showing the operation of the sonar control unit 4c. In addition, steps S001 to S005 are the same as those in the first embodiment, and thus the description thereof is omitted.

[0151] After step S005, the flowchart proceeds to step S016. In step S016, the obstacle determination unit 42c determines whether the obstacle 3 is detected by the third detection unit 23c. The determination result is sent to the restriction release determination unit 44c. When the obstacle 3 is detected by the third detection unit 23c (Yes in step S016), the restriction release determination unit 44a sends a message to the travel control unit 51 to prohibit the release of the travel restriction control (step S017). In addition, the time point at which it is determined whether the obstacle 3 is detected in step S016 is not limited to the moment when the lateral passing is detected in step S005. When the state where the first obstacle 3a and the second obstacle 3b are respectively detected by the first detection unit 21c and the second detection unit 22c changes to a state where the first detection unit 21c does not detect the first obstacle 3a, and thus the lateral passing determination unit 43c determines the lateral passing, when the obstacle 3 is detected, the release of the travel restriction control is prohibited, and it can be set that at least during the period when one of the first detection unit 21c and the second detection unit 22c detects the obstacle, the lateral passing is determined. That is, even if the obstacle 3 is not detected at the time point when the lateral passing is determined and the travel restriction control is released, and then the obstacle 3 is detected during the period when the obstacle is detected ahead, the release of the travel restriction control is prohibited. Thus, when the lateral passing is determined and an obstacle is detected after the vehicle starts moving forward, the travel restriction control is performed again to stop the host vehicle 100, preventing contact with the vehicle ahead or the vehicle behind.

[0152] When the third detection unit 23c does not detect the obstacle 3 (No in step S016), the restriction release determination unit 44 sends information to the travel control unit 51 to release the travel restriction control (step S018). This flowchart ends at steps S017 and S018. The description of the object detection device 1c according to the fourth embodiment ends above.

[0153] In the present embodiment, the restriction release determination unit 44 determines whether to prohibit the release of the travel restriction on the basis of the detection information of an obstacle different from the other vehicle determined by the lateral crossing determination unit 43 to be laterally crossing received from the third detection unit 23c as the surrounding condition of the vehicle. Therefore, the object detection device 1c of the present embodiment has the same effect as that of the first embodiment, and can reduce the risk of contact between the vehicle and the following vehicle.

[0154] (Fifth Embodiment)

[0155] Next, a fifth embodiment in which the object detection device 1d is embodied as being mounted on a moving body will be described with reference to the drawings. The block diagram of the object detection device 1d according to the present embodiment is the same as that of the first embodiment, Figure 2 so it is omitted.

[0156] The difference between the object detection device 1d according to the present embodiment and the object detection device 1 according to the first embodiment is that the travel restriction for restricting the movement of the vehicle 100 is released only when the vehicle 100 stops.

[0157] With this configuration, it is possible to reliably release the movement restriction while ensuring the safety of the vehicle 100. In addition, it is also possible to convey the intention of making the vehicle 100 advance into the column of other vehicles that are laterally crossing to merge with other vehicles.

[0158] Use Figure 13 to describe the operation of the sonar control unit 4d according to the present embodiment. Figure 13 is a flowchart showing the operation of the sonar control unit 4d. Steps S001 to S005 are the same as those in the first embodiment, so the description is omitted.

[0159] After step S005, the flowchart proceeds to step S019. In step S019, the lateral crossing determination unit 43d obtains information indicating the travel state of the vehicle 100 from the travel control unit 51. Specifically, it obtains information on whether the vehicle 100 has stopped. The lateral crossing determination unit 43d determines whether the vehicle 100 has stopped.

[0160] When the vehicle 100 has stopped (Yes in step S019), the driving restriction control for the vehicle 100 is released (step S020). In other words, the driving restriction control based on the acceleration suppression and braking control of the vehicle 100 is released. When the vehicle 100 has not stopped (No in step S019), the flowchart returns to before step S019. This flowchart ends at step S020.

[0161] (Modification example)

[0162] In the above-described embodiment, the driving restriction for restricting the movement of the vehicle 100 is released only when the vehicle 100 has stopped. However, in this modification example, in addition to the conditions of the above-described embodiment, it is also set that: as the driving state of the vehicle 100, if it is before a predetermined time has elapsed since the vehicle 100 stopped, the restriction release determination unit 44d prohibits the release of the driving restriction control.

[0163] At the moment immediately after the vehicle 100 has stopped, it is not determined whether the driver has confirmed the lateral passing of other vehicles in front of the vehicle 100 and has stopped. Therefore, the restriction release determination unit 44d prohibits the release of the driving restriction control until a predetermined time has elapsed since the vehicle 100 stopped. In addition, by configuring in this way, it is also possible to approach a column of other vehicles such as those laterally passing in front of the vehicle 100 while showing an intention to merge with other vehicles. The predetermined time is, for example, 1 second.

[0164] (Sixth Embodiment)

[0165] Next, a sixth embodiment in which the object detection device 1e is embodied as being mounted on a moving body will be described with reference to the drawings. The block diagram of the object detection device 1e according to the present embodiment is the same as that of the first embodiment, Figure 2 so it is omitted.

[0166] In the object detection device 1e according to the present embodiment, the condition for prohibiting the release of the driving restriction is different from that of the object detection device 1d according to the fifth embodiment. That is, even if the lateral passing determination unit 43e determines the lateral passing of other vehicles and the vehicle 100 has stopped, under certain conditions, the restriction release determination unit 44e prohibits the release of the driving restriction control for the vehicle 100. The specific conditions are described in detail using a flowchart.

[0167] Use Figure 14 to describe the operation of the sonar control unit 4e according to the present embodiment. Figure 14It is a flowchart showing the operation of the sonar control unit 4e. Regarding steps S001 to S005 and step S019, they are the same as those in the fifth embodiment, so the description is omitted. When the vehicle 100 has stopped (being "Yes" in step S019), the flowchart proceeds to step S021.

[0168] In step S021, operation information of the accelerator pedal 61 of the vehicle 100 by the driver is acquired from the travel control unit 51. Specifically, information related to the amount of depression of the accelerator pedal 61 is acquired. Here, when the amount of depression of the accelerator pedal 61 is equal to or greater than the threshold value (being "Yes" in step S021), even if the lateral crossing determination unit 43e detects the lateral crossing of another vehicle and the vehicle 100 has stopped, the restriction release determination unit 44e prohibits the release of the travel restriction control (step S022).

[0169] When the amount of depression of the accelerator pedal 61 is less than the threshold value (being "No" in step S021), the restriction release determination unit 44e sends information to the travel control unit 51 to release the travel restriction control (step S023). This flowchart ends at steps S022 and S023.

[0170] In this embodiment, even if the lateral crossing determination unit 43e detects the lateral crossing of another vehicle and the vehicle 100 has stopped, the restriction release determination unit 44e also determines whether to prohibit the release of the travel restriction control based on the information related to the amount of depression of the accelerator pedal 61 acquired as the travel condition of the vehicle 100. Therefore, the object detection device 1e of this embodiment has the same effect as that of the first embodiment, and can reduce the risk of contact with other vehicles when the driver depresses the accelerator pedal forcefully.

[0171] (Seventh Embodiment)

[0172] Next, the seventh embodiment in which the object detection device 1f is embodied as being mounted on a moving body will be described with reference to the drawings. The block diagram of the object detection device 1f according to this embodiment is the same as that of the first embodiment, Figure 2 so it is omitted.

[0173] In the object detection device 1f according to this embodiment, compared with the object detection device 1d according to the fifth embodiment, the conditions for prohibiting the release of the travel restriction are different. That is, even if the lateral crossing determination unit 43f determines the lateral crossing of another vehicle and the vehicle 100 has stopped, under certain conditions, the restriction release determination unit 44f prohibits the release of the travel restriction control for the vehicle 100. The specific conditions are described in detail with a flowchart.

[0174] Use Figure 15To describe the operation of the sonar control unit 4e according to this embodiment. Figure 15 It is a flowchart showing the operation of the sonar control unit 4f. Regarding steps S001 to S005 and step S019, they are the same as those in the fifth embodiment, so the description is omitted. When the vehicle 100 has stopped (being "Yes" in step S019), the flowchart proceeds to step S024.

[0175] In step S024, distance information between the vehicle 100 and the obstacle is obtained from the distance calculation unit 41f. Here, when the distance from the vehicle 100 to the obstacle is equal to or less than the threshold value (being "Yes" in step S024), even if the lateral crossing determination unit 43f detects the lateral crossing of another vehicle and the vehicle 100 has stopped, the restriction release determination unit 44f prohibits the release of the driving restriction control (step S025).

[0176] When the distance from the vehicle 100 to the obstacle is greater than the threshold value (being "No" in step S021), the restriction release determination unit 44e sends a message to the driving control unit 51 to release the driving restriction control (step S026). This flowchart ends at steps S025 and S026. The threshold value of the distance from the vehicle 100 to the obstacle is, for example, 30 cm. Since the obstacle sensor 2f is affected by the reverberation of the ultrasonic waves it emits, when the distance between the vehicle 100 and the obstacle 3 is too short, it is impossible to identify whether the signal is caused by the reverberation after sending the ultrasonic waves or the signal reflected by the obstacle 3, thus making it impossible to detect the obstacle 3. Therefore, the threshold value of the distance from the vehicle 100 to the obstacle is set, for example, to the minimum distance at which it is possible to identify whether the signal is caused by the reverberation after sending the ultrasonic waves or the signal reflected by the obstacle 3.

[0177] In this embodiment, even if the lateral crossing determination unit 43f detects the lateral crossing of another vehicle and the vehicle 100 stops, the restriction release determination unit 44f determines whether to prohibit the release of the driving restriction control on the basis of obtaining information related to the distance from the vehicle 100 to the obstacle 3 as the surrounding condition of the vehicle 100. Therefore, the object detection device 1f of this embodiment has the same effect as the first embodiment, and even when the distance between the vehicle 100 and another vehicle is short, the risk of contact with another vehicle can be reduced. In addition, in the fifth to seventh embodiments, they can also be combined with the fourth embodiment respectively. In the combination with the fourth embodiment, even when the lateral crossing determination unit 43d (43e, 43f) determines the lateral crossing of another vehicle, and when an object is detected by two or more (a plurality of) detection units among at least three detection units, the restriction release determination unit 44f also prohibits the release of the driving restriction control. By configuring in this way, when the probability of the existence of the obstacle 3 other than another vehicle is high, the risk of the vehicle 100 colliding with the obstacle 3 can be reduced.

[0178] (Eighth Embodiment)

[0179] Next, the eighth embodiment in which the object detection device 1g is embodied as being mounted on a moving body will be described with reference to the drawings.

[0180] Figure 16 It is a block diagram of the object detection device 1g according to this embodiment. Compared with the object detection device 1 according to the first embodiment, the object detection device 1g according to this embodiment is different in that the sonar control unit 4g does not include a lateral crossing determination unit, and instead includes a coordinate tracking unit 45g and a collision prediction determination unit 46g. In addition, the object detection device 1g in this embodiment may include a second detection unit 22g, but this is not an essential structure. Further, the object detection device 1g according to this embodiment may also include a lateral crossing determination unit (not shown), but this is not an essential structure.

[0181] The coordinate tracking unit 45g calculates a predicted trajectory of another vehicle as the obstacle 3 that laterally crosses in the traveling direction of the vehicle 100 based on the detection result of the object by the first detection unit 21g. The distance calculation unit 41 calculates the distance between the vehicle 100 and another vehicle based on the detection result of the first obstacle 3a by the first detection unit 21g.

[0182] The predicted trajectory (predicted position) of another vehicle can be calculated based on the calculated distance information. The collision prediction determination unit 46g determines the collision possibility between the vehicle 100 as the own vehicle and another vehicle based on the predicted trajectory calculated by the coordinate tracking unit 45g.

[0183] In addition, it is preferred that the object detection device 1g further includes a second detection unit 22g located at a position different from the first detection unit 21g. The coordinate tracking unit 45g calculates the expected trajectory of other vehicles that are obstacles 3 that pass laterally in the traveling direction of the vehicle 100 based on the object detection results obtained by the first detection unit 21g detecting the first obstacle 3a and the second detection unit 22g detecting the second obstacle 3b.

[0184] By further providing a second detection unit 22g located at a position different from the first detection unit 21g and using the detection results of the two obstacle sensors 2g, more accurate position information of other vehicles can be obtained. In addition, the second detection unit 22g is not limited to an indirect detection sensor, but can also be a direct detection sensor. By setting it as a direct detection sensor, the collision prediction determination unit 46g can also determine the possibility of collision for an object whose coordinates cannot be obtained.

[0185] In the first embodiment, when the object detection device 1 uses the rear end of another vehicle to detect the lateral passage of another vehicle, if the first detection unit 21 does not detect the first obstacle 3a, the lateral passage determination unit 43 determines the lateral passage of another vehicle.

[0186] However, the bumper provided at the rear end of other vehicles is generally formed with a round shape, and due to the round shape, the following possibility can be conceived: even after the other vehicle actually passes in front of the own vehicle, the obstacle sensor 2 of the object detection device 1 receives the reflected wave of the ultrasonic wave sent by the obstacle sensor 2. That is, depending on the timing of the obstacle sensor 2 sending and receiving waves, the driving control unit 51 may not be able to release the driving restriction control on the vehicle 100 at the desired timing.

[0187] In addition, in the object detection device 1, since the ultrasonic waves sent by the obstacle sensor 2 are easily affected by interference such as wind and weather, there is also the following problem: when the lateral crossing determination unit 43 determines that other vehicles are crossing laterally (the state of the first detection unit 21 and the second detection unit 22 detecting the first obstacle 3a and the second obstacle 3b respectively changes to a state where neither of the obstacle sensors 2 in the first detection unit 21 and the second detection unit 22 detects them), if the vehicle 100 suddenly accelerates, there will be a risk of collision with other vehicles.

[0188] Therefore, in the present embodiment, the coordinate tracking unit 45g creates a predicted trajectory of another vehicle, and the collision prediction determination unit 46g determines the possibility of collision between the vehicle 100 and another vehicle based on this predicted trajectory, thereby accurately detecting the lateral crossing of another vehicle. In other words, by detecting the past position (coordinate) information of another vehicle in time series in advance, the future trajectory of another vehicle is predicted, and the collision possibility is evaluated. The operation of the specific sonar control unit 4g is described in detail with a flowchart.

[0189] Use Figure 17 to illustrate the operation of the sonar control unit 4g according to the present embodiment. Figure 17 It is a flowchart showing the operation of the sonar control unit 4g. Figure 17 The shown flowchart starts when the ignition switch of the vehicle 100 is turned on and is executed each time the obstacle sensor 2 transmits ultrasonic waves. First, in step S027, the obstacle determination unit 42g determines whether an obstacle 3 is detected based on the received wave signal from the first detection unit 21g.

[0190] When the obstacle determination unit 42g determines that an obstacle 3 is detected ( "Yes" in step S027), the process proceeds to step S028. When the obstacle determination unit 42 determines that no obstacle 3 is detected ( "No" in step S027), the process returns to before step S027. In addition, when the obstacle determination unit 42g detects an obstacle 3, the distance calculation unit 41g calculates the distance to the obstacle 3.

[0191] In step S028, the coordinate tracking unit 45g records or stores in advance the position information Xb of another vehicle based on the detection result of the object by the first detection unit 21g. In addition, the time Tb at which the recording is made is also recorded (stored). The position information is, for example, the position coordinates of another vehicle. Then the flowchart proceeds to step S029.

[0192] In step S029, the coordinate tracking unit 45g confirms whether there is a past recorded detection result. When there is a past recorded detection result ( "Yes" in step S029), the latest (previously detected) position information Xa of another vehicle and the recording time Ta are extracted from the past recorded (stored) detection result (step S030). Then, the flowchart proceeds to step S031. When there is no past recorded (stored) detection result ( "No" in step S029), the flowchart returns to before step S027.

[0193] Next, in step S031, the coordinate tracking unit 45g determines whether the difference between the position information Xb of the other vehicle recorded this time and the position information Xa of the other vehicle recorded last time is below the threshold value. The processing here determines whether the other vehicle for which the current position information is recorded and the other vehicle for which the previous position information is recorded are the same object. The difference between Xb and Xa (|Xb - Xa|) represents the movement amount of the other vehicle. When the movement amount (|Xb - Xa|) is too large, the possibility of detecting different objects is high, so this kind of processing is performed.

[0194] When the difference between Xb and Xa (|Xb - Xa|) is below the threshold value (Th) (Yes in step S031), the flowchart proceeds to step S032. When the difference between Xb and Xa (|Xb - Xa|) is larger than the threshold value (Th) (No in step S031), the flowchart returns to before step S027.

[0195] In step S032, the coordinate tracking unit 45g estimates the speed of the other vehicle. Specifically, it is obtained by differentiating the position coordinates of the other vehicle with respect to time. That is, the coordinate tracking unit 45g estimates the speed of the other vehicle by dividing the movement amount (|Xb - Xa|) by the time change (Tb - Ta). In addition, the coordinate tracking unit 45g can also estimate the acceleration of the other vehicle based on the time change of the estimated speed. The estimated acceleration of the other vehicle can be used in the determination of the possibility of a collision between the vehicle 100 and the other vehicle described later. The coordinate tracking unit 45g calculates the predicted trajectory of the other vehicle based on the detected position information of the other vehicle. The flowchart proceeds to step S033.

[0196] In step S033, the collision prediction determination unit 46g determines the collision possibility between the vehicle 100 and the other vehicle based on the predicted trajectory calculated by the coordinate tracking unit 45g. Specifically, the collision prediction determination unit 46g uses the speed of the other vehicle estimated by the coordinate tracking unit 45g in step S031, the distance from the vehicle 100 to the other vehicle calculated by the distance calculation unit 41g, and the speed of the vehicle 100 obtained from the vehicle control device 5 to determine the collision possibility.

[0197] When the collision prediction determination unit 46g determines that the possibility of the vehicle 100 colliding with other vehicles is low (Yes in step S033), the restriction release determination unit 44 sends information to the travel control unit 51 to adjust the control amount of the travel restriction of the vehicle 100 (step S034). The travel control unit 51 adjusts the control amount of the travel restriction control of the vehicle 100. In addition, the control amount of the travel restriction refers to, for example, the specific control amounts for suppressing the acceleration of the vehicle 100, braking control, etc. By reducing the control amount, the possibility of the vehicle 100 colliding with other vehicles can be reduced. Additionally, the travel restriction of the vehicle 100 may be released (set the control amount of the travel restriction to 0) when it is determined that the possibility of the vehicle 100 colliding with other vehicles is low.

[0198] When the collision prediction determination unit 46g does not determine that the possibility of the vehicle 100 colliding with other vehicles is low (No in step S033), the restriction release determination unit 44g sends information to the travel control unit 51 to maintain the travel restriction control without adjusting the control amount of the travel restriction (step S035). This flowchart ends at steps S034 and S035.

[0199] In addition, for example, when the predicted trajectory of other vehicles calculated by the coordinate tracking unit 45g does not intersect with the traveling direction of the vehicle 100 at the same time, the collision prediction determination unit 46g determines that the possibility of the vehicle 100 colliding with other vehicles is low. Or, the collision prediction determination unit 46g can calculate the arrival time until the vehicle 100 reaches the position of other vehicles based on the distance information from the vehicle 100 to other vehicles calculated by the distance calculation unit 41g and the speed information of the vehicle 100 obtained from the vehicle control device 5. Thus, if other vehicles passing horizontally are not within the travel width of the vehicle 100 before this arrival time, it is determined that the possibility of the vehicle 100 colliding with other vehicles is low. Additionally, information related to the traveling directions of the vehicle 100 and other vehicles can be obtained from the map information for determining the collision possibility. The acceleration information of the vehicle 100 can be obtained from the vehicle control device 5 for determining the collision possibility between the vehicle 100 and other vehicles.

[0200] The object detection device 1g in this embodiment can determine whether to release the travel restriction of the vehicle 100 based on the determination of the possibility of the vehicle 100 colliding with other vehicles by the collision prediction determination unit 46g based on the predicted trajectory of other vehicles calculated by the coordinate tracking unit 45g. Therefore, the object detection device 1g of this embodiment has the same effect as the first embodiment and can release the travel restriction control of the vehicle 100 at the desired timing.

[0201] In addition, in the above description, the object detection device 1g includes the coordinate tracking unit 45g and the collision prediction determination unit 46g, but this is not limited to this in the present embodiment. Either one or both of the coordinate tracking unit 45g and the collision prediction determination unit 46g may be provided by the vehicle control device 5.

[0202] (Ninth Embodiment)

[0203] Next, a ninth embodiment in which the object detection device 1h is embodied as being mounted on a moving body will be described with reference to the drawings.

[0204] The block diagram of the object detection device 1h according to the present embodiment is the same as that of the first embodiment, Figure 2 so it is omitted. In addition, the principle of detecting the position of the obstacle 3 is the same, so it is omitted.

[0205] The method by which the lateral crossing determination unit 43h of the object detection device 1h according to the present embodiment determines the "lateral crossing" of the obstacle 3 is different from that of the object detection device 1 according to Embodiment 1. In Embodiment 1, as Figure 5 shown, the lateral crossing determination unit 43 determines the lateral crossing of another vehicle using the rear end portion of the other vehicle as the obstacle 3. Specifically, the lateral crossing determination unit 43 determines the lateral crossing of the other vehicle when the state changes from the state where both the first detection unit 21 and the second detection unit 22 detect the other vehicle to the state where the first detection unit 21 does not detect the other vehicle and the second detection unit 22 detects the other vehicle.

[0206] However, in the above determination, since the first detection unit 21 and the second detection unit 22 detect the rear end portion of the other vehicle, the lateral crossing determination unit 43 has a delay in determining the lateral crossing, and the lateral crossing determination is actually performed only after the vehicle has passed. Therefore, it is impossible to determine in real time whether the other vehicle currently detected is performing a lateral crossing.

[0207] Therefore, as shown in Figure 18 the object detection device 1h according to the present embodiment, the lateral crossing determination unit 43 determines the lateral crossing of the other vehicle using the front end portion of the other vehicle as the obstacle 3. Specifically, the lateral crossing determination unit 43h determines the lateral crossing of the other vehicle when the state changes from the state where the first detection unit 21h detects an object and the second detection unit 22h does not detect the object to the state where both the first detection unit 21h and the second detection unit 22h detect the object.

[0208] In the object detection device 1h in the present embodiment, as determined above, the lateral crossing determination unit 43h determines the lateral crossing of the other vehicle using the front end portion of the other vehicle, so it is possible to detect the lateral crossing of the other vehicle at an earlier timing compared to the case where the lateral crossing is determined using the rear end portion of the other vehicle.

[0209] In addition, by detecting the lateral crossing of other vehicles at an earlier timing, it is possible to perform driving assistance that follows the driver's intention without excessively controlling the driving restrictions of the vehicle 100. In addition, in Figure 18 , a case where other vehicles move from right to left in front of the vehicle 100 is described, but the same applies when other vehicles move from left to right in front of the vehicle 100. In this case, it is only necessary to set the obstacle sensor 2h provided on the left front side of the vehicle 100 as the first detection unit 21h and the obstacle sensor 2h provided on the right front side of the vehicle 100 as the second detection unit 22h.

[0210] In addition, it goes without saying that the object detection device 1h in the present embodiment can also be similarly applied when the vehicle 100 travels backward. In this case, the lateral crossing of other vehicles is detected by the first detection unit 21h and the second detection unit 22h provided behind the vehicle 100.

[0211] In the object detection device 1h, the obstacle sensor 2h may also have two detection units in front of the vehicle 100. The additional two detection units are, for example, corner sensors. By configuring the obstacle sensor 2h with four detection units, the accuracy of lateral crossing determination can be improved.

[0212] In the case where the obstacle sensor 2h is configured with four detection units, the obstacle sensor 2h provided at the rightmost front of the vehicle 100 is set as the first detection unit 21h, and the obstacle sensor 2h arranged at the second rightmost front of the vehicle 100 is set as the second detection unit 22h. By using the first detection unit 21h and the second detection unit 22h for detecting the lateral crossing of other vehicles, it is possible to detect the lateral crossing of other vehicles at an earlier timing.

[0213] At this time, the first detection unit 21h and the second detection unit 22h are provided at a position on the front of the vehicle 100 that is to the right of the center of the vehicle 100. However, when other vehicles move from left to right in front of the vehicle 100, it is only necessary to set the obstacle sensor 2h provided at a position on the front of the vehicle 100 that is to the left of the center of the vehicle 100 as the first detection unit 21h and the second detection unit 22h for detecting the lateral crossing of other vehicles.

[0214] Use Figure 19To describe the operation of the sonar control unit 4h according to this embodiment. First, in step S036, the obstacle determination unit 42h determines whether the first obstacle 3a is detected based on the received wave signal from the first detection unit 21h. When the obstacle determination unit 42h determines that it is detected (Yes in step S036), the process proceeds to step S037. When the obstacle determination unit 42h determines that the first obstacle 3a is not detected (No in step S036), the process returns to before step S036.

[0215] Next, in step S037, the obstacle determination unit 42 determines whether the second obstacle 3b is detected based on the received wave signal from the second detection unit 22h. When the obstacle determination unit 42h determines that the second obstacle 3b is not detected (Yes in step S037), the process proceeds to step S038.

[0216] When the obstacle determination unit 42h determines that the second obstacle 3b is detected (No in step S037), the obstacle determination unit 42h sends a signal indicating that the first obstacle 3a and the second obstacle 3b are detected by the first detection unit 21h and the second detection unit 22h to the travel control unit 51 (step S039). In addition, the distance calculation unit 41h calculates the distance to the obstacle 3 based on the received wave signals of the first detection unit 21h and the second detection unit 22h.

[0217] In addition, there is no specific order between step S036 and step S037. It is also possible that the obstacle determination unit 42h first determines the presence or absence of the second obstacle 3b based on the received wave signal from the second detection unit 22h, and then detects the first obstacle 3a based on the received wave signal from the first detection unit 21h. In addition, the obstacle determination unit 42h can also perform the detection determination of the first obstacle 3a and the second obstacle 3b simultaneously in parallel for determination.

[0218] In step S038, the timer included in the sonar control unit 4h measures whether a specified time (for example, 3 seconds) has elapsed. If the specified time has elapsed (Yes in step S038), the process proceeds to step S040. If the specified time has not elapsed (No in step S038), the process returns to before step S038. In addition, the step of the timer determining whether a fixed time has elapsed is not an essential structure in this embodiment.

[0219] In step S040, when the obstacle determination unit 42h determines that both the first obstacle 3a and the second obstacle 3b are detected based on the received wave signals from the first detection unit 21h and the second detection unit 22h (Yes in step S040), the process proceeds to step S041.

[0220] When the obstacle determination unit 42h determines that neither the first obstacle 3a nor the second obstacle 3b is detected (No in step S040), the process returns to before step S040.

[0221] In step S041, the lateral passing determination unit 43h, which has been sent obstacle information in the form of a signal from the obstacle determination unit 42h and the distance calculation unit 41h, determines that a lateral passing of another vehicle as the obstacle 3 has occurred. When the lateral passing determination unit 43h determines the lateral passing of another vehicle, the lateral passing determination unit 43h sends lateral passing determination information to the travel control unit 51 in the vehicle control device 5 as a signal. When the travel control unit 51 obtains the lateral passing determination information of another vehicle from the lateral passing determination unit 43h, it releases the travel restriction control of the vehicle 100 (step S042). This flowchart ends at step S042.

[0222] In addition, in the above flowchart, steps S028 to S035 described in the operation of the sonar control unit 4g of the object detection device 1g according to the eighth embodiment may be added after step S041. By equipping the object detection device 1h with the coordinate tracking unit 45h and the collision prediction determination unit 46h and adding the above steps, in the object detection device 1h, the collision prediction determination unit 46h can determine the possibility of collision between the vehicle 100 and another vehicle based on the predicted trajectory of the other vehicle calculated by the coordinate tracking unit 45h, and then determine whether to release the travel restriction of the vehicle 100. Therefore, the travel restriction control of the vehicle 100 can be released at the desired timing.

[0223] In the object detection device 1h according to the present embodiment, the lateral passing determination unit 43 determines the lateral passing of another vehicle by the front end of another vehicle as the obstacle 3 (determines the lateral passing when the state of detecting an object by the first detection unit 21h and not detecting an object by the second detection unit 22h changes to the state of both the first detection unit 21h and the second detection unit 22h detecting the object). Therefore, the object detection device 1h of the present embodiment has the same effect as the first embodiment, and can detect the lateral passing of another vehicle at an earlier timing compared with the case of determining the lateral passing by the rear end of another vehicle. And since the object detection device 1h of the present embodiment can detect the lateral passing of another vehicle at a relatively early timing, it is easy to adjust the braking timing, the driving force suppression amount, the release condition of the lateral passing state, etc.

[0224] (Tenth Embodiment)

[0225] Next, a tenth embodiment of the object detection device 1 embodied in a moving body will be described with reference to the drawings. The block diagram of the object detection device 1 according to this embodiment is the same as that used in the description of the first embodiment, and thus the description of each part is omitted. However, in the object detection device 1 according to this embodiment, the conditions for prohibiting the release of the travel restriction control are different from those of the object detection device 1 according to the first embodiment. For example, the specified conditions for prohibiting the release of the travel restriction control in this embodiment are conditions related to the plurality of objects. Figure 2 The following is a diagram showing the detection state of an object in the case where another vehicle according to this embodiment includes a two-wheeled vehicle. In addition, in

[0226] Figure 20 FIG. 7, the vehicle 100 is illustrated as including the first detection unit 21, the second detection unit 22, the third detection unit 23, and the fourth detection unit 24. However, it is sufficient to include at least the first detection unit 21 and the second detection unit 22. When this embodiment is applied, it is possible to handle a case where the obstacles detected by the plurality of detection units are not a single vehicle but a plurality of objects such as a four-wheeled vehicle 31a and a two-wheeled vehicle 31b as shown in Figure 20 FIG. 8. In this embodiment, when only a vehicle is referred to, it is assumed to include not only the four-wheeled vehicle 31a but also the two-wheeled vehicle 31b. In addition, the two-wheeled vehicle 31b may be a motorized two-wheeler or a bicycle. Compared with the four-wheeled vehicle 31a, the two-wheeled vehicle 31b may not easily reflect ultrasonic waves, or the reflection intensity may vary depending on the part. Figure 20 FIG. 8.

[0227] Specifically, when the two-wheeler 31b is in front of the object detection device 1, ultrasonic waves are reflected when they encounter the main body part of the vehicle body of the two-wheeler 31b, especially the engine part. However, the ultrasonic waves pass through the spokes of the wheels, so sometimes they are not detected as obstacles locally. In addition, it is sometimes difficult to grasp the shape of the two-wheeler 31b as an obstacle using ultrasonic waves. Therefore, when there is a four-wheeler 31a in front of the vehicle 100 and a two-wheeler 31b in front of the four-wheeler 31a, sometimes the detection of the four-wheeler 31a is confused with the detection of the two-wheeler 31b in the vicinity, and the obstacle determination unit 42 cannot distinguish the four-wheeler 31a and the two-wheeler 31b as independent obstacles. In this case, even when it is determined that the four-wheeler 31a moves forward in front of the own vehicle 100 and makes a lateral passing, it is not necessarily the case that the two-wheeler 31b moves at the same time. Therefore, it is necessary to prohibit the release of braking to avoid a collision between the vehicle 100 and the two-wheeler 31b. That is, in order to be safe even when releasing the braking when it is determined that a lateral passing has occurred, it is necessary that the object in front of the own vehicle 100 is single. Therefore, when there is a suspicion that there are multiple objects in front, it is necessary to prohibit the release of braking. Hereinafter, the condition for prohibiting the release of braking will be referred to as a condition related to the plurality of objects. Specifically, even when the lateral passing determination unit 43 determines the lateral passing of another vehicle (for example, when the state where the first obstacle 3a and the second obstacle 3b are detected by the first detection unit 21 and the second detection unit 22 respectively changes to a state where any one of the obstacle sensors 2 in the first detection unit 21 and the second detection unit 22 does not detect an obstacle), the restriction release determination unit 44 determines that the condition related to the plurality of objects is met when it is estimated that the obstacles are multiple objects, that is, the obstacles are not single, and the restriction release determination unit 44 also prohibits the release of the driving restriction control. The information for prohibiting the release of the driving restriction control is sent as a signal to the driving control unit 51 in the vehicle control device 5.

[0228] There are various methods for estimating that the obstacles are multiple objects, and any one can be used. For example, the obstacle determination unit 42 of the present embodiment can also determine that two vehicles with different detected distances are detected when there are multiple pieces of detected distance information and the difference between the multiple pieces of distance information exceeds a specified value, for example, 30 cm. In addition, as described in the first embodiment, the detected distance information refers to the information indicating the distance calculated by the distance calculation unit 41 based on the electric signal of the ultrasonic wave received by the receiving unit included in the first detection unit 21 or the second detection unit 22.

[0229] As described above, the condition for prohibiting the release of the driving restriction control in the present embodiment is a condition related to the multiplicity of the distance information to the detected obstacle. More specifically, for example, when there are multiple pieces of distance information and the difference between the multiple pieces of distance information exceeds a threshold value, the release determination unit 44 of the present embodiment determines that the condition related to the multiplicity of objects is met and prohibits the release of the driving restriction control. In other words, when the release determination unit 44 of the present embodiment determines, under a specified condition, the prohibition of release for prohibiting the release of the driving restriction control for the moving body, the driving control unit 51 is caused to prohibit the release of the driving restriction control. In addition, the threshold value of the difference between the multiple pieces of distance information is set to 30 cm in the present embodiment, but is not limited to this value.

[0230] For example, in Figure 20 this case, the flight distance A1 of the ultrasonic wave detected by the first detection unit 21 disposed on the right side of the center of the front of the vehicle 100 after passing through the spokes of the wheel of the two-wheeler 31b and being reflected by the four-wheeler 31a is detected. On the other hand, the second detection unit 22 disposed on the left side of the center of the front of the vehicle 100 detects the flight distance A2 of the ultrasonic wave reflected by the main body portion of the two-wheeler 31b, particularly the engine portion, so that the detected distance information varies. Generally speaking, in the case of the side of a single vehicle, there are few cases where there are large unevennesses exceeding 30 cm. When the two-wheeler 31b and the four-wheeler 31a are side by side, as long as a safe side interval is maintained, they will not approach within 30 cm. Therefore, there are multiple pieces of distance information. If the difference between this distance information exceeds 30 cm, it can be estimated that there are two vehicles. Here, the case where the distance information detected by the two detection units, that is, the first detection unit 21 and the second detection unit 22, varies has been described, but it also applies to the case where there are multiple pieces of distance information detected by one detection unit and there is a difference between the multiple pieces of distance information. For example, in the second detection unit 22 disposed on the left side of the center of the front of the vehicle 100 or the first detection unit 21 disposed on the right side of the center of the front of the vehicle 100, sometimes after receiving the ultrasonic wave reflected by the two-wheeler 31b, the ultrasonic wave reflected by the four-wheeler 31a is received after a time difference corresponding to the flight distance. Since the first detection unit 21 or the second detection unit 22 can individually detect the reflected waves received at different times, multiple pieces of distance information corresponding to the respective reflected waves can be obtained. The obstacle determination unit 42 of the present embodiment can also estimate that there are two vehicles in the case where there are multiple pieces of distance information detected by one obstacle detection device and the difference between the multiple pieces of distance information exceeds 30 cm.

[0231] Alternatively, it may be that when the distribution of the intensity (amplitude) information of the received wave signal detected by the second detection unit 22 has multiple peaks, the restriction release determination unit 44 prohibits the release of the travel restriction control. As in the case where the ultrasonic wave reflected by the two-wheeled vehicle 31b is received and then the ultrasonic wave reflected by the four-wheeled vehicle 31a is received as described above, when there are multiple obstacles that reflect the ultrasonic wave, the distribution of the intensity (amplitude) information of the received wave signal, that is, the distribution of the received wave signal intensity on the time axis has peaks at positions (times) corresponding to the respective distances to the multiple obstacles. Therefore, it may be that if there are two peaks, the obstacle determination unit 42 of the present embodiment determines that there are two obstacles with different distances. Since there is a tendency for the intensity of the reflected wave from the two-wheeled vehicle 31b to become lower, it may be that if a second peak exists at a position different from the position of the reflected wave from the four-wheeled vehicle 31a, even if its intensity does not reach the threshold value for detecting an obstacle, the multiplicity of the obstacles is estimated. If the difference in distance corresponding to the difference in the positions of the two peaks exceeds 30 cm, the possibility that the waves are reflected by different positions on the side of one vehicle can be excluded. Therefore, it may be that if the intensity distribution has two peaks and the difference in distance corresponding to the difference in the positions of the peaks exceeds 30 cm, the obstacle determination unit 42 of the present embodiment estimates that there are two vehicles from the viewpoint of the multiplicity of the distance information.

[0232] Also, it is also possible that when there is a difference greater than a specified threshold in the intensity of the received wave signal detected by one or more detection units, the multiplicity of the obstacle is estimated. Since the two-wheeled vehicle 31b is a bicycle and thus has no engine part, a part of the ultrasonic waves emitted by the second detection unit 22 is blocked by the feet of the cyclist, and the remaining part of the ultrasonic waves is reflected by the four-wheeled vehicle 31a. A part of the reflected ultrasonic waves is blocked by the feet of the cyclist again, and the second detection unit 22 receives the remaining part. In this way, when the feet of the cyclist are present in the path of the round-trip of the ultrasonic waves, the intensity of the received wave signal is reduced by an amount corresponding to the part blocked by the feet of the cyclist. The reflectivity of the human body, especially the human body covered with clothes, to ultrasonic waves is low. Therefore, sometimes even in the distribution of the intensity information of the received wave signal, the ultrasonic waves reflected by the human body do not produce a detectable peak, and thus the human body cannot be detected as an obstacle. However, when there is a difference greater than a specified threshold between the intensity of the reflected wave of the four-wheeled vehicle 31a received by another detection unit, for example, the first detection unit 21, and the intensity of the reflected wave of the four-wheeled vehicle 31a received by the second detection unit 22, it can be considered that there is another vehicle in front of the four-wheeled vehicle 31a blocking it. Therefore, it is also possible that if there is a difference greater than a specified threshold in the intensity of the reflected wave, the multiplicity of the obstacle is estimated. That is to say, the specified condition for prohibiting the release of the driving restriction control in the present embodiment can also be a condition related to the intensity information of the detected received wave signal. In this case, when the difference in the intensity information of the received wave signal exceeds the threshold, the restriction release determination unit 44 in the present embodiment prohibits the release of the driving restriction control due to the multiplicity of the obstacle.

[0233] (Modification example)

[0234] In the above-described tenth embodiment, the case where there is a four-wheeled vehicle 31a and a two-wheeled vehicle 31b in front of the vehicle 100 is addressed. However, in this modification example, the case where there is initially only a four-wheeled vehicle 31a in front of the vehicle 100 and then a two-wheeled vehicle 31b is added is addressed. The structure of the object detection device 1 according to this modification example is the same as that of the object detection device 1c illustrated in the block diagram used for explanation in the fourth embodiment. Therefore, the description of each part is omitted. However, compared with the object detection device 1c according to the fourth embodiment, the condition for the restriction release determination unit 44c to prohibit the release of the driving restriction control is different. Figure 9

[0235] In this modification example, as a diagram showing the positional relationship of the vehicles, Figure 21 is used for explanation. Figure 21 ​This is a diagram showing the detection state of an object when the other vehicle involved in this modification example includes a two-wheeler. In the fourth embodiment, a situation where there is a following vehicle (two-wheeler 31b) for a vehicle (four-wheeler 31a) passing horizontally in front of the vehicle 100 was addressed. However, in this modification example, it addresses the situation where the two-wheeler 31b coming from the right catches up with the vehicle (four-wheeler 31a) passing horizontally in front and then Figure 20 is juxtaposed at the position shown.

[0236] When the two-wheeler 31b is in front of the first detection unit 21 to the fourth detection unit 24, as described above, the ultrasonic wave passes through the part of the spokes of the wheel, so the two-wheeler 31b may not be detected locally as an obstacle. However, it is not completely undetected. The main body part of the vehicle body of the two-wheeler 31b, especially the engine part, reflects the ultrasonic wave, so it can be locally detected as an obstacle by the obstacle determination unit 42. The first detection unit 21 to the fourth detection unit 24 repeat the detection at a frequency of more than 10 times per second. Therefore, at any time point during the period before the two-wheeler 31b coming from the right passes through Figure 21 the position shown and reaches the position juxtaposed with the vehicle (four-wheeler 31a) passing horizontally in front as Figure 20 shown, the obstacle determination unit 42 can detect the two-wheeler 31b as an obstacle based on the detection results of the first detection unit 21 to the fourth detection unit 24. For example, in Figure 21 , when the third detection unit 23 detects the two-wheeler 31b as an obstacle, the third detection unit 23 changes from the state of not detecting an object when there is only the four-wheeler 31a in front to the state of detecting an object. Therefore, it can be determined that another obstacle has been added to the original obstacle, that is, the number of obstacles has become multiple.

[0237] The two-wheeler 31b does not reflect the ultrasonic wave depending on the part. Therefore, when it stops in front of the vehicle 100 and becomes Figure 20 the positional relationship shown, it may be detected as an obstacle, but sometimes it may not be detected. That is, when the lateral passing determination unit 43 determines that lateral passing has occurred, the two-wheeler 31b is not necessarily detected as another obstacle different from the obstacle detected in the moving direction of the moving body. However, when the positional relationship between the four-wheeler 31a and the two-wheeler 31b becomes Figure 20When the two-wheeled vehicle 31b is detected as an obstacle during the process until the positional relationship shown, if the object detection device 1 has previously stored a phenomenon indicating the possibility of an increase in an obstacle different from the four-wheeled vehicle 31a before the determination of the lateral crossing, it can be determined that another obstacle has been added in the front and there is a possibility of collision, and the release of the driving restriction control is prohibited. In addition, for example, the presence of a phenomenon indicating the possibility of an increase in an obstacle different from the four-wheeled vehicle 31a is stored in a storage unit (not shown) in the object detection device 1.

[0238] Specifically, even when the lateral crossing determination unit 43 determines the lateral crossing of another vehicle (when the state of detecting an obstacle from both the first detection unit 21c and the second detection unit 22c changes to a state where no obstacle sensor 2c in either the first detection unit 21c or the second detection unit 22c detects an obstacle), when it is estimated that there are multiple objects as obstacles due to the possibility of an increase in another obstacle in the front, the release of the driving restriction control is prohibited. The information prohibiting the release of the driving restriction control is sent as a signal to the driving control unit 51 in the vehicle control device 5. That is, when a phenomenon of detecting another obstacle different from the obstacle detected in the moving direction of the moving body occurs before the lateral crossing determination unit 43 determines that the lateral crossing has occurred, the restriction release determination unit 44 prohibits the release of the driving restriction control according to the condition of the plurality of obstacles.

[0239] In addition, the situation where an increase in another obstacle can be detected is not limited to the case where the state changes from not detecting an object to detecting an object. For example, when the two-wheeled vehicle 31b moves from Figure 21When the first detection unit moves forward from the position of the vehicle 31a, it is possible that the ultrasonic wave emitted by the first detection unit changes from a state reflected only by the four-wheeled vehicle 31a to a state reflected by both the four-wheeled vehicle 31a and the two-wheeled vehicle 31b, and the intensity distribution of the received wave signal has multiple peaks. At this time, when the peak of the sound wave reflected by the two-wheeled vehicle 31b exceeds the threshold value for detecting an obstacle, it can be determined that a phenomenon of detecting other obstacles different from the obstacles detected in the moving direction of the moving body has occurred. However, as mentioned above, sometimes the intensity of the reflected wave of the two-wheeled vehicle 31b (including the rider) is weak. Therefore, it can also be that even if it does not exceed the threshold value for detecting an obstacle, it is determined that the situation where the intensity distribution of the received wave signal has multiple peaks meets the conditions related to the plurality of objects. In addition, sometimes the intensity of the reflected wave of the four-wheeled vehicle 31a becomes weak because the two-wheeled vehicle 31b is jammed in front of the four-wheeled vehicle 31a as mentioned above. Therefore, when the intensity distribution of the received wave signal changes beyond the threshold, it can be estimated that the shielding caused by other objects is met and it is determined to meet the conditions related to the plurality of objects. In this case, the prescribed condition for determining the lifting of the prohibition is a condition related to a change in the intensity distribution of the detected receiving wave signal. When the lateral crossing determination unit 43 determines that an increase in the number of peaks appearing in the intensity distribution of the receiving wave signal occurs before the lateral crossing occurs, the restriction lifting determination unit 44 prohibits the lifting of the driving restriction control.

[0240] Alternatively, the prescribed condition for determining the prohibition release may also be a condition related to the change in the intensity information of the detected received wave signal. In this case, when the change in the intensity information of the received wave signal exceeds the threshold before the lateral crossing determination unit 43 determines that the lateral crossing occurs, the restriction release determination unit 44 prohibits the release of the travel restriction control.

[0241] In addition, the possibility of other obstacles being added ahead can also be determined based on the change in the detected distance. Figure 21 The position relationship becomes Figure 20 , the distance detected by the second detection unit 22 on the left side of the center of the front of the vehicle 100 changes from the distance B1 to the distance A2 because the two-wheeled vehicle 31b enters in front of the four-wheeled vehicle 31a. If a safe lateral distance is maintained, the difference between the distance to the side of the four-wheeled vehicle 31a and the distance to the side of the two-wheeled vehicle 31b will not become less than 30 cm. Therefore, if there is a situation where the detected distance decreases and exceeds 30 cm, the obstacle determination unit 42 of this modified example detects a phenomenon indicating the possibility of an increase in other obstacles in front. If the situation that this phenomenon has existed before the time point when the lateral crossing is determined is stored, it can be determined that the condition related to the plurality of objects is met, and the travel restriction control is prohibited from being released.

[0242] As described above, a change in the intensity distribution of the received wave signal, a change in the intensity information of the received wave signal, or a change in the detected distance is a condition for detecting a change in the number of obstacles. In other words, the specified condition is a condition related to a change in the number of detected obstacles. That is, when a phenomenon of detecting an obstacle different from the obstacle detected in the moving direction of the moving body occurs before the lateral crossing determination unit 43 determines that lateral crossing has occurred, the restriction release determination unit 44 prohibits the release of the travel restriction control.

[0243] According to the object detection device 1 of the present embodiment, in the case where there are a plurality of vehicles such as the four-wheeled vehicle 31a and the two-wheeled vehicle 31b as front obstacles of the vehicle 100, and the four-wheeled vehicle 31a makes a lateral crossing while the two-wheeled vehicle 31b remains in front, it is determined that the condition related to the plurality of objects is met, and the release of the travel restriction control is prohibited. Therefore, the possibility of the vehicle 100 coming into contact with the two-wheeled vehicle 31b in this state can be reduced.

[0244] As described above, the first to tenth embodiments of the object detection device of the present disclosure have been described. However, each embodiment can be implemented in appropriate combination with other embodiments. In the above embodiments, it is assumed that the object detection device is mounted on the vehicle 100. However, it is not limited to the vehicle 100 and may be a moving body such as an airplane or a ship. In addition, the obstacle is not limited to other vehicles and may be a bicycle, a motorcycle, etc. The object detection device of the present disclosure can determine their lateral crossing.

[0245] In the above embodiment, ultrasonic waves are used as the detection wave transmitted by the obstacle sensor. However, for example, detection waves other than ultrasonic waves such as sound waves and electric waves may also be used.

[0246] Description of Reference Numerals

[0247] 1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h: object detection device; 2, 2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h: obstacle sensor; 21, 21a, 21b, 21c, 21d, 21e, 21f, 21g, 21h: first detection unit; 22, 22a, 22b, 22c, 22d, 22e, 22f, 22g, 22h: second detection unit; 23, 23c: third detection unit; 24, 24c: fourth detection unit; 3: obstacle; 3a: first obstacle; 3b: second obstacle; 31a: four-wheel vehicle; 31b: two-wheel vehicle; 4a, 4b, 4c, 4d, 4e, 4f: sonar control unit; 41, 41a, 41b, 41c, 41d, 41e, 41f, 41g, 41h: distance calculation unit; 42, 42a, 42b, 42c, 42d, 42e, 42f, 42g, 42h: obstacle determination unit; 43, 43a, 43b, 43c, 43d, 43e, 43f, 43h: lateral crossing determination unit; 44, 44a, 44b, 44c, 44d, 44e, 44f, 44g, 44h: restriction release determination unit; 45g, 45h: coordinate tracking unit; 46g, 46h: collision prediction determination unit; 5: vehicle control device; 51: driving control unit; 6: operation unit; 61: accelerator pedal; 62: brake pedal; 63: notification unit.

Claims

1. An object detection device is mounted on a moving body and is used to detect an object existing around the moving body. The object detection device includes: A first detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body and receiving the reflected waves of the ultrasonic waves; A second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving the reflected waves of the ultrasonic waves; An obstacle determination unit that determines whether there is an obstacle in the moving direction of the moving body based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit; A lateral passing determination unit that determines the lateral passing of the obstacle based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit in a state where the obstacle determination unit determines that the obstacle exists; And A restriction release determination unit that, when the lateral passing determination unit determines the lateral passing, causes the travel control unit mounted on the moving body to release the travel restriction control for restricting the movement of the moving body, or prohibits the release of the travel restriction control under a specified condition, wherein the specified condition is a condition related to the variance of the distance information to the obstacle detected by the second detection unit. When the variance of the distance information is below a threshold, the restriction release determination unit prohibits the release of the travel restriction control.

2. The object detection device according to claim 1, wherein the restriction release determination unit causes the travel control unit to release the travel restriction control for restricting the movement of the moving body when the moving body stops.

3. The object detection device according to claim 1, wherein the lateral passing determination unit determines the lateral passing of the obstacle when, in a state where the obstacle determination unit determines that the obstacle exists, the state changes from a state where an object is detected by the first detection unit and not detected by the second detection unit to a state where both the first detection unit and the second detection unit detect the object.

4. The object detection device according to claim 1, wherein the lateral passing determination unit determines the possibility of collision between the moving body and the obstacle based on the predicted trajectory information of the obstacle calculated based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit in a state where the obstacle determination unit determines that the obstacle exists. When the lateral passing determination unit determines that the possibility of collision between the moving body and the obstacle is low, the restriction release determination unit causes the travel control unit to adjust the control amount of the travel restriction control for restricting the movement of the moving body.

5. The object detection device according to claim 1, wherein with respect to the travel restriction control, the movement of the moving body is restricted by acceleration suppression or braking control.

6. The object detection device according to claim 1, wherein the specified condition is a condition related to the plurality of objects.

7. The object detection device according to claim 6, wherein, the specified condition is a condition related to the plurality of distance information to the detected obstacle, and when there are a plurality of the distance information and the difference between the plurality of the distance information exceeds a threshold value, the restriction release determination unit prohibits the release of the travel restriction control.

8. The object detection device according to claim 7, wherein, the specified condition is a condition related to the variance of the intensity information of the received wave signal detected by the second detection unit, and when the variance of the intensity information of the received wave signal is equal to or less than the threshold value, the restriction release determination unit prohibits the release of the travel restriction control.

9. The object detection device according to claim 1, wherein, the specified condition is a condition related to the variance of the intensity information of the detected received wave signal, and when the difference between the intensity information of the received wave signal exceeds a threshold value, the restriction release determination unit prohibits the release of the travel restriction control.

10. The object detection device according to claim 1, wherein, the specified condition is a condition related to the change in the intensity distribution of the detected received wave signal, and when a phenomenon of an increase in the number of peaks appearing in the intensity distribution of the received wave signal occurs before the lateral passing is determined by the lateral passing determination unit, the restriction release determination unit prohibits the release of the travel restriction control.

11. The object detection device according to claim 1, wherein, the specified condition is a condition related to the change in the number of detected obstacles, and when a phenomenon of detecting an obstacle different from the obstacle detected in the moving direction of the moving body occurs before the lateral passing is determined by the lateral passing determination unit, the restriction release determination unit prohibits the release of the travel restriction control.

12. The object detection device according to claim 1, wherein, the specified condition is a condition related to the time elapsed since the moving body stopped, and when the time elapsed since the moving body stopped has not elapsed a specified time, the restriction release determination unit prohibits the release of the travel restriction control.

13. A driving assistance system, comprising: a travel control unit that controls the movement of a moving body; a first detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body and receiving the reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving the reflected waves of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in the moving direction of the moving body based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit; a lateral passing determination unit that determines that the lateral passing of the obstacle has occurred based on the detection result of the object by the first detection unit and the detection result of the object by the second detection unit in a state where the obstacle determination unit determines the presence of the obstacle; and A restriction release determination unit that, when the lateral movement determination unit determines that the lateral movement has occurred, causes the travel control unit to release the travel restriction control for restricting the movement of the moving body, or prohibits the release of the travel restriction control under a specified condition. Wherein, the specified condition is a condition related to the variance of the distance information to the obstacle detected by the second detection unit, and when the variance of the distance information is equal to or less than a threshold value, the restriction release determination unit prohibits the release of the travel restriction control.

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