Vehicle and obstacle detection devices

Abstract

The vehicle disclosed herein establishes a stationary object determination region and a moving object determination region for the first obstacle based on the position of the first transmitted sound wave and the first reflected sound wave. When the position of the second obstacle is outside the stationary object determination region and outside the moving object determination region, the reliability of the second obstacle is set to a first reliability. When the position of the second obstacle is within the stationary object determination region or the moving object determination region, the reliability of the second obstacle is set to a second reliability that is higher than the first reliability. The vehicle body is braked and / or its acceleration is suppressed based on the reliability of the second obstacle and the position of the second obstacle.

Description

Technical Field

[0001] This disclosure relates to a vehicle and obstacle detection device. Background Technology

[0002] An obstacle detection device is known that is mounted on a vehicle and uses the reflection of sound waves to detect obstacles (Patent Document 1).

[0003] Existing technical documents

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-081449 Summary of the Invention

[0006] In addition, regarding obstacle detection devices mounted on vehicles that use the reflection of sound waves to detect obstacles, the requirement continues to be that they detect obstacles appropriately.

[0007] This disclosure provides a vehicle and obstacle detection device that can improve the accuracy of obstacle detection results.

[0008] The vehicle disclosed herein includes: a first wheel and a second wheel arranged along a predetermined direction; a body connected to the first wheel and the second wheel, and capable of movement via the first wheel and the second wheel; a sound wave transmitting unit disposed at a predetermined end of the body for emitting a transmitted sound wave; and a sound wave receiving unit disposed at the predetermined end of the body for receiving a received sound wave, wherein the sound wave transmitting unit emits a first transmitted sound wave, and the sound wave receiving unit receives a first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave. The vehicle determines at least the position of a first obstacle based on the first transmitted sound wave and the first reflected sound wave. Based on the position of the first obstacle, the vehicle sets a stationary object determination region and a moving object determination region. The moving object determination region is located relative to the body as a reference and is smaller than the stationary object determination region. After determining the location of the object far from the target area, the sound wave transmitting unit emits a second transmitted sound wave, and the sound wave receiving unit receives a second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave. The vehicle determines the location of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. If the location of the second obstacle is outside the target area for both stationary and moving objects, the vehicle sets the reliability of the second obstacle to a first reliability. If the location of the second obstacle is within the target area for both stationary and moving objects, the vehicle sets the reliability of the second obstacle to a second reliability that is higher than the first reliability. The vehicle applies braking and / or suppresses acceleration of the vehicle body based on the reliability and location of the second obstacle. Attached Figure Description

[0009] Figure 1 This is a schematic diagram illustrating an example of a vehicle equipped with an obstacle detection device according to the first embodiment.

[0010] Figure 2 This is a block diagram illustrating an example of the structure of a vehicle equipped with an obstacle detection device according to the first embodiment.

[0011] Figure 3 This is a schematic diagram illustrating an example of how the obstacle detection device according to the first embodiment determines the location of an obstacle.

[0012] Figure 4 This is a schematic diagram illustrating an example of the obstacle detection device according to the first embodiment determining the angle of an obstacle.

[0013] Figure 5This is a schematic diagram illustrating an example of the obstacle detection device according to the first embodiment determining that an obstacle facing the vehicle is the same object.

[0014] Figure 6 This is a schematic diagram illustrating an example of the obstacle detection device according to the first embodiment determining whether an obstacle positioned at an angle relative to the vehicle is the same object.

[0015] Figure 7 This is a flowchart illustrating an example of the processing procedure in the obstacle detection device according to the first embodiment.

[0016] Figure 8 This is a schematic diagram illustrating an example of a vehicle in the comparative example determining whether an obstacle is the same object.

[0017] Figure 9 This is a state transition diagram showing the state transitions related to the reliability of the obstacle detected by the obstacle detection device according to the first embodiment.

[0018] Figure 10 This is a schematic diagram illustrating an example of the obstacle detection device according to the second embodiment determining a stationary obstacle to be the same object.

[0019] Figure 11 This is a schematic diagram illustrating an example of the obstacle detection device according to the second embodiment determining the same object as a moving obstacle.

[0020] Figure 12 This is a state transition diagram showing the state transitions related to the reliability of the obstacle detected by the obstacle detection device according to the second embodiment. Detailed Implementation

[0021] The embodiments of the vehicle and obstacle detection device involved in this disclosure will now be described with reference to the accompanying drawings.

[0022] [First embodiment]

[0023] An example of the first embodiment will be described using the accompanying drawings.

[0024] (Vehicle structure)

[0025] Figure 1 This is a schematic diagram showing a vehicle 1 equipped with an obstacle detection device 100 according to the first embodiment. Figure 1 As shown, vehicle 1 has a body 2 and two pairs of wheels 3 (a pair of front tires 3f and a pair of rear tires 3r) connected to the body 2 along the direction of travel. Here, the direction of travel of vehicle 1 can also be understood as a predetermined direction.

[0026] The vehicle body 2 has an end portion F on the side of the front tire 3f, an end portion R on the side of the rear tire 3r, and an end portion S in the width direction between the front tire 3f and the rear tire 3r. The vehicle body 2 is roughly rectangular in top view. In this roughly rectangular shape, each of the four corners can also be understood as an end portion.

[0027] like Figure 1 As shown in (a), the front bumper 4f is located at the front end F of the vehicle body 2, near the lower end of the vehicle body 2, and the rear bumper 4r is located at the rear end R of the vehicle body 2, near the lower end of the vehicle body 2. Figure 1 As shown in (b), the front bumper 4f covers the entire front surface and a portion of the side at the front end F of the vehicle body 2, and the rear bumper 4r covers the entire rear surface and a portion of the side at the rear end R of the vehicle body 2. The front bumper 4f and the rear bumper 4r constitute a pair of bumpers 4.

[0028] The sound wave transmitting and receiving unit 5 is disposed at a predetermined end of the vehicle body 2. As a sound wave transmitting unit, the sound wave transmitting and receiving unit 5 emits sound waves and as a sound wave receiving unit receives reflected sound waves of the emitted sound waves. The sound wave transmitting and receiving unit 5 is composed of at least a sound wave transmitting and receiving unit 5f disposed at the front end F and a sound wave transmitting and receiving unit 5r disposed at the rear end R.

[0029] The sound wave transmitting and receiving unit 5f is disposed on the front bumper 4f, and the sound wave transmitting and receiving unit 5r is disposed on the rear bumper 4r. The sound wave transmitting and receiving unit 5 can also be disposed on at least one of the two ends S of the vehicle 1, or at least one of the four corners of the vehicle 1.

[0030] The sound wave transmitting and receiving unit 5f includes sound wave transmitting and receiving devices 51a to 51d. However, the number of sound wave transmitting and receiving devices 51 is not limited to four, but is arbitrary. The sound wave transmitting and receiving devices 51a to 51d can also be arranged at predetermined intervals on the front bumper 4f.

[0031] Each sound wave transmitting and receiving device 51a-51d emits sound waves at a predetermined period and receives reflected sound waves at a predetermined period at a time different from the emission time. That is, each sound wave transmitting and receiving device 51a-51d is configured to alternately exchange emission and reception times. Alternatively, it can be configured such that when any one of adjacent sound wave transmitting and receiving devices 51a and 51b, any one of sound wave transmitting and receiving devices 51b and 51c, or any one of sound wave transmitting and receiving devices 51c and 51d is in the emission state, the other one is in the reception state.

[0032] The sound wave transmitting and receiving unit 5r includes sound wave transmitting and receiving devices 52a to 52d. However, the number of sound wave transmitting and receiving devices 52 is not limited to four, but is arbitrary. The sound wave transmitting and receiving devices 52a to 52d are arranged at predetermined distances on the rear bumper 4r. Furthermore, the predetermined distance between the sound wave transmitting and receiving devices 51a to 51d can be the same as or different from the predetermined distance between the sound wave transmitting and receiving devices 52a to 52d.

[0033] Each sound wave transmitting and receiving device 52a-52d emits sound waves at a predetermined period and receives reflected sound waves at a predetermined period at a time different from the emission time. That is, each sound wave transmitting and receiving device 52a-52d is configured to alternately exchange emission and reception times. Alternatively, it can be configured such that when any one of adjacent sound wave transmitting and receiving devices 52a and 52b, any one of sound wave transmitting and receiving devices 52b and 52c, or any one of sound wave transmitting and receiving devices 52c and 52d is in a emission state, the other one is in a reception state.

[0034] The sound wave transmitting and receiving unit 5 configured as described above is included in the obstacle detection device 100. The obstacle detection device 100 is mounted on the vehicle body 2 and uses sound waves such as ultrasonic waves to detect obstacles around the vehicle 1.

[0035] Vehicle 1 can travel in the direction of travel using wheels 3 arranged along the direction of travel. The wheels 3 consist of a pair of wheels 3 (front tires 3f) located in the front half of vehicle 1 and a pair of wheels 3 (rear tires 3r) located in the rear half of vehicle 1. Vehicle 1 can move forward or backward in the direction of travel by shifting gears, and can also turn right or left by rotating the wheels on the front tires 3f. Here, vehicle 1 is a four-wheeled vehicle, but it is not limited to this. It can also be a three-wheeled vehicle, a two-wheeled vehicle, or a vehicle with five or more wheels.

[0036] In this specification, it is assumed that the direction of travel of vehicle 1, i.e., the configuration direction of the two pairs of wheels 3, is defined as the X direction, with positive values ​​taken on the front tire 3f side and negative values ​​taken on the rear tire 3r side. Furthermore, it is assumed that the direction orthogonal to the X direction on the horizontal plane is defined as the Y direction, with positive values ​​taken on the left side relative to the positive X direction and negative values ​​taken on the right side relative to the positive X direction. Additionally, it is assumed that the vertical direction orthogonal to both the X and Y directions is defined as the Z direction, with positive values ​​taken on the vertical direction and negative values ​​taken on the horizontal direction.

[0037] (Structure of the obstacle detection device)

[0038] Figure 2 This is a block diagram illustrating the structure of a vehicle 1 equipped with an obstacle detection device 100 according to the first embodiment. Figure 2As shown, vehicle 1 is equipped with an obstacle detection device 100 and a driving assistance device 200.

[0039] The obstacle detection device 100 includes acoustic wave transmitting and receiving units 5f and 5r, and an ECU (Electronic Control Unit) 10, for detecting obstacles near the vehicle 1. The driver assistance device 200 includes the ECU 10 and a vehicle control device 20, for assisting the driver in driving the vehicle 1.

[0040] The ECU 10, serving as the control circuit, is configured as a computer equipped with a CPU (Central Processing Unit) 11, RAM (Random Access Memory) 12, and ROM (Read Only Memory) 13. Furthermore, the ECU 10 has I / O (Input / Output) ports 14 capable of transmitting and receiving various information with different parts of the vehicle control device 20 and the sound wave transmission and reception units 5f and 5r.

[0041] The RAM 12, ROM 13, and I / O port 14 of the ECU 10 are configured to transmit and receive various information with the CPU 11 via the internal bus.

[0042] The ECU 10 detects obstacles near the vehicle 1 by executing a program installed in the ROM 13 through the CPU 11, based on the transmitted and reflected sound waves from the sound wave transmitting and receiving units 5f and 5r. Furthermore, based on the obstacle detection results, the ECU 10 outputs a signal to the vehicle control unit 20 instructing it to control the vehicle 1.

[0043] The vehicle control unit 20 includes a vehicle speed sensor 21, an accelerator sensor 22, a brake sensor 23, a brake actuator 24, and an engine controller 25.

[0044] Vehicle speed sensor 21 detects the vehicle's speed. Accelerator sensor 22 detects the amount of driver input to the accelerator pedal. Brake sensor 23 detects the amount of driver input to the brake pedal.

[0045] The brake actuator 24, acting as the braking unit, applies braking to at least one of the front tire 3f and the rear tire 3r. The engine controller 25, acting as the driving unit, performs engine output control (not shown) based on the detection results of the accelerator sensor 22 during normal driving, thereby executing the acceleration and deceleration control of the vehicle 1.

[0046] The vehicle control unit 20 acquires information indicating the state of various parts of the vehicle 1 via a vehicle speed sensor 21, an accelerometer sensor 22, and a brake sensor 23. Based on this information and signals received from the ECU 10, the vehicle control unit 20 controls at least one of the brake actuator 24 and the engine controller 25 to avoid obstacles detected by the ECU 10. Here, it is assumed that the vehicle 1 has an engine and an engine controller 25, but it is not limited to these. It could also be configured to have an electric motor and a motor controller that controls the electric motor, and control the vehicle 1 to avoid obstacles detected by the ECU 10 by controlling at least one of the brake actuator 24 and the motor controller.

[0047] That is, the vehicle control device 20 applies braking to the vehicle body 2 by controlling the brake actuator 24, thereby avoiding a collision between the vehicle 1 and an obstacle. Alternatively, or in addition, the vehicle control device 20 may use the engine controller 25 to suppress the engine output for a period of several seconds to suppress the acceleration of the vehicle body 2, thereby avoiding a collision between the vehicle 1 and an obstacle.

[0048] Alternatively, the following situation may also exist: the accelerator pedal of vehicle 1 is electronically controlled, and the vehicle control unit 20 has a mechanism for controlling the opening degree of the accelerator pedal. In this case, instead of suppressing the engine output as described above, or alternatively, the vehicle control unit 20 may use the accelerator pedal control mechanism, which is a drive unit, to control the opening degree of the accelerator pedal to suppress the acceleration of the vehicle body 2, thereby avoiding a collision between vehicle 1 and an obstacle.

[0049] Thus, the vehicle control device 20 has at least one of the functions of applying braking to the vehicle body 2 and suppressing the acceleration of the vehicle body 2. Consequently, the driver assistance device 200 can also be configured to function as an acceleration suppression device in case of accidental pedal depressing, a collision damage mitigation brake, etc. The acceleration suppression device in case of accidental pedal depressing and the collision damage mitigation brake are functions that assist the driver in avoiding collisions with nearby obstacles when the driver mistakenly and excessively depresses the accelerator pedal.

[0050] (Location of obstacle detection device determined)

[0051] Next, use Figure 3 and Figure 4The method for determining the position and angle of an obstacle by the obstacle detection device 100 of the first embodiment will be described. Here, the position of the obstacle refers to its position as viewed from above, that is, its position on the XY plane, which is the plane in the X and Y directions. Furthermore, the angle of the obstacle refers to the angle along the normal direction of the surface of the obstacle that reflects and transmits sound waves, with the direction of travel of the vehicle 1 as a reference. This angle is also the angle as viewed from above, that is, the angle on the XY plane.

[0052] exist Figure 3 and Figure 4 In the present invention, the obstacle detection device 100 determines the position and angle of an obstacle in front of the vehicle 1 based on the transmitted and reflected sound waves from the sound wave transmitting and receiving unit 5f at the front end of the vehicle body 2. However, the determination of the position and angle of an obstacle behind the vehicle 1 based on the transmitted and reflected sound waves from the sound wave transmitting and receiving unit 5r at the rear end of the vehicle body 2 can also be performed in the same manner as the method described below.

[0053] Figure 3 This is a schematic diagram of the obstacle detection device 100 according to the first embodiment determining the position of obstacle OB.

[0054] like Figure 3 As shown, an obstacle OB is present in front of vehicle 1. The obstacle OB has a surface SR as a first surface facing vehicle 1. The obstacle detection device 100 detects the obstacle OB based on the transmitted and reflected sound waves from the sound wave transmitting and receiving devices 51a to 51d of the sound wave transmitting and receiving unit 5f.

[0055] At this time, the position of the obstacle OB is determined based on the transmitted and reflected sound waves from two adjacent sound wave transmitting and receiving devices 51 among the plurality of sound wave transmitting and receiving devices 51 provided in the sound wave transmitting and receiving unit 5f. Figure 3 The diagram shows the use of two adjacent acoustic wave transmitting and receiving devices 51b and 51c.

[0056] The sound wave transmitting and receiving device 51c emits transmitted sound waves towards the front of the vehicle 1 at an angle within a specified range. Here, the specified range of angles refers to the angles on the XY plane, with the direction of travel, i.e., the X direction, as the reference. The transmitted sound waves Rct and Rbt of these transmitted sound waves will be explained.

[0057] The transmitted sound wave Rct comes into contact with the surface SR of the obstacle OB and is reflected. The reflected sound wave Rcr, obtained by the reflection of the transmitted sound wave Rct, reaches the sound wave transmitting and receiving device 51c through the same path as the transmitted sound wave Rct and is received by the sound wave transmitting and receiving device 51c.

[0058] The obstacle detection device 100 calculates the flight distance related to the transmitted sound wave Rct and the reflected sound wave Rcr based on the flight time and speed of sound from the time the transmitted sound wave Rct is emitted to the time the reflected sound wave Rcr is received, and divides this flight distance by 2 to set the value as the distance from the sound wave transmitting / receiving device 51c to the obstacle OB. Here, the obstacle detection device 100 can set a virtual circle CRc with the distance from the sound wave transmitting / receiving device 51c to the obstacle OB as its radius.

[0059] Next, the transmitted sound wave Rbt comes into contact with the surface SR of the obstacle OB and is reflected, becoming a reflected sound wave Rbr that reaches the sound wave transmitting and receiving device 51b. Here, the incident angle of the transmitted sound wave Rbt, based on the normal direction of the surface SR, is the same as the reflection angle of the reflected sound wave Rbr, based on the normal direction of the surface SR.

[0060] The obstacle detection device 100 calculates the flight distance related to the transmitted sound wave Rbt and the reflected sound wave Rbr based on the flight time and speed of sound from the time the transmitted sound wave Rbt is emitted to the time the reflected sound wave Rbr is received. The value obtained by subtracting the radius of the virtual circle CRc from this flight distance is set as the distance from the reflection position of the reflected sound wave Rbr on the surface SR of the obstacle OB to the sound wave transmitting / receiving device 51b, which serves as the receiving position of the reflected sound wave Rbr. Here, the obstacle detection device 100 can set a virtual circle CRb with the radius of the distance from the reflection position of the reflected sound wave Rbr on the surface SR of the obstacle OB to the sound wave transmitting / receiving device 51b, which serves as the receiving position of the reflected sound wave Rbr.

[0061] The obstacle detection device 100 sets the intersection of the two virtual circles CRc and CRb on the side of the direction of transmission of the transmitted sound waves Rct and Rbt as the ranging point MS representing the position coordinates of the obstacle OB. Therefore, the position of the obstacle OB can be determined based on the transmitted sound waves Rct and Rbt and the reflected sound waves Rcr and Rbr from the sound wave transmitting and receiving unit 5f.

[0062] Figure 4 This is a schematic diagram showing the obstacle detection device 100 according to the first embodiment determining the angles of obstacles OBc and OBd.

[0063] like Figure 4 As shown, there are two obstacles, OBc and OBd, in front of vehicle 1. The obstacle detection device 100 determines the angles of obstacles OBc and OBd relative to the direction of travel of vehicle 1 based on the positions of the obstacles OBc and OBd.

[0064] Here, the sound wave transmitting and receiving unit 5f of the obstacle detection device 100 is provided with a facing area FA for determining whether obstacles OBc and OBd are facing the vehicle 1. The facing area FA includes facing areas FAab and FAcd.

[0065] The facing area FAab is set for the sound wave transmitting and receiving devices 51a and 51b of the sound wave transmitting and receiving devices 51a to 51d of the sound wave transmitting and receiving unit 5f. When the obstacle detection device 100 detects an obstacle located in the facing area FAab based on the transmitted and reflected sound waves of the sound wave transmitting and receiving devices 51a and 51b, it determines that the obstacle is facing the vehicle 1.

[0066] The facing area FAcd is set for the sound wave transmitting and receiving devices 51c and 51d among the sound wave transmitting and receiving devices 51a to 51d of the sound wave transmitting and receiving unit 5f. When the obstacle detection device 100 detects an obstacle located in the facing area FAcd based on the transmitted and reflected sound waves of the sound wave transmitting and receiving devices 51c and 51d, it determines that the obstacle is facing the vehicle 1.

[0067] That is, when the obstacle detection device 100 detects an obstacle located in the facing area FA, which also includes the area where the facing areas FAab and FAcd overlap, it determines that the obstacle is facing the vehicle 1.

[0068] Next, the obstacle detection device 100 determines the position of the obstacle OBc in the same manner as described above, and calculates the ranging point MSc representing the position coordinates of the obstacle OBc. Furthermore, the obstacle detection device 100 determines whether the calculated ranging point MSc is located within the opposing object region FA.

[0069] In addition, the obstacle detection device 100 determines the angle of the normal direction NRc of the first face SRc facing the vehicle 1, which is the obstacle OBc, based on whether the ranging point MSc is located within the object-facing area FA, with the X direction of the vehicle 1 as a reference.

[0070] exist Figure 4 In this case, the ranging point MSc is located within the object-facing region FA. In the obstacle detection device 100, the surface SRc of the obstacle OBc is positioned directly opposite the vehicle 1. Therefore, the obstacle detection device 100 sets 0° relative to the X direction of the vehicle 1 as the angle of the normal direction NRc of the surface SRc of the obstacle OBc. Thus, the obstacle detection device 100 sets the angle of the obstacle OBc based on its position.

[0071] exist Figure 4In this case, the ranging point MSd is located outside the object-facing area FA. The obstacle detection device 100 sets the angle of the normal direction NRd of the surface SRd of the obstacle OBd to a predetermined angle relative to the X direction of the vehicle 1. This angle is the angle formed by the line segment from the center position to the ranging point MSd relative to the X direction of the vehicle 1. Thus, the obstacle detection device 100 sets the angle of the obstacle OBd based on its position.

[0072] exist Figure 4 In this diagram, the normal direction NRd of the surface SRd of obstacle OBd is tilted to the right (towards the -Y direction) by a predetermined angle, based on the +X direction of vehicle 1. Here, the angle of the normal direction NRd is set to positive counterclockwise and negative clockwise, based on the direction of travel of vehicle 1 (+X direction). Therefore, Figure 4 The angle -θ is a negative value for the normal direction NRd (θ itself is a positive value). That is, the further the distance measurement point MSd of obstacle OBd deviates from the outer side of the object region FA in the -Y direction of vehicle 1, the smaller the angle -θ and the larger the absolute value of the angle -θ.

[0073] Furthermore, when the ranging point representing the position of a specified obstacle (not shown) is deviated from the opposing area FA towards the +Y direction of vehicle 1, i.e., when the obstacle is located to the left front of vehicle 1, the normal direction of the obstacle's face facing vehicle 1 is tilted to the left of the +X direction of vehicle 1, i.e., to the left (towards the +Y direction) of the +X direction of vehicle 1, by a specified angle. In this case, the angle of the normal direction is a positive angle +θ (θ itself is positive). That is, the more the ranging point of the obstacle deviates from the +Y direction of vehicle 1 and outwards from the opposing area FA, the larger the positive value of angle +θ, and the larger the absolute value of angle +θ.

[0074] (Obstacle detection device judgment)

[0075] Figure 5 This is a schematic diagram showing the situation where the obstacle detection device 100 determines that the obstacle OBc facing the vehicle 1 is the same object.

[0076] The obstacle detection device 100 detects obstacles OBC at predetermined intervals. Based on previously detected data, the obstacle detection device 100 calculates the position of obstacle OBC as an estimated point ESC, and sets a same-object determination region SAC based on the estimated point ESC. Here, the same-object determination region SAC is a rectangle with a pair of long sides and a pair of short sides, but is not limited to this. It can also be a square, a parallelogram, or a simple quadrilateral. Alternatively, it can have only a predetermined shape.

[0077] The previous data refers to the position coordinates and angle relative to vehicle 1 of obstacle OBc, calculated based on transmitted and reflected sound waves emitted and received before the subsequently emitted sound waves. Obstacle detection device 100 calculates the estimated point ESC based on this previous data.

[0078] The estimated point ESc is obtained by calculating the relative position of vehicle 1 from the coordinates of the previously detected obstacle OBc to the coordinates of the obstacle OBc at the current time, based on the coordinates of the obstacle OBc and the amount of movement and turning angle of vehicle 1 from the time of the last detection to the present. This estimated point Esc estimates the position of obstacles that may be detected based on the next emitted sound wave.

[0079] The same object determination region SAc is a rectangular region with a pair of long sides and a pair of short sides, centered on the calculated estimated point ESc. The length of the pair of long sides is determined by the distance from vehicle 1 (distance in the X direction).

[0080] The same object detection region SAc is set to correspond to the angle of the previously detected and determined obstacle OBc. That is, the orientation of the same object detection region SAc is set to be along the orientation of the obstacle OBc. More specifically, the same object detection region SAc is set such that a pair of long sides of the same object detection region SAc are parallel to the surface SRc of the obstacle OBc facing the vehicle 1 side, and are orthogonal to the normal direction NRc of the surface SRc of the obstacle OBc.

[0081] The obstacle detection device 100 then emits a transmitted sound wave for measurement. If a reflected sound wave is received as a received sound wave corresponding to the transmitted sound wave, it means that an obstacle exists near the vehicle 1. However, at this point in time, it is unclear whether the obstacle detected this time is the same as the obstacle OBc detected previously.

[0082] The obstacle detection device 100 calculates the position coordinates of a ranging point MSc, representing the location of an obstacle, based on the transmitted and reflected sound waves. Additionally, the obstacle detection device 100 determines whether the currently calculated ranging point MSc is located within the same object detection area SAc set based on the previous data.

[0083] If the ranging point MSc is located outside the same object determination area SAc, the obstacle detection device 100 determines that the obstacle OBc detected last time is not the same object as the obstacle detected this time, and sets the obstacle detected this time as reliability RL1.

[0084] If the ranging point MSc is located within the same object determination area SAc, the obstacle detection device 100 determines that the obstacle OBc detected last time is the same object as the obstacle detected this time, and sets the obstacle detected this time to a reliability RL2 that is higher than the reliability RL1.

[0085] The obstacle detection device 100 performs the same object determination on multiple detected obstacles until a predetermined reliability is achieved. Once the predetermined reliability is achieved, it outputs that data to the driver assistance device 200. The driver assistance device 200 can also control the vehicle 1 based on that data. Furthermore, to avoid collisions with obstacles, the obstacle detection device 100 can also output to the driver assistance device 200 at least one of a signal for applying braking to the vehicle body 2 of the vehicle 1 and a signal for suppressing acceleration of the vehicle body 2.

[0086] The following describes the case where the specified reliability is obtained and vehicle 1 is controlled when the same object is identified twice in a row.

[0087] In this case, the obstacle detection device 100 uses the first transmitted sound wave and its corresponding reflected sound wave to detect the obstacle and calculate the position coordinates and angle of the obstacle.

[0088] Next, the obstacle detection device 100 uses the second transmitted sound wave and its corresponding reflected sound wave to detect the obstacle and calculate the position coordinates of the obstacle.

[0089] In addition, the obstacle detection device 100 calculates an estimated point based on the position coordinates and angle of the obstacle detected by the first transmitted and reflected sound waves, and sets the same object determination area based on the calculated estimated point.

[0090] Next, the obstacle detection device 100 determines whether the position coordinates of the obstacle detected by the second transmitted and reflected sound waves are located within the same object determination area based on the first transmitted and reflected sound waves.

[0091] If the location coordinates of the obstacle detected a second time are within the same object determination area set in the first detection, the obstacle detection device 100 determines that the obstacles detected the first and second times are the same object, and sets the obstacle detected the second time as reliability RL2. Additionally, the obstacle detection device 100 calculates the angle of the obstacle detected the second time.

[0092] Next, the obstacle detection device 100 uses the third transmitted sound wave and its corresponding reflected sound wave to detect the obstacle and calculate the position coordinates of the obstacle.

[0093] In addition, the obstacle detection device 100 calculates an estimated point based on the position coordinates and angle of the obstacle detected by the second transmission and reflection of the sound wave, and sets the same object determination area based on the calculated estimated point.

[0094] Next, the obstacle detection device 100 determines whether the position coordinates of the obstacle detected by the third transmitted and reflected sound waves are located within the same object determination area based on the second transmitted and reflected sound waves.

[0095] If the location coordinates of the obstacle detected for the third time are within the same object determination area set for the second time, the obstacle detection device 100 determines that the obstacles detected for the second and third times are the same object, and sets the obstacle detected for the third time to a reliability of RL3, which is higher than the reliability of RL2.

[0096] In this way, the obstacle detection device 100 determines that the obstacle detected by the first to third transmitted and reflected sound waves is the same object, and the obstacle detected the third time has a reliability rating of RL3, thereby obtaining a specified reliability rating for that obstacle. Then, based on the obstacle detected the third time, the obstacle detection device 100 issues an instruction to the driving assistance device 200 to control the vehicle 1.

[0097] On the other hand, if the location coordinates of the obstacle detected for the second time are outside the same object determination area set in the first time, or if the location coordinates of the obstacle detected for the third time are outside the same object determination area set in the second time, the reliability accumulation is cancelled. The obstacle detection device 100 restarts the reliability accumulation from that point in time and performs same object determination until a reliability RL3 is obtained.

[0098] That is, if the location coordinates of the obstacle detected for the second time are outside the same object determination area set in the first instance, the obstacle detection device 100 sets the second detected obstacle to a reliability of RL1, which is lower than the reliability of RL2 and RL3. Then, if the obstacle detected for the third time is determined to be the same object as the second detected obstacle, the obstacle detection device 100 sets the third detected obstacle to a reliability of RL2. After that, the same object determination is performed until a reliability of RL3 is obtained.

[0099] Furthermore, if the location coordinates of the obstacle detected for the third time are outside the same object determination area set in the second detection, the obstacle detection device 100 sets the third detected obstacle to reliability RL1. Then, if the obstacle detected for the fourth time is determined to be the same object as the third detected obstacle, the obstacle detection device 100 sets the fourth detected obstacle to reliability RL2. Afterward, the same object determination is performed until a reliability RL3 is obtained.

[0100] Thus, whenever the obstacle detection device 100 detects an obstacle within a specified number of times and determines that it is not the same as the previous obstacle, it returns to the reliability RL1.

[0101] That is, if the reliability is RL1 and the obstacle detected this time (within a specified number of attempts) is determined to be the same as the previous obstacle, the reliability increases to RL2. If the reliability is RL1 and the obstacle detected this time (within a specified number of attempts) is determined to be different from the previous obstacle, the reliability remains at RL1. Then, if the reliability is RL2 and the obstacle detected this time (within a specified number of attempts) is determined to be the same as the previous obstacle, the reliability increases to RL3. If the reliability is RL2 and the obstacle detected this time (within a specified number of attempts) is determined to be different from the previous obstacle, the reliability returns to RL1. Next, if the reliability is RL3 and the obstacle detected this time (within the specified number of attempts) is determined to be the same as the previous obstacle, the reliability remains at RL3. If the reliability is RL3 and the obstacle detected this time (within the specified number of attempts) is determined to be different from the previous obstacle, the reliability returns to RL1.

[0102] Here, the obstacle detection device 100 is assumed to have a reliability level with three stages: RL1, RL2, and RL3. However, it is not limited to this; it can also be configured to have a reliability level with two stages: RL1 and RL2. In this case, if the reliability level is RL1 and the obstacle detected this time (within a predetermined number of attempts) is determined to be the same as a previous obstacle, the reliability level increases to RL2. Similarly, if the reliability level is RL1 and the obstacle detected this time (within a predetermined number of attempts) is determined to be different from a previous obstacle, the reliability level remains at RL1. Next, it can also be configured that if the reliability level is RL2 and the obstacle detected this time (within a predetermined number of attempts) is determined to be the same as a previous obstacle, the reliability level remains at RL2. Similarly, if the reliability level is RL2 and the obstacle detected this time (within a predetermined number of attempts) is determined to be different from a previous obstacle, the reliability level returns to RL1.

[0103] Figure 6 This is a schematic diagram illustrating the case where the obstacle detection device 100 according to the first embodiment determines whether an obstacle OBd, which is tilted relative to the vehicle 1, is the same object. Figure 6 As shown, the same object determination for obstacle OBd is performed in the same way as the object determination for obstacle OBc mentioned above.

[0104] That is, when the obstacle detection device 100 makes the same object determination, it calculates the estimated point ESD based on the previous data, and sets the same object determination area SAd according to the estimated point ESD.

[0105] Here, the same object determination area SAd is also set to correspond to the angle of the previously detected and determined obstacle OBd. That is, the same object determination area SAd is set such that a pair of long sides of the same object determination area SAd are parallel to the surface SRd of the obstacle OBd facing the vehicle 1 side, and are orthogonal to the normal direction NRd of the surface SRd of the obstacle OBd.

[0106] In addition, the obstacle detection device 100 emits a transmitted sound wave to perform the current measurement. If a reflected sound wave corresponding to the transmitted sound wave is received, an obstacle is detected near the vehicle 1. The obstacle detection device 100 calculates the position coordinates of the obstacle's ranging point MSd based on the transmitted and reflected sound waves, and determines whether the ranging point MSd is located within the same object detection area SAd.

[0107] Here, if the obstacle OBd is positioned at an angle relative to the vehicle 1, the position of the reflected sound wave in the surface SRd of the obstacle OBd facing the vehicle 1, i.e., the ranging point MSd, moves as the vehicle 1 moves. As the vehicle 1 gradually approaches the obstacle OBd, the ranging point MSd shifts towards the inside of the surface SRd of the obstacle OBd, i.e., away from the vehicle 1.

[0108] As described above, since the same object determination area SAd is set to correspond to the angle of the obstacle OBd, if the obstacle detected by the current transmitted and reflected sound waves is the same obstacle OBd detected last time, then even if the ranging point MSd shifts inward, it is very likely to remain within the same object determination area SAd.

[0109] Accordingly, the depth of the same object determination regions SAc and SAd, i.e. the distance between a pair of short sides, serves as the threshold for determining the same object.

[0110] If the ranging point MSd is located outside the same object determination area SAd, the obstacle detection device 100 sets the detected obstacle as reliability RL1. If the ranging point MSd is located within the same object determination area SAd, the obstacle detection device 100 sets the detected obstacle as reliability RL2.

[0111] The obstacle detection device 100 makes the same judgment on multiple detected obstacles until a specified reliability is obtained. When the specified reliability is obtained, the vehicle control device 20 of the driving assistance device 200 controls the vehicle 1.

[0112] That is, the sound wave transmitting and receiving unit 5f emits a first transmitted sound wave and receives a first reflected sound wave corresponding to the first transmitted sound wave as a received sound wave.

[0113] The obstacle detection device 100 determines the first angle of the first obstacle in the normal direction of the surface of the first obstacle facing the vehicle 1, with the X direction of the vehicle 1 as a reference, and the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave. Furthermore, the obstacle detection device 100 sets a first identical object determination area corresponding to the first angle of the first obstacle based on the first angle and position of the first obstacle.

[0114] Next, the sound wave transmitting and receiving unit 5f emits a second transmitted sound wave and receives a second reflected sound wave corresponding to the second transmitted sound wave as a received sound wave.

[0115] The obstacle detection device 100 determines the second angle of the second obstacle's surface facing the vehicle 1, with the X direction of the vehicle 1 as a reference, based on the second transmitted sound wave and the second reflected sound wave, and the position of the second obstacle.

[0116] Furthermore, if the location of the second obstacle is within the first object determination area, the obstacle detection device 100 sets the reliability of the second obstacle to a reliability RL2, which is higher than the reliability RL1.

[0117] In addition, the obstacle detection device 100 sets a second object determination area corresponding to the second angle of the second obstacle based on the second angle and position of the second obstacle.

[0118] Next, the sound wave transmitting and receiving unit 5f emits a third transmitted sound wave and receives a third reflected sound wave corresponding to the third transmitted sound wave as a received sound wave.

[0119] The obstacle detection device 100 determines the position of the third obstacle based on the third transmitted sound wave and the third reflected sound wave.

[0120] If the location of the third obstacle is within the second object determination area, the obstacle detection device 100 sets the reliability of the third obstacle to a reliability RL3, which is higher than the reliability RL2. Furthermore, if the reliability of the third obstacle is RL3, the obstacle detection device 100 outputs a signal to apply braking and / or suppress acceleration of the vehicle body 2 based on the location of the third obstacle.

[0121] If the location of the third obstacle is outside the second object detection area, the obstacle detection device 100 sets the reliability of the third obstacle to reliability RL1. Furthermore, when the reliability of the third obstacle is reliability RL1, the obstacle detection device 100 outputs a signal to apply braking and / or suppress acceleration of the vehicle body 2 without relying on the location of the third obstacle. In other words, the obstacle detection device 100 outputs a signal to the vehicle control device 20 to allow the vehicle 1 to drive normally.

[0122] Figure 9 This is a state transition diagram showing the state transitions related to the reliability of obstacles detected by the obstacle detection device 100. Initially, when there are no obstacle detection coordinates in the obstacle detection device 100, the reliability is the lowest, RL0 (ST1). In ST1, if there are still no detection coordinates (TR12), the state remains ST1. In ST1, if there are detection coordinates (TR11), the reliability becomes RL1 (ST2), which is higher than RL0. In ST2, if... Figure 5 , Figure 6 If the determination of the same object is valid as described (TR21), the reliability becomes RL2 (ST3), which is higher than the reliability RL1. If the probe coordinates disappear in ST2 (TR23), it returns to ST1. In ST3, if... Figure 5 , Figure 6If the same object determination is valid (TR31), the reliability becomes RL3 (ST4), which is higher than RL2. If the probe coordinates disappear in ST3 (TR34), return to ST1. If the probe coordinates are present in ST3 but the same object determination is invalid (TR33), return to ST2. In ST4, if... Figure 5 , Figure 6 If the same object determination is valid as described (TR41), the reliability remains at reliability RL3 (ST4). If the probe coordinates disappear in ST4 (TR44), return to ST1. If the probe coordinates are present in ST4 but the same object determination is invalid (TR43), return to ST2.

[0123] (Handling of obstacles by the obstacle detection device)

[0124] Next, use Figure 7 The processing in the obstacle detection device 100 of the first embodiment will be explained. Figure 7 This is a flowchart illustrating the processing procedure in the obstacle detection device 100 according to the first embodiment.

[0125] like Figure 7 As shown, the obstacle detection device 100 determines whether the sound wave transmitting and receiving device 51 or 52 of either of the sound wave transmitting and receiving units 5 has received a reflected sound wave corresponding to the transmitted sound wave (step S101).

[0126] If either of the sound wave transmitting and receiving devices 51 or 52 receives a reflected sound wave (step S101: "Yes"), the obstacle detection device 100 calculates the position coordinates of the obstacle that caused the transmitted sound wave to be reflected based on the transmitted sound wave and the reflected sound wave (step S102).

[0127] The obstacle detection device 100 estimates the position coordinates of the previously detected obstacle when it is detected again using the transmitted and reflected sound waves that are currently being transmitted and received, based on the position coordinates of the obstacle detected based on the previously transmitted and reflected sound waves, and calculates the estimated point (step S103).

[0128] Furthermore, the obstacle detection device 100 can also calculate an estimated point based on the position coordinates of the obstacle detected based on the previously transmitted and received transmitted sound waves when no reflected sound wave corresponding to the previously transmitted sound wave is obtained, i.e., when no obstacle was detected using the transmission of the previously transmitted sound wave.

[0129] The obstacle detection device 100 determines whether the position coordinates calculated in step S102 are within the same object determination area set based on the estimated point calculated in step S103, and performs same object determination on the obstacle detected last time or the obstacle detected this time (step S104).

[0130] If the obstacle detection device 100 determines that the obstacle detected last time or the obstacle detected before last time is the same as the obstacle detected this time (step S104: "Yes"), it determines whether the reliability of the obstacle detected this time has reached the specified reliability (step S105).

[0131] In other words, in the example above, the obstacle detection device 100 determines the obstacle to be the same object twice in the same object determination process in step S104, and determines whether the reliability of the detected obstacle reaches the reliability level RL3. That is, in the example above, the reliability specified in step S105 is set as the reliability level RL3.

[0132] If the reliability of the detected obstacle does not reach the specified reliability (step S105: "No"), the obstacle detection device 100 determines the angle of the detected obstacle based on the position coordinates calculated in step S102 (step S107).

[0133] In other words, the obstacle detection device 100 determines the angle of the detected obstacle based on whether the position coordinates of the detected obstacle are within the object-facing area FA, and also based on how much it deviates from the object-facing area FA.

[0134] Then, the obstacle detection device 100 returns to the processing of step S101.

[0135] In the process of step S104, if it is determined that the obstacle detected last time or the obstacle detected before last time is not the same as the obstacle detected this time (step S104: "No"), the obstacle detection device 100 determines the angle of the obstacle detected this time based on the position coordinates calculated in the process of step S102 (step S108).

[0136] Then, the obstacle detection device 100 returns to the processing of step S101.

[0137] In the above-mentioned step S101, if neither of the sound wave transmitting and receiving devices 51 nor 52 receives the reflected sound wave (step S101: "No"), then the obstacle detection device 100 determines whether the previous data exists (step S109).

[0138] If previous data exists (step S109: "Yes"), the obstacle detection device 100 estimates the position coordinates of the obstacle at the current time point (step S110), and determines the angle of the previously detected obstacle based on the estimated position coordinates (step S111).

[0139] Then, the obstacle detection device 100 returns to the processing of step S101.

[0140] If the previous data does not exist (step S109: "No"), the obstacle detection device 100 sets the information such as the position, angle and reliability of the obstacle obtained up to the previous time as invalid (step S112).

[0141] Then, the obstacle detection device 100 returns to the processing of step S101.

[0142] In the above-mentioned step S105, if the reliability of the detected obstacle reaches the specified reliability (step S105: "Yes"), the obstacle detection device 100 outputs at least one of the following signals to the vehicle control device 20 of the driving assistance device 200: a signal for applying braking to the vehicle body 2 and a signal for suppressing the acceleration of the vehicle body 2, based on the detected obstacle (step S106).

[0143] Then, the obstacle detection device 100 returns to the processing of step S101.

[0144] Furthermore, the coordinate estimation processing in steps S103 and S110 above can also be omitted. Figure 7 The obstacle detection device 100 may also continuously perform coordinate estimation processing at a predetermined cycle, and refer to the most recently estimated coordinates when performing steps S104 and S111.

[0145] Furthermore, the obstacle detection device 100 can also perform the above steps S101 to S112 in a time-sharing manner. Therefore, it is possible to determine the position of the obstacle relative to the vehicle 1 as the vehicle 1 frequently changes position, thereby controlling the driving assistance device 200.

[0146] Alternatively, or in addition to this, the driver can be notified of obstacle detection information and distance to the obstacle. This information can be displayed on a navigation device or head-up display. Alternatively, the driver can be notified by emitting an alarm sound or by flashing or illuminating LED lights.

[0147] In addition, in the example above, the reliability specified in step S105 is set to reliability RL3, but it is not limited to this. The reliability specified in step S105 can also be set to reliability RL2.

[0148] (Summary)

[0149] If, when using ultrasonic or other sound wave-based obstacle detection, the coordinates obtained from multiple ranging measurements are close to each other within a specified range, an obstacle is determined to exist. For example... Figure 8 As shown in (a), regarding the obstacle OBc facing the direction of travel of the vehicle 101 of the comparative example, even if the position of the vehicle 101 changes, the obtained coordinates MSa and MSb are close to each other.

[0150] On the other hand, such as Figure 8 As shown in (b), regarding an obstacle OBd that is tilted relative to the travel direction of the vehicle 101 in the comparative example, for example, as the vehicle 101 approaches the obstacle OBd, the obtained coordinates MSa and MSb move away from the vehicle 101. Therefore, in order to also detect obstacles OBd that are not directly opposite the vehicle 101, it is necessary, for example, to take a wider range SAw for determining whether the obtained coordinates MSa and MSb are located at positions close to each other.

[0151] However, if the range SAW is taken too broadly as described above, different obstacles may be identified as the same, leading to false alarms.

[0152] According to the obstacle detection device 100 of the first embodiment, a same object determination region SAd corresponding to the angle of obstacle OBd is set based on the angle and position of obstacle OBd. That is, the same object determination region SAd is configured such that the orthogonal direction of the long side of the same object determination region is along the normal direction NRd of the surface SRd of obstacle OBd facing the vehicle 1 side.

[0153] Therefore, without expanding the depth, or threshold, of the same object determination region SAd, the accuracy of identifying obstacles OBd located at an angle relative to vehicle 1 can be improved. In other words, the threshold for same object determination can be reduced to a level permissible by, for example, the resolution of the acoustic wave transmitting and receiving unit 5. Consequently, erroneous determinations of different obstacles as the same can be suppressed, thereby preventing incorrect or unnecessary control of vehicle 1.

[0154] According to the obstacle detection device 100 of the first embodiment, the angles of obstacles OBc and OBd are determined based on the positions of obstacles OBc and OBd relative to vehicle 1.

[0155] That is, when the position of obstacle OBc is within the facing area FA used to determine whether obstacle OBc is facing vehicle 1, the angle of the normal direction NRc of the surface SRc of obstacle OBc facing vehicle 1 is 0° relative to the X direction of vehicle 1.

[0156] Furthermore, when the position of obstacle OBd is outside the facing area FA used to determine whether obstacle OBd is facing vehicle 1, the angle of the normal direction NRd of the surface SRd facing vehicle 1 of obstacle OBd is tilted by a predetermined angle relative to the X direction of vehicle 1.

[0157] Therefore, the depth, i.e. the threshold, of the same object determination regions SAc and SAd can be made consistent for obstacle OBc facing vehicle 1 and obstacle OBd tilted relative to vehicle 1, and the same object determination can be performed on these obstacles OBc and OBd with the same accuracy.

[0158] According to the obstacle detection device 100 of the first embodiment, the more the position of the obstacle OBd deviates from the outside of the object-facing region FA in the +Y direction of the vehicle 1, the larger the angle +θ of the obstacle OBd. Conversely, the more the position of the obstacle deviates from the outside of the object-facing region FA in the -Y direction of the vehicle 1, the smaller the angle -θ of the obstacle.

[0159] This allows for more precise determination of the angle of obstacle OBd and more appropriate setting of the same object detection area SAd. Consequently, the accuracy of same object detection is further improved.

[0160] (Modified Example)

[0161] In the first embodiment described above, an example is given where the obstacle detection device 100 controls the vehicle 1 when multiple obstacles detected at different times are determined to be the same object twice in a row and the reliability of the specified obstacle reaches the reliability RL3.

[0162] However, the obstacle detection device 100 may also be configured to achieve a specified reliability and control the vehicle 1 if it determines that the obstacle is the same object three or more times in a row.

[0163] In addition, Figure 5 , Figure 6 , Figure 9 The example described the case where the obstacle is stationary, but it is not limited to this. The above techniques can be applied even when the obstacle is moving.

[0164] [Second Implementation]

[0165] Next, an example of the second embodiment will be described using the accompanying drawings. However, the obstacle detection device 110 according to the second embodiment... Figures 1-4 and Figure 7 The technical features are basically the same as those of the obstacle detection device 100 involved in the first embodiment, and the description is omitted here.

[0166] Figure 10 This is a schematic diagram illustrating the situation where the obstacle detection device 110 determines whether a stationary obstacle (OBs) is the same object. Figure 10 In this context, let the surface SRs of the obstacle OBs be facing the vehicle 1. Here, "stationary" means absolutely stationary. When the vehicle 1 is moving forward, for example, the relative positional relationship with the vehicle 1 means that the stationary obstacle OBs gradually approaches the vehicle 1.

[0167] The obstacle detection device 110 detects obstacles OBs at a predetermined period. Based on the previously detected data, the obstacle detection device 110 calculates the position of the stationary obstacles OBs as a stationary estimation point ESs, and sets stationary identical object determination regions SAs based on the stationary estimation point ESs. Here, the stationary identical object determination regions SAs are rectangles with a pair of long sides and a pair of short sides. However, it is not limited to this; they can also be squares, parallelograms, or simple quadrilaterals. Alternatively, they can have only a predetermined shape.

[0168] Furthermore, the obstacle detection device 110 calculates the position of the moving obstacle OBm based on the previously detected data as a movement estimation point ESm, and sets the moving object determination area SAm according to the movement estimation point ESm. Here, the movement of the moving obstacle OBm refers to the absolute movement of the obstacle. Assuming that the moving obstacle OBm and vehicle 1 are moving in the same direction and at the same speed, the relative positional relationship between vehicle 1 and the moving obstacle OBm is considered as stationary. As an example of the moving obstacle OBm, other vehicles traveling in front of vehicle 1 in a traffic jam can be considered. In addition, the moving object determination area SAm is a rectangle with a pair of long sides and a pair of short sides, but is not limited to this. It can also be a square, a parallelogram, or a simple quadrilateral. Alternatively, it can only have a specified shape.

[0169] The previous data refers to the position coordinates of obstacles OBs or OBm calculated based on transmitted and reflected sound waves that were emitted and received before the subsequently emitted sound waves. The obstacle detection device 110 calculates the stationary estimated point ESs and the moving estimated point ESm based on this previous data.

[0170] The stationary estimation point ESs is obtained by calculating the relative position of vehicle 1 from the current time point to the coordinates of the previously detected stationary obstacles OBs and moving obstacles OBm, based on the coordinates of the last detected stationary obstacles OBs and moving obstacles OBm, as well as the amount of movement and turning angle of vehicle 1 from the last detection to the present. This stationary estimation point ESs estimates the position of stationary obstacles that may be detected based on the next emitted acoustic wave.

[0171] The stationary object determination region SAs is a rectangular region centered on the calculated stationary estimation point ESS, with a pair of long sides and a pair of short sides. The length of the pair of long sides is determined by the distance from vehicle 1 (distance in the X direction).

[0172] The motion estimation point ESm is calculated by taking into account the coordinates of the previously detected stationary obstacles OBs and moving obstacles OBm, as well as the amount of movement and turning angle of vehicle 1 from the time of the last detection to the present. This motion estimation point ESm estimates the position of moving obstacles that may be detected by the next transmitted acoustic wave. Since the moving object detection area SAm is based on the premise that the moving obstacle OBm is moving, it is set at a position farther than the stationary object detection area SAs relative to vehicle 1.

[0173] The region SAm for determining the movement of the same object is a rectangular region centered on the calculated movement estimate point ESm, consisting of a pair of long sides and a pair of short sides. The length of the pair of long sides is determined by the distance from vehicle 1 (distance in the X direction).

[0174] The obstacle detection device 110 then emits a transmitted sound wave for measurement. Based on the emitted and reflected sound waves, the obstacle detection device 110 calculates the position coordinates of the ranging point MSe, which represents the position of the obstacle. Next, the obstacle detection device 110 determines whether the calculated ranging point MSe is located within the stationary object detection area SAs and the moving object detection area SAm, both of which were set based on the previous data.

[0175] like Figure 10 As shown, when the ranging point MSe is located within the stationary same object determination area SAs set based on the previous data, that is, when the stationary same object determination is valid, the reliability of the detected obstacle is improved as described later.

[0176] In addition, Figure 10 and Figure 11In this design, the stationary identical object determination area SAs and the moving identical object determination area Sam are set separately and without overlap, but this is not a limitation. The stationary identical object determination area SAs and the moving identical object determination area SAm can also be set with partial overlap (not shown). However, even in this case, the portion of the moving identical object determination area SAm that does not overlap with the stationary identical object determination area SAs is set at a position farther than the stationary identical object determination area SAs relative to vehicle 1.

[0177] Figure 11 This is a schematic diagram illustrating the obstacle detection device 110's identification of a moving obstacle OBm as a single object. Besides the moving obstacle OBm being in motion, [the following text appears to be unrelated and possibly a separate sentence fragment:] ...and Figure 10 Same. Figure 11 In the diagram, the surface SRm of obstacle OBm is positioned directly opposite vehicle 1. Obstacle detection device 110 calculates the position coordinates of a ranging point MSe, representing the obstacle's location, based on the transmitted and reflected sound waves. Next, obstacle detection device 110 determines whether the calculated ranging point MSe is located within a stationary object detection area SAs established based on previous data, and whether it is located within a moving object detection area SAm.

[0178] like Figure 11 As shown, when the ranging point MSe is located within the same moving object determination area SAm set based on the previous data, that is, when the same moving object determination is established, the reliability of the detected obstacle is improved as described later.

[0179] Figure 12 This is a state transition diagram showing the state transitions related to the reliability of the obstacle detected by the obstacle detection device 110. Figure 12 In the state transition diagram, ST1, ST2, TR11, TR12, TR23, TR34, and TR44 are basically the same as... Figure 9 The state transition diagrams shown are the same, so explanations are omitted here.

[0180] In ST2, such as Figure 10 As explained in the text, if the determination of a stationary, identical object is valid (TR21), the reliability becomes RL2 (ST3), which is higher than the reliability RL1. In ST2, as... Figure 11 If the determination that the same object is moved is true as described in the text (TR22), the reliability becomes reliability RL2 (ST5).

[0181] In ST3, such as Figure 10 In the case where the static, identical object determination is valid (TR31), the reliability becomes RL3 (ST4), which is higher than reliability RL2. In ST3, as... Figure 11As explained in the text, if the determination of moving the same object is true (TR32), the reliability becomes reliability RL3 (ST6). In ST3, if there are probe coordinates but the determination of stationary object is false and the determination of moving object is false (TR33), the system returns to ST2.

[0182] In ST5, such as Figure 10 If the determination of a stationary, identical object is valid (TR52), as explained in the text, the reliability becomes reliability RL3 (ST4). In ST5, as... Figure 11 If the determination of moving the same object is valid as described in the text (TR51), the reliability becomes reliability RL3 (ST6). In ST5, if the probe coordinates disappear (TR54), return to ST1. In ST5, if there are probe coordinates but the determination of stationary object is invalid and the determination of moving object is invalid (TR53), return to ST2.

[0183] In ST4, such as Figure 10 If the determination of a stationary, identical object is valid (TR41), as explained in the text, the reliability remains at reliability RL3 (ST4). In ST4, as... Figure 11 If the determination of moving the same object is valid as described in the text (TR42), the reliability remains at reliability RL3 (ST6). In ST4, if there are detected coordinates but the determination of stationary object is invalid and the determination of moving object is invalid (TR43), the process returns to ST2.

[0184] In ST6, such as Figure 10 If the determination of a stationary, identical object is valid as explained in (TR62), the reliability remains at reliability RL3 (ST4). In ST6, as... Figure 11 If the determination of moving the same object is valid as described in the description (TR61), the reliability remains at reliability RL3 (ST6). In ST6, if the probe coordinates disappear (TR64), return to ST1. In ST6, if the probe coordinates exist but the determination of stationary object is invalid and the determination of moving object is invalid (TR63), return to ST2.

[0185] Thus, as Figure 12 As shown, the obstacle detection device 110 operates in each of the ST1 to ST6 states. Figure 10 The determination of a stationary identical object and Figure 11The movement of the same object is determined, and the state transitions between ST1 and ST6 based on the result. Since reliability RL1 is assigned to ST1, reliability RL2 is assigned to ST3 and ST5, and reliability RL3 is assigned to ST4 and ST6, the reliability is uniquely determined by reliability RL1 to RL3 as the state of the obstacle detection device 110 transitions between ST2 and ST6.

[0186] Therefore, the obstacle detection device 110 has a stationary object identification area SAs for the position of a stationary obstacle and a moving object identification area SAm for the position of a moving obstacle. For stationary obstacles, the stationary object identification area SAs is used to manage the reliability of the obstacle detection results, and for moving obstacles, the moving object identification area SAm is used to manage the reliability of the obstacle detection results. This allows for more appropriate management of the reliability of the detection results for both stationary and moving obstacles, thereby improving the accuracy of the obstacle detection results.

[0187] In addition, the driving assistance device 200, which receives the obstacle detection results and reliability input, can also take reliability into account when controlling the vehicle 1. For example, it can be configured to apply braking to the vehicle 1 and / or suppress the acceleration of the vehicle body only when an obstacle is detected and the reliability is RL3. Alternatively, the brake actuator 24 can be used to apply braking to the vehicle 1 when an obstacle is detected and the reliability is RL2 or RL3.

[0188] Alternatively, the obstacle detection device 110 can be installed in a manner that overlaps with the function of the obstacle detection device 100. Furthermore, the obstacle detection device 110 in... Figure 7 In step S104 shown, the following steps are performed: Figure 10 Examples of static identical objects are shown in the diagram, and in... Figure 11 The example shown is a determination of the movement of the same object by both parties.

[0189] Several embodiments of this disclosure have been described, but these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the invention, as well as the scope of the invention and its equivalents as described in the claims.

[0190] In addition, the techniques described in the first and second embodiments can also be understood as described in C1-C20 below.

[0191] (C1)

[0192] A vehicle that has:

[0193] First wheel;

[0194] The second wheel is configured in a predetermined direction along the rotation direction of the first wheel;

[0195] The vehicle body is coupled to the first wheel and the second wheel, and is capable of moving via the first wheel and the second wheel;

[0196] A sound wave transmitting unit, disposed at a designated end of the vehicle body, is used to emit and transmit sound waves; and

[0197] A sound wave receiving unit, disposed at the designated end of the vehicle body, is used to receive sound waves.

[0198] The sound wave transmitting unit emits a first transmitted sound wave.

[0199] The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave.

[0200] The vehicle determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates the angle of the first obstacle's first surface in the normal direction, with the predetermined direction as a reference.

[0201] The vehicle determines the same object detection area corresponding to the angle of the first obstacle based on the position and angle of the first obstacle.

[0202] Next, the sound wave transmitting unit emits a second transmitted sound wave.

[0203] The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave.

[0204] The vehicle determines the location of the second obstacle based on the second transmitted sound wave and the second reflected sound wave.

[0205] If the location of the second obstacle is outside the same object determination area, the vehicle sets the reliability of the second obstacle to a first reliability level.

[0206] If the location of the second obstacle is within the same object determination area, the vehicle sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0207] The vehicle applies braking to the vehicle body and / or suppresses acceleration of the vehicle body based on the reliability of the second obstacle and the position of the second obstacle.

[0208] (C2)

[0209] According to the vehicle described in C1, wherein...

[0210] It also has control circuitry.

[0211] The control circuit determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates the angle of the first obstacle's first surface in the normal direction, with the predetermined direction as a reference.

[0212] The control circuit sets a target detection area corresponding to the angle of the first obstacle based on the position and angle of the first obstacle.

[0213] The control circuit determines the position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave.

[0214] If the location of the second obstacle is outside the same object determination area, the control circuit sets the reliability of the second obstacle to a first reliability level.

[0215] When the location of the second obstacle is within the same object determination area, the control circuit sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0216] (C3)

[0217] According to the vehicle described in C1 or C2, wherein,

[0218] The same object determination region has a pair of long sides and a pair of short sides.

[0219] The same object determination region is configured such that the orthogonal direction of the long side of the same object determination region is along the normal direction of the first obstacle.

[0220] (C4)

[0221] The vehicle according to any one of C1 to C3, wherein

[0222] The angle relating to the normal direction of the first surface of the first obstacle.

[0223] When the normal direction of the first surface is the same as the specified direction of the vehicle, the angle is 0 degrees.

[0224] The angle is a positive angle when the normal direction of the first surface is to the left of the predetermined direction of the vehicle.

[0225] When the normal direction of the first surface is to the right compared to the predetermined direction of the vehicle, the angle is a negative angle.

[0226] When the normal direction of the first surface is to the left of the predetermined direction of the vehicle, the greater the deviation of the normal direction of the first surface from the predetermined direction of the vehicle, the larger the angle.

[0227] When the normal direction of the first surface is to the right of the prescribed direction of the vehicle, the more the normal direction of the first surface deviates from the prescribed direction of the vehicle, the smaller the angle.

[0228] (C5)

[0229] The vehicle according to any one of C1 to C4, wherein

[0230] The sound wave transmitting unit emits the first transmitted sound wave.

[0231] The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave.

[0232] The vehicle determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates a first angle of the normal direction of the first surface of the first obstacle, with the predetermined direction as a reference.

[0233] The vehicle determines a first identical object detection area corresponding to the first angle of the first obstacle based on the position and the first angle of the first obstacle.

[0234] Next, the sound wave transmitting unit emits a second transmitted sound wave.

[0235] The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave.

[0236] The vehicle determines the position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave, and calculates a second angle of the normal direction of the first surface of the second obstacle, based on the predetermined direction.

[0237] If the location of the second obstacle falls within the first same object determination area, the vehicle sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0238] The vehicle, based on the position and the second angle of the second obstacle, sets a second identical object determination area corresponding to the second angle of the second obstacle.

[0239] Next, the sound wave transmitting unit emits a third transmitted sound wave.

[0240] The sound wave receiving unit receives the third reflected sound wave corresponding to the third transmitted sound wave as the received sound wave.

[0241] The vehicle determines the position of the third obstacle based on the third transmitted sound wave and the third reflected sound wave.

[0242] If the location of the third obstacle falls within the second same object determination area, the vehicle sets the reliability of the third obstacle to a third reliability level that is higher than the second reliability level.

[0243] When the reliability of the third obstacle is the third reliability, the vehicle applies braking to the vehicle body and / or suppresses the acceleration of the vehicle body based on the position of the third obstacle.

[0244] (C6)

[0245] According to the vehicle described in C5, wherein...

[0246] If the location of the third obstacle is outside the second same object determination area, the reliability of the third obstacle is set to the first reliability.

[0247] If the reliability of the third obstacle is the same as the first reliability, braking and / or acceleration of the vehicle body will not be applied based on the position of the third obstacle.

[0248] (C7)

[0249] The vehicle according to any one of C1 to C6, wherein,

[0250] The specified end of the vehicle is the end of the vehicle in the specified direction.

[0251] (C8)

[0252] The vehicle according to any one of C1 to C7, wherein

[0253] It also has a bumper.

[0254] The sound wave transmitting unit and the sound wave receiving unit are disposed on the bumper.

[0255] (C9)

[0256] The vehicle according to any one of C1 to C8, wherein

[0257] It also includes a third wheel and a fourth wheel configured along the specified direction, which is the direction of rotation of the third wheel.

[0258] The third wheel and the fourth wheel are engaged with the vehicle body.

[0259] The vehicle body is capable of movement via the first wheel, the second wheel, the third wheel, and the fourth wheel.

[0260] (C10)

[0261] The vehicle according to any one of C1 to C9 further comprises:

[0262] Braking unit, which applies braking to at least one of the first wheel and the second wheel; and

[0263] A drive unit that applies drive to at least one of the first wheel and the second wheel.

[0264] (C11)

[0265] An obstacle detection device is mounted on a vehicle, the vehicle comprising:

[0266] First wheel;

[0267] The second wheel is configured in a predetermined direction along the rotational direction of the first wheel; and

[0268] The vehicle body, which is connected to the first wheel and the second wheel, and is capable of movement via the first wheel and the second wheel.

[0269] The obstacle detection device includes:

[0270] A sound wave transmitting unit, disposed at a designated end of the vehicle body, is used to emit and transmit sound waves; and

[0271] A sound wave receiving unit, disposed at the designated end of the vehicle body, is used to receive sound waves.

[0272] The sound wave transmitting unit emits a first transmitted sound wave.

[0273] The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave.

[0274] The obstacle detection device determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates the angle of the first obstacle's first surface in the normal direction, with the predetermined direction as a reference.

[0275] The obstacle detection device sets a matching object determination area corresponding to the angle of the first obstacle based on the position and angle of the first obstacle.

[0276] Next, the sound wave transmitting unit emits a second transmitted sound wave.

[0277] The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave.

[0278] The obstacle detection device determines the location of the second obstacle based on the second transmitted sound wave and the second reflected sound wave.

[0279] If the location of the second obstacle is outside the same object detection area, the obstacle detection device sets the reliability of the second obstacle to a first reliability level.

[0280] If the location of the second obstacle is within the same object detection area, the obstacle detection device sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0281] The obstacle detection device outputs a signal to apply braking and / or suppress acceleration of the vehicle body based on the reliability of the second obstacle and the position of the second obstacle.

[0282] (C12)

[0283] According to the obstacle detection device described in C11, wherein,

[0284] It also has control circuitry.

[0285] The control circuit determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates the angle of the first obstacle's first surface in the normal direction, with the predetermined direction as a reference.

[0286] The control circuit sets a target detection area corresponding to the angle of the first obstacle based on the position and angle of the first obstacle.

[0287] The control circuit determines the position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave.

[0288] If the location of the second obstacle is outside the same object determination area, the control circuit sets the reliability of the second obstacle to a first reliability level.

[0289] When the location of the second obstacle is within the same object determination area, the control circuit sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0290] (C13)

[0291] According to the obstacle detection device described in C11 or C12, wherein,

[0292] The same object determination region has a pair of long sides and a pair of short sides.

[0293] The same object determination region is configured such that the orthogonal direction of the long side of the same object determination region is along the normal direction of the first obstacle.

[0294] (C14)

[0295] The obstacle detection device according to any one of C11 to C13, wherein...

[0296] The angle relating to the normal direction of the first surface of the first obstacle.

[0297] When the normal direction of the first surface is the same as the specified direction of the vehicle, the angle is 0 degrees.

[0298] The angle is a positive angle when the normal direction of the first surface is to the left of the predetermined direction of the vehicle.

[0299] When the normal direction of the first surface is to the right compared to the predetermined direction of the vehicle, the angle is a negative angle.

[0300] When the normal direction of the first surface is to the left of the predetermined direction of the vehicle, the greater the deviation of the normal direction of the first surface from the predetermined direction of the vehicle, the larger the angle.

[0301] When the normal direction of the first surface is to the right of the prescribed direction of the vehicle, the more the normal direction of the first surface deviates from the prescribed direction of the vehicle, the smaller the angle.

[0302] (C15)

[0303] The obstacle detection device according to any one of C11 to C14, wherein...

[0304] The sound wave transmitting unit emits the first transmitted sound wave.

[0305] The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave.

[0306] The obstacle detection device determines the position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave, and calculates a first angle of the normal direction of the first surface of the first obstacle, with the predetermined direction as a reference.

[0307] The obstacle detection device sets a first identical object determination area corresponding to the first angle of the first obstacle based on the position and the first angle of the first obstacle.

[0308] Next, the sound wave transmitting unit emits a second transmitted sound wave.

[0309] The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave.

[0310] The obstacle detection device determines the position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave, and calculates a second angle of the normal direction of the first surface of the second obstacle, with the predetermined direction as a reference.

[0311] When the location of the second obstacle falls within the first same object determination area, the obstacle detection device sets the reliability of the second obstacle to a second reliability that is higher than the first reliability.

[0312] The obstacle detection device sets a second identical object determination area corresponding to the second angle of the second obstacle based on the position and the second angle of the second obstacle.

[0313] Next, the sound wave transmitting unit emits a third transmitted sound wave.

[0314] The sound wave receiving unit receives the third reflected sound wave corresponding to the third transmitted sound wave as the received sound wave.

[0315] The obstacle detection device determines the position of the third obstacle based on the third transmitted sound wave and the third reflected sound wave.

[0316] If the location of the third obstacle falls within the second same object determination area, the obstacle detection device sets the reliability of the third obstacle to a third reliability level that is higher than the second reliability level.

[0317] When the reliability of the third obstacle is the third reliability, the obstacle detection device outputs a signal to apply braking to the vehicle body and / or suppress the acceleration of the vehicle body based on the position of the third obstacle.

[0318] (C16)

[0319] According to the obstacle detection device described in C15, wherein,

[0320] If the location of the third obstacle is outside the second same object determination area, the reliability of the third obstacle is set to the first reliability.

[0321] When the reliability of the third obstacle is the first reliability, an output signal is given to prevent braking and / or acceleration of the vehicle body based on the position of the third obstacle.

[0322] (C17)

[0323] The obstacle detection device according to any one of C11 to C16, wherein...

[0324] The specified end of the vehicle is the end of the vehicle in the specified direction.

[0325] (C18)

[0326] The obstacle detection device according to any one of C11 to C17, wherein...

[0327] It also has a bumper.

[0328] The sound wave transmitting unit and the sound wave receiving unit are disposed on the bumper.

[0329] (C19)

[0330] The obstacle detection device according to any one of C11 to C18, wherein...

[0331] The vehicle also includes a third wheel and a fourth wheel configured along the prescribed direction, which is the direction of rotation of the third wheel.

[0332] The third wheel and the fourth wheel are engaged with the vehicle body.

[0333] The vehicle body is capable of movement via the first wheel, the second wheel, the third wheel, and the fourth wheel.

[0334] (C20)

[0335] The obstacle detection device according to any one of C11 to C19, wherein...

[0336] The vehicle also features:

[0337] Braking unit, which applies braking to at least one of the first wheel and the second wheel; and

[0338] A drive unit that applies drive to at least one of the first wheel and the second wheel.

Claims

1. A vehicle, comprising: The first and second wheels are configured in a prescribed direction; The vehicle body is coupled to the first wheel and the second wheel, and is capable of moving via the first wheel and the second wheel; A sound wave transmitting unit, disposed at a designated end of the vehicle body, is used to emit and transmit sound waves; and A sound wave receiving unit, disposed at the designated end of the vehicle body, is used to receive sound waves. in, The sound wave transmitting unit emits a first transmitted sound wave. The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave. The vehicle determines at least the first position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave. The vehicle establishes a stationary identical object determination area and a moving identical object determination area based on the first position of the first obstacle. The moving identical object determination area is located at a position farther than the stationary identical object determination area relative to the vehicle body. Next, the sound wave transmitting unit emits a second transmitted sound wave. The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave. The vehicle determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. When the second position of the second obstacle is outside the stationary object determination area and outside the moving object determination area, the vehicle sets the reliability of the second obstacle to a first reliability level. When the second position of the second obstacle is within the same stationary object determination area or within the same moving object determination area, the vehicle sets the reliability of the second obstacle to a second reliability that is higher than the first reliability. The vehicle applies braking and / or suppresses acceleration of the vehicle body based on the reliability of the second obstacle, which allows the first or second reliability to be obtained, and the second position of the second obstacle.

2. The vehicle according to claim 1, wherein, It also has control circuitry. The control circuit determines the first position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave. The control circuit sets the stationary same object determination area and the moving same object determination area based on the first position of the first obstacle. The control circuit determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. When the second position of the second obstacle is outside the stationary object determination area and outside the moving object determination area, the control circuit sets the reliability of the second obstacle to a first reliability. When the second position of the second obstacle is within the same stationary object determination area or within the same moving object determination area, the control circuit sets the reliability of the second obstacle to the second reliability.

3. The vehicle according to claim 1 or claim 2, wherein, The static same object determination area and the moving same object determination area are set separately.

4. The vehicle according to claim 1 or claim 2, wherein, The static same object determination area and the moving same object determination area are set in a manner that partially overlaps.

5. The vehicle according to claim 1 or claim 2, wherein, The region for determining a stationary identical object is designated as the first region for determining a stationary identical object. The area for determining whether the same object is moved is designated as the first area for determining whether the same object is moved. The sound wave transmitting unit emits the second transmitted sound wave. The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave. The vehicle determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. If the second position of the second obstacle is outside the first stationary object determination area and outside the first moving object determination area, the vehicle sets the reliability of the second obstacle to a first reliability level. If the second position of the second obstacle is within the first stationary object determination area or the first moving object determination area, the vehicle sets the reliability of the second obstacle to a second reliability that is higher than the first reliability. The vehicle establishes a second stationary identical object determination area and a second moving identical object determination area based on the second position of the second obstacle. The second moving identical object determination area is located at a position farther than the second stationary identical object determination area relative to the vehicle body. Next, the sound wave transmitting unit emits a third transmitted sound wave. The sound wave receiving unit receives the third reflected sound wave corresponding to the third transmitted sound wave as the received sound wave. The vehicle determines the third position of the third obstacle based on the third transmitted sound wave and the third reflected sound wave. If the third position of the third obstacle is within the second stationary object determination area or the second moving object determination area, the vehicle sets the reliability of the third obstacle to a third reliability that is higher than the second reliability. When the reliability of the third obstacle is the third reliability, the vehicle applies braking to the vehicle body and / or suppresses the acceleration of the vehicle body based on the third position of the third obstacle.

6. The vehicle according to claim 5, wherein, If the third position of the third obstacle is outside the second stationary object determination area and outside the second moving object determination area, the reliability of the third obstacle is set to the first reliability. If the reliability of the third obstacle is the same as the first reliability, braking and / or acceleration of the vehicle body will not be applied based on the third position of the third obstacle.

7. The vehicle according to claim 1 or claim 2, wherein, The specified end of the vehicle is the end of the vehicle in the specified direction.

8. The vehicle according to claim 1 or claim 2, wherein, It also has a bumper. The sound wave transmitting unit and the sound wave receiving unit are disposed on the bumper.

9. The vehicle according to claim 1 or claim 2, wherein, It also includes a third wheel and a fourth wheel configured along the specified direction, which is the direction of rotation of the third wheel. The third wheel and the fourth wheel are engaged with the vehicle body. The vehicle body is capable of movement via the first wheel, the second wheel, the third wheel, and the fourth wheel.

10. The vehicle according to claim 1 or claim 2, wherein, It also has: Braking unit, which applies braking to at least one of the first wheel and the second wheel; and A drive unit that applies drive to at least one of the first wheel and the second wheel.

11. An obstacle detection device, mountable on a vehicle, the vehicle comprising: a first wheel and a second wheel arranged along a predetermined direction; a body coupled to the first wheel and the second wheel and movable via the first wheel and the second wheel; a sound wave transmitting unit disposed at a predetermined end of the body for transmitting sound waves; and a sound wave receiving unit disposed at the predetermined end of the body for receiving sound waves. in, The sound wave transmitting unit emits a first transmitted sound wave. The sound wave receiving unit receives the first reflected sound wave corresponding to the first transmitted sound wave as the received sound wave. The obstacle detection device determines at least the first position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave. The obstacle detection device sets a stationary identical object detection area and a moving identical object detection area based on the first position of the first obstacle. The moving identical object detection area is located at a position farther than the stationary identical object detection area relative to the vehicle body. Next, the sound wave transmitting unit emits a second transmitted sound wave. The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave. The obstacle detection device determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. When the second position of the second obstacle is outside the stationary object detection area and outside the moving object detection area, the obstacle detection device sets the reliability of the second obstacle to a first reliability level. When the second position of the second obstacle is within the same stationary object determination area or within the same moving object determination area, the obstacle detection device sets the reliability of the second obstacle to a second reliability that is higher than the first reliability. The obstacle detection device causes the vehicle body to be braked and / or its acceleration to be suppressed based on the reliability of the second obstacle as the first reliability or the second reliability and the second position of the second obstacle.

12. The obstacle detection device according to claim 11, wherein, It also has control circuitry. The control circuit determines the first position of the first obstacle based on the first transmitted sound wave and the first reflected sound wave. The control circuit sets the stationary same object determination area and the moving same object determination area based on the first position of the first obstacle. The control circuit determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. When the second position of the second obstacle is outside the stationary object determination area and outside the moving object determination area, the control circuit sets the reliability of the second obstacle to a first reliability. When the second position of the second obstacle is within the same stationary object determination area or within the same moving object determination area, the control circuit sets the reliability of the second obstacle to the second reliability.

13. The obstacle detection device according to claim 11 or claim 12, wherein, The static same object determination area and the moving same object determination area are set separately.

14. The obstacle detection device according to claim 11 or claim 12, wherein, The static same object determination area and the moving same object determination area are set in a manner that partially overlaps.

15. The obstacle detection device according to claim 11 or claim 12, wherein, The region for determining a stationary identical object is designated as the first region for determining a stationary identical object. The area for determining whether the same object is moved is designated as the first area for determining whether the same object is moved. The sound wave transmitting unit emits the second transmitted sound wave. The sound wave receiving unit receives the second reflected sound wave corresponding to the second transmitted sound wave as the received sound wave. The obstacle detection device determines the second position of the second obstacle based on the second transmitted sound wave and the second reflected sound wave. If the second position of the second obstacle is outside the first stationary object detection area and outside the first moving object detection area, the obstacle detection device sets the reliability of the second obstacle to a first reliability level. If the second position of the second obstacle is within the first stationary object determination area or the first moving object determination area, the obstacle detection device sets the reliability of the second obstacle to a second reliability that is higher than the first reliability. The obstacle detection device sets a second stationary identical object determination area and a second moving identical object determination area based on the second position of the second obstacle. The second moving identical object determination area is located at a position farther than the second stationary identical object determination area, with the vehicle body as a reference. Next, the sound wave transmitting unit emits a third transmitted sound wave. The sound wave receiving unit receives the third reflected sound wave corresponding to the third transmitted sound wave as the received sound wave. The obstacle detection device determines the third position of the third obstacle based on the third transmitted sound wave and the third reflected sound wave. If the third position of the third obstacle is within the second stationary object determination area or the second moving object determination area, the obstacle detection device sets the reliability of the third obstacle to a third reliability that is higher than the second reliability. When the reliability of the third obstacle is the third reliability, the obstacle detection device causes the vehicle body to be braked and / or its acceleration to be suppressed based on the third position of the third obstacle.

16. The obstacle detection device according to claim 15, wherein, If the third position of the third obstacle is outside the second stationary object determination area and outside the second moving object determination area, the reliability of the third obstacle is set to the first reliability. When the reliability of the third obstacle is the same as the first reliability, the obstacle detection device causes the vehicle body to not be braked and / or its acceleration to be suppressed based on the third position of the third obstacle.

17. The obstacle detection device according to claim 11 or claim 12, wherein, The specified end of the vehicle is the end of the vehicle in the specified direction.

18. The obstacle detection device according to claim 11 or claim 12, wherein, The vehicle also features a bumper. The sound wave transmitting unit and the sound wave receiving unit are disposed on the bumper.

19. The obstacle detection device according to claim 11 or claim 12, wherein, The vehicle also includes a third wheel and a fourth wheel configured along the prescribed direction, which is the direction of rotation of the third wheel. The third wheel and the fourth wheel are engaged with the vehicle body. The vehicle body is capable of movement via the first wheel, the second wheel, the third wheel, and the fourth wheel.

20. The obstacle detection device according to claim 11 or claim 12, wherein, The vehicle also features: Braking unit, which applies braking to at least one of the first wheel and the second wheel; and A drive unit that applies drive to at least one of the first wheel and the second wheel.

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