Obstacle detection device, obstacle detection method, and program

Abstract

To provide an obstacle detection device and method, in which the accuracy of detecting an obstacle is improved.SOLUTION: The obstacle detection device comprises: a plurality of ranging sensors for transmitting an ultrasonic wave and receiving a reflected wave of the ultrasonic wave, which are arranged in a vehicle by being spaced apart in a direction crossing the ultrasonic wave transmission / reception direction; and a control circuit that detects an obstacle in the surrounding of the vehicle on the basis of the reflected wave received by the plurality of ranging sensors. The control circuit includes a determination range adjustment circuit for adjusting the widthwise determination range in the determination region of a first ranging sensor located at a place (inside) closer to the widthwise center of the vehicle than the other ranging sensors among the plurality of ranging sensors.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an obstacle detection device, an obstacle detection method, and a program. [Background technology]

[0002] The obstacle detection device is mounted on a vehicle. The obstacle detection device detects objects such as a preceding vehicle, an obstacle, or a pedestrian. The obstacle detection device has a distance measurement sensor. There are known techniques for the obstacle detection device to perform various controls for improving the traveling safety of the vehicle, such as activating an automatic brake or notifying the driver, based on the object detection result by the distance measurement sensor.

[0003] In the obstacle detection device, multiple distance measurement sensors are arranged at intervals in the vehicle width direction. The multiple distance measurement sensors detect the position of an object by sequentially transmitting ultrasonic waves and receiving reflected waves. However, when there are objects on the left and right ahead of the vehicle in the traveling direction and the distances from the vehicle to the left and right objects are different, the multiple distance measurement sensors may detect ghost positions where no object exists in addition to the actual position of the object. In this case, it is difficult for the obstacle detection device to detect the obstacle with high accuracy. In response to this, for example, there is a technology described in Patent Document 1. The technology described in Patent Document 1 determines whether or not an object actually exists based on the reception times of reflected waves received at two different positions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-080644 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, obstacle detection devices based on existing technology have not been sufficiently considered in terms of appropriately detecting ghost positions where no object is present when the difference in distance between the vehicle and the left and right objects is small.

[0006] The limited embodiments of the present disclosure contribute to providing an obstacle detection device, an obstacle detection method, and a program that improve the accuracy of obstacle detection. [Means for solving the problem]

[0007] An obstacle detection device according to one embodiment of the present disclosure comprises a plurality of ranging sensors that transmit ultrasonic waves and receive reflected ultrasonic waves, and are arranged on a vehicle at intervals in a direction intersecting the transmission and reception direction of the ultrasonic waves, and a control circuit that detects obstacles around the vehicle based on the reflected waves received by the plurality of ranging sensors, and the control circuit has a judgment range adjustment circuit that adjusts the widthwise judgment range of the judgment area of ​​a first ranging sensor that is located closer to the widthwise center of the vehicle than the other ranging sensors among the plurality of ranging sensors.

[0008] In addition, these comprehensive or specific embodiments may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. Effect of the Invention

[0009] According to the obstacle detection device, obstacle detection method, and program of the present disclosure, it is possible to improve the accuracy of obstacle detection.

[0010] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an obstacle detection device according to the present embodiment. [Diagram 2] FIG. 2 is a plan view showing the detection area of ​​a sonar mounted on a vehicle. [Diagram 3] FIG. 3 is a schematic diagram for explaining a determination range by the obstacle detection device. [Figure 4] FIG. 4 is a flowchart illustrating the obstacle detection method. [Diagram 5] FIG. 5 is an explanatory diagram for explaining a vehicle stop determination state when an object is present on one side. [Figure 6] FIG. 6 is an explanatory diagram for explaining a pass-through determination state when an object exists on one side. [Figure 7] FIG. 7 is an explanatory diagram for explaining a vehicle stop determination state when objects exist on both sides. [Figure 8] FIG. 8 is an explanatory diagram for explaining a pass-through determination state when objects exist on both sides. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes a configuration in which each embodiment is combined. In addition, the components in the embodiments include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

[0013] <Obstacle detection device> The vehicle 10 includes a plurality of sonars (distance measuring sensors) 11, 12, 13, and 14 (four in this embodiment), a driving condition detection unit 15, and a control circuit 16.

[0014] The sonars 11, 12, 13, and 14 are arranged, for example, at intervals in the vehicle width direction at the rear end of the vehicle 100. In this embodiment, four sonars 11, 12, 13, and 14 are provided, but five or more sonars may be provided.

[0015] The sonars 11, 12, 13, and 14 each have a transmitting section and a receiving section. The transmitting section and the receiving section may be configured by a single microphone, which may function as a transmitting section during transmission and as a receiving section during reception, or the transmitting section and the receiving section may be configured as a separate transmitting microphone and receiving microphone. The transmitting section transmits ultrasonic waves. The receiving section receives the reflected waves of the ultrasonic waves transmitted by the transmitting section. The sonars 11, 12, 13, and 14 transmit ultrasonic waves backward from the rear end of the vehicle 100, and receive the reflected waves that are reflected when the ultrasonic waves collide with an object. Here, the object or obstacle is a controlled object such as another vehicle, an obstacle, or a pedestrian, and an object that does not impede the running of the vehicle 100, such as an uneven road surface, is a non-controlled object that is not included in the obstacle. The sonars 11, 12, 13, and 14 acquire information on the distance to the object and information on the intensity of the reflected waves.

[0016] The driving condition detection unit 15 is disposed in the vehicle 100. The driving condition detection unit 15 acquires information on the driving condition of the vehicle 100, such as the vehicle speed, acceleration, deceleration, braking force, steering angle, and the like.

[0017] The control circuit 16 is disposed in the vehicle 100. The sonars 11, 12, 13, and 14 and the driving condition detection unit 15 are connected to the control circuit 16. Distance information to an object and intensity information of a reflected wave acquired by the sonars 11, 12, 13, and 14 are input to the control circuit 16. In addition, information such as vehicle speed, acceleration, deceleration, braking force, steering angle, and the like as the driving condition of the vehicle 100 acquired by the driving condition detection unit 15 is input to the control circuit 16.

[0018] The control circuit 16 has an object detection unit 21, a collision prediction unit 22, and a driving control circuit 23. The object detection unit 21 has a determination range adjustment circuit 24.

[0019] The control circuit 16 detects an obstacle behind the vehicle based on information on the distance to the object and information on the intensity of the reflected wave input from the sonars 11, 12, 13, and 14, and information on the vehicle speed, acceleration, deceleration, braking force, steering angle, etc. of the vehicle 100 input from the driving condition detection unit 15, and controls the driving of the vehicle 100.

[0020] The object detection unit 21 receives information on the distance to the object, information on the intensity of the reflected wave, and information such as the vehicle speed, acceleration, deceleration, braking force, and steering angle of the vehicle 100. The object detection unit 21 calculates the coordinates and reliability level of the object based on the information on the distance to the object and information such as the vehicle speed, acceleration, deceleration, braking force, and steering angle of the vehicle 100. The object detection unit 21 also determines whether the detected object is a controlled object or a non-controlled object based on the intensity information of the reflected wave.

[0021] The collision prediction unit 22 receives the coordinates and reliability level of the object calculated by the object detection unit 21, and the result of the determination by the object detection unit 21 as to whether the object is a controlled object or a non-controlled object. The collision prediction unit 22 also receives information such as the vehicle speed, acceleration, deceleration, braking force, and steering angle of the vehicle 100. The collision prediction unit 22 compares the positions and movements of the vehicle 100 and the object determined to be a controlled object with a preset control determination area, and determines whether the vehicle 100 will collide with the object.

[0022] The traveling control circuit 23 receives the judgment result of whether or not the vehicle 100 will collide with an object, as judged by the collision prediction unit 22. The traveling control circuit 23 controls the traveling state of the vehicle 100 based on the judgment result of the collision prediction unit 22. The driving device 31 and the braking device 32 of the vehicle 100 are connected to the traveling control circuit 23. The driving device 31 moves the vehicle 100 forward and backward, and the braking device 32 stops the vehicle 100. When the judgment result that the vehicle 100 will not collide with an object is input, the traveling control circuit 23 drives and controls the driving device 31 of the vehicle 100 to make the vehicle 100 travel. On the other hand, when the judgment result that the vehicle 100 will collide with an object is input, the traveling control circuit 23 drives and controls the braking device 32 of the vehicle 100 to stop the vehicle 100.

[0023] The judgment range adjustment circuit 24 adjusts the judgment range in the width direction in the judgment area of ​​the sonar 12, 13 located near (inside) the center of the vehicle 100 in the width direction among the multiple sonars 11, 12, 13, 14. The judgment range adjustment circuit 24 is capable of switching between a wide reference judgment range obtained by adding a first length to the width of the vehicle 100 and a narrow corrected judgment range obtained by subtracting a second length from the width of the vehicle 100. The first length and the second length may be the same length or different lengths.

[0024] In the case where there are four sonars, the sonars 12 and 13 located near the center in the width direction of the vehicle 100 (inside) are called the first sonar or first distance measurement sensor, and the sonars 11 and 14 located far from the center in the width direction of the vehicle 100 (outside) are called the second sonar or second distance measurement sensor. In the case where there are six sonars, the two sonars located near the center in the width direction of the vehicle 100 (inside) are called the first sonar or first distance measurement sensor, and the remaining four sonars are called the second sonar or second distance measurement sensor. The second length may be changed depending on the distance measurement result of the first sonar.

[0025] The judgment range adjustment circuit 24 switches from the standard judgment range to the corrected judgment range when the sonars 12, 13 located near (inside) the center of the vehicle 100 in the width direction detect objects on both sides of the traveling direction of the vehicle 100. The judgment range adjustment circuit 24 adjusts the corrected judgment range based on the amount of deviation between the center position between the objects on both sides of the traveling direction of the vehicle 100 and the center position of the vehicle 100 in the width direction. Note that the judgment range adjustment circuit 24 does not need to adjust the judgment range when the vehicle speed is equal to or lower than a preset low speed.

[0026] The process of the judgment range adjustment circuit 24 will be described in detail later.

[0027] 2, the sonars 11, 12, 13, and 14 are disposed at intervals in the vehicle width direction at the rear end 101 of the vehicle 100. However, the sonars 11, 12, 13, and 14 may be provided at the front end 102 or left and right side portions 103 and 104 of the vehicle 100 other than at the rear end 101.

[0028] The sonars 11, 12, 13, and 14 are set with respective judgment areas S0, S1, S2, S3, S4, S5, and S6. The judgment areas S0, S1, S2, S3, S4, S5, and S6 are the areas where ultrasonic waves are transmitted by the transmitting units of the sonars 11, 12, 13, and 14, and are also the receiving areas of the receiving units. The judgment areas S0, S1, S2, S3, S4, S5, and S6 are formed by a combination of two sonars 11, 12, 13, and 14 out of the multiple sonars 11, 12, 13, and 14.

[0029] For example, the judgment area S0 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 11 and the indirect wave of sonar 12. The judgment area S1 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 12 and the indirect wave of sonar 11. The judgment area S2 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 12 and the indirect wave of sonar 13. The judgment area S3 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 13 and the indirect wave of sonar 12. The judgment area S4 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 13 and the indirect wave of sonar 14. The judgment area S5 is an area for detecting the position (coordinates) of an object based on the direct wave of sonar 14 and the indirect wave of sonar 13.

[0030] Here, the direct wave refers to a reflected wave of the transmitted wave transmitted by the transmitting section of the sonar 11, 12, 13, 14, reflected by an object, which is received by the receiving section of the transmitting sonar 11, 12, 13, 14 itself. The indirect wave refers to a reflected wave of the transmitted wave transmitted by the transmitting section of the sonar 11, 12, 13, 14, reflected by an object, which is received by the receiving section of the paired sonar 11, 12, 13, 14. For example, in the determination area S0, the receiving section of the sonar 11 receives the reflected wave of the transmitted wave transmitted by the transmitting section of the sonar 11, reflected by an object, as a direct wave. Also, in the determination area S0, the receiving section of the sonar 12 receives the reflected wave of the transmitted wave transmitted by the transmitting section of the sonar 11, reflected by an object, as an indirect wave.

[0031] 3, a case will be described in which the vehicle 100 backs up and parks in a garage 110. The garage 110 has left and right walls 111, 112, and has inclined surfaces 113, 114 at the entrance that continue to the left and right walls 111, 112. In this case, the width of the garage 110 is W, and the width of the vehicle 100 is W1.

[0032] The obstacle detection device 10 detects the position (coordinates) of an object using multiple sonars 11, 12, 13, and 14, and predicts a collision between the vehicle 100 and the object. When objects exist on the left and right of the traveling direction of the vehicle 100, the obstacle detection device 10 predicts whether the vehicle 100 will be able to slip between the left and right objects based on the positions of the objects using the multiple sonars 11, 12, 13, and 14. For example, the obstacle detection device 10 predicts whether the vehicle 100 will be able to slip between the left and right walls 111, 112 and park in the garage 110 without colliding with the left and right inclined surfaces 113, 114 based on the positions of the objects using the multiple sonars 11, 12, 13, and 14.

[0033] However, if there are inclined surfaces 113, 114 on both sides of the vehicle 100 in the backward direction, and the center C1 of the vehicle 100 in the width direction is shifted in the width direction from the center C0 of the garage 110 in the width direction, causing an offset F, the obstacle detection device 10 may detect an object as being present in a ghost position where there is no object in reality. In this case, the sonars 11, 12, 13, 14 are set with judgment areas S0, S1, S2, S3, S4, S5, S6, and it is easy to detect the ghost position in the judgment areas S2, S3 near the center of the vehicle 100 in the width direction (inside).

[0034] 1 and 3, the judgment range adjustment circuit 24 has a reference judgment range A1 that is wider than the width W1 of the vehicle 100 by a predetermined length, and a corrected judgment range A2 that is narrower than the width W1 of the vehicle 100 by a predetermined length. Here, the reference judgment range A1 is set to 105% to 120% of the width W1 of the vehicle 100, and the corrected judgment range A2 is set to 50% to 70% of the reference judgment range A1.

[0035] The judgment range adjustment circuit 24 may set a reference judgment range A1. When the sonars 12, 13 located near the center (inside) of the vehicle 100 in the width direction detect inclined surfaces 113, 114 on the left and right in the backward direction of the vehicle 100, the judgment range adjustment circuit 24 switches from the reference judgment range A1 to the corrected judgment range A2. For example, the judgment range adjustment circuit 24 adjusts the width direction judgment range of the judgment region of the sonars 12, 13 located near the center (inside) of the vehicle 100 in the width direction among the multiple sonars 11, 12, 13, 14 so as to be narrower.

[0036] The judgment range adjustment circuit 24 may adjust the corrected judgment range A2 according to the length of the offset F between the widthwise center C0 of the garage 110 and the widthwise center C1 of the vehicle 100. Specifically, the judgment range adjustment circuit 24 adjusts the width of the corrected judgment range A2 so that it becomes narrower as the length of the offset F becomes longer.

[0037] Also, when the speed of the vehicle 100 is low, the obstacle detection device 10 does not detect the ghost position. Therefore, the judgment range adjustment circuit 24 does not need to adjust the judgment range when the vehicle speed is equal to or lower than a preset low speed. Here, the low speed is 5km / h.

[0038] <Obstacle detection method> 1 and 4, in step S11, the control circuit 16 acquires distance information and reflected wave intensity information from the sonars 11, 12, 13, and 14. In step S12, the control circuit 16 acquires information such as the vehicle speed, acceleration, deceleration, braking force, and steering angle of the vehicle 100 from the running condition detection unit 15.

[0039] In step S13, the control circuit 16 determines whether the acquired information is within the judgment region S2, S3. If the control circuit 16 determines that the acquired information is within the judgment region S2, S3 (Yes), the process proceeds to step S14. In step S14, the control circuit 16 determines whether the speed of the vehicle 100 is equal to or greater than a threshold value (e.g., low speed = 5 km / h). If the control circuit 16 determines that the speed of the vehicle 100 is equal to or greater than the threshold value (Yes), the process proceeds to step S15.

[0040] In step S15, the control circuit 16 determines whether or not an object has been detected on the left or right ahead of the vehicle 100 in the traveling direction. If the control circuit 16 determines that an object has been detected on the left or right ahead of the vehicle 100 in the traveling direction (Yes), the process proceeds to step S16. In step S16, the control circuit 16 calculates an offset amount of the vehicle 100 with respect to the objects on the left and right. In step S17, the control circuit 16 switches from the standard judgment range A1 to the corrected judgment range A2. The control circuit 16 may adjust the corrected judgment range A2 according to the offset amount. Then, in step S18, the control circuit 16 detects an object in the corrected judgment range A2 in the judgment regions S2 and S3.

[0041] On the other hand, if the control circuit 16 determines in step S13 that the acquired information is not for the judgment areas S2 and S3 (No), the process proceeds to step S19. In step S19, the control circuit 16 detects an object in the reference judgment range A1 in the judgment areas S0, S1, S4, and S5. If the control circuit 16 determines in step S14 that the speed of the vehicle 100 is less than the threshold value (No), or if the control circuit 16 determines in step S15 that no object has been detected on the left or right in the forward traveling direction of the vehicle 100 (No), the process proceeds to step S19 and performs the above-mentioned process.

[0042] For example, when the control circuit 16 detects objects on the left and right ahead of the vehicle 100 in the traveling direction, the control circuit 16 detects the objects in the corrected judgment range A2 in the judgment areas S2 and S3, and detects the objects in the reference judgment range A1 in the judgment areas S0, S1, S4, and S5. On the other hand, when the control circuit 16 does not detect objects on the left and right ahead of the vehicle 100 in the traveling direction, the control circuit 16 detects the objects in the reference judgment range A1 in all the judgment areas S0, S1, S2, S3, S4, and S5.

[0043] <Example of obstacle detection method> Figures 5 and 6 are explanatory diagrams for explaining an obstacle detection method when there are no objects on either the left or right side. Figures 5(a) and 6(a) show a detection method for the judgment regions S2 and S3, Figures 5(b) and 6(b) show a detection method for the judgment regions S1 and S4, and Figures 5(c) and 6(c) show a detection method for the judgment regions S0 and S5.

[0044] 5, when an object 121 is present on the left side of the traveling direction of the vehicle 100, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S2 and S3, and therefore detects the object 121 in the reference judgment range A1 and is able to stop the vehicle. Also, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S1 and S4 and the judgment areas S0 and S5, and therefore detects the object 121 in the reference judgment range A1 and is able to stop the vehicle. As a result, the obstacle detection device 10 determines that there is an obstacle.

[0045] 6, when an object 121 is present on the left side of the traveling direction of the vehicle 100, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S2 and S3, and therefore the object 121 can pass through without being detected in the reference judgment range A1. Also, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S1 and S4 and the judgment areas S0 and S5, and therefore the object 121 can pass through without being detected in the reference judgment range A1. As a result, the obstacle detection device 10 determines that there is no obstacle.

[0046] Figures 7 and 8 are explanatory diagrams for explaining an obstacle detection method when there are objects on both the left and right sides. Figures 7(a) and 8(a) show a detection method for the judgment regions S2 and S3, Figures 7(b) and 8(b) show a detection method for the judgment regions S1 and S4, and Figures 7(c) and 8(c) show a detection method for the judgment regions S0 and S5.

[0047] 7, when objects 121, 122, and 123 are present on both sides of the traveling direction of the vehicle 100, the obstacle detection device 10 applies the corrected judgment range A2 to the judgment areas S2 and S3, and therefore the object 121 can pass through without being detected in the corrected judgment range A2. In addition, the obstacle detection device 10 applies the standard judgment range A1 to the judgment areas S1 and S4 and the judgment areas S0 and S5, and therefore the object 123 can be detected in the standard judgment range A1 and the vehicle can be stopped. As a result, the obstacle detection device 10 determines that there is an obstacle.

[0048] As shown in FIG. 6, when objects 121 and 122 are present on both sides of the traveling direction of the vehicle 100, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S2 and S3, and therefore the objects 121 and 122 can pass through without being detected in the corrected judgment range A2. At this time, the ghost object 124 is outside the corrected judgment range A2 and can pass through. In addition, the obstacle detection device 10 applies the reference judgment range A1 to the judgment areas S1 and S4 and the judgment areas S0 and S5, and therefore the objects 121 and 122 can pass through without being detected in the reference judgment range A1. As a result, the obstacle detection device 10 determines that there is no obstacle.

[0049] [Effects of this embodiment] The obstacle detection device of the first embodiment comprises a plurality of sonars (distance measuring sensors) 11, 12, 13, 14 that transmit ultrasonic waves and receive reflected ultrasonic waves, and are arranged on the vehicle 100 at intervals in a direction intersecting the transmission and reception direction of the ultrasonic waves, and a control circuit 16 that detects obstacles around the vehicle 100 based on the reflected waves received by the plurality of sonars 11, 12, 13, 14, and the control circuit 16 has a judgment range adjustment circuit 24 that adjusts the widthwise judgment range in the judgment areas S2, S3 of the sonar (first distance measuring sensor) 12, 13 that is located closer to the widthwise center of the vehicle 100 than the other sonars 11, 14 among the plurality of sonars 11, 12, 13, 14.

[0050] According to the obstacle detection device of the first aspect, by adjusting the judgment ranges of the judgment areas S2, S3 of the sonars 12, 13, which are located near the center of the vehicle 100 in the width direction (inside) among the multiple sonars 11, 12, 13, 14, it is possible to prevent the detection of objects in ghost positions and improve the accuracy of obstacle detection.

[0051] In the obstacle detection device according to the second aspect, the judgment range adjustment circuit 24 can switch between a wide reference judgment range A1 obtained by adding a first length to the width of the vehicle 100 and a narrow corrected judgment range A2 obtained by subtracting a second length from the width of the vehicle 100. Therefore, by setting the judgment ranges of the judgment areas S2 and S3 of the sonars 12 and 13 located near the center (inside) of the vehicle 100 in the width direction among the multiple sonars 11, 12, 13, and 14 as the corrected judgment range A2 and setting the judgment ranges of the judgment areas S0, S1, S4, S5, and S6 of the sonars 11 and 14 located outside the vehicle 100 in the width direction as the reference judgment range A1, it is possible to properly detect an actual object in the reference judgment range A1 without detecting an object at a ghost position.

[0052] In the obstacle detection device according to the third aspect, the judgment range adjustment circuit 24 switches from the reference judgment range A1 to the corrected judgment range A2 when the sonars 12, 13 located near the center (inside) of the vehicle 100 in the width direction detect objects on both sides in the traveling direction of the vehicle 100. Therefore, it is possible to properly detect an actual object in the reference judgment range A1 without detecting an object in a ghost position.

[0053] In the obstacle detection device according to the fourth aspect, the judgment range adjustment circuit 24 adjusts the corrected judgment range A2 based on the amount of deviation between the center position between the objects on both sides in the traveling direction of the vehicle 100 and the center position in the width direction of the vehicle 100. This makes it possible to improve the accuracy of erroneous detection of an object in a ghost position.

[0054] In the obstacle detection device according to the fifth aspect, the judgment range adjustment circuit 24 does not need to adjust the judgment range when the vehicle speed is equal to or lower than a preset low speed. Therefore, since ghost positions are hardly detected when the vehicle 100 is traveling at a low speed, unnecessary control can be eliminated and control can be simplified.

[0055] Although not shown, the radar device according to an embodiment of the present disclosure includes, for example, a central processing unit (CPU), a storage medium such as a read only memory (ROM) storing a control program, and a working memory such as a random access memory (RAM). In this case, the functions of each of the above-mentioned units are realized by the CPU executing the control program. However, the hardware configuration of the obstacle detection device is not limited to this example. For example, each functional unit of the obstacle detection device may be realized as an integrated circuit (IC). Each functional unit may be individually implemented as a single chip, or may be implemented as a single chip that includes some or all of the functional units.

[0056] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure. In addition, the components in the above embodiments may be arbitrarily combined within the scope of the disclosure.

[0057] In addition, the notation "... part" in the above-mentioned embodiments may be replaced with other notations such as "... circuitry", "... assembly", "... device", "... unit", or "... module".

[0058] In each of the above embodiments, the present disclosure has been described as an example configured using hardware, but the present disclosure can also be realized by software in cooperation with hardware. [Industrial Applicability]

[0059] One embodiment of the present disclosure is useful in an obstacle detection device. [Explanation of symbols]

[0060] 10 Obstacle detection device 11, 12, 13, 14 Sonar (distance measuring sensor) 15. Driving condition detection unit 16 Control circuit 21 Object detection unit 22 Collision Prediction Section 23 Driving control circuit 24 Judgment range adjustment circuit 31 Drive unit 32 Braking device 100 vehicles A1 Criteria Judgment Range A2 Correction Judgment Range S0,S1,S2,S3,S4,S5 Judgment area

Claims

1. a plurality of distance measurement sensors that transmit ultrasonic waves and receive reflected waves of the ultrasonic waves and are disposed at intervals on the vehicle; a control circuit that detects obstacles around the vehicle based on reflected waves received by the plurality of distance measuring sensors; Equipped with the control circuit includes an adjustment circuit for adjusting a widthwise determination range of a determination area of ​​a first distance measurement sensor that is located closer to the center of the vehicle in the width direction than the other distance measurement sensors among the plurality of distance measurement sensors, Obstacle detection device.

2. the adjustment circuit switches between a reference range wider than the width of the vehicle and a correction range narrower than the width of the vehicle; The obstacle detection device according to claim 1 .

3. the adjustment circuit switches from the reference range to the correction range when the first distance measuring sensor detects objects on both sides of the vehicle in the traveling direction. The obstacle detection device according to claim 2 .

4. the adjustment circuit adjusts the correction range based on an offset amount between a center position between objects on both sides in a traveling direction of the vehicle and a center position in a width direction of the vehicle. The obstacle detection device according to claim 2 or 3.

5. the adjustment circuit does not adjust the determination range when the vehicle speed is equal to or lower than a preset low speed; The obstacle detection device according to claim 1 .

6. 1. An obstacle detection method for an obstacle detection device having a plurality of distance measuring sensors that transmit ultrasonic waves and receive reflected waves of the ultrasonic waves and are arranged at intervals on a vehicle, comprising: adjusting a widthwise determination range of a determination region of a first distance measurement sensor that is located closer to a center of the vehicle in the widthwise direction than the other distance measurement sensors among the plurality of distance measurement sensors; An obstacle detection method for detecting obstacles around the vehicle based on reflected waves received by the plurality of distance measuring sensors.

7. The determination range is: The range can be switched between a reference range wider than the width of the vehicle and a correction range narrower than the width of the vehicle. The obstacle detection method according to claim 6.

8. When the first ranging sensor detects an object on both sides of the vehicle's traveling direction, The determination range is switched from the reference range to the correction range. The obstacle detection method according to claim 7.

9. The correction range is adjusted based on an offset amount between a center position between objects on both sides of the vehicle in the traveling direction and a center position in the width direction of the vehicle. The obstacle detection method according to claim 7.

10. The determination range is such that no adjustment is performed when the vehicle speed is equal to or lower than a predetermined low speed. The obstacle detection method according to claim 6.

11. An obstacle detection device having a plurality of distance measuring sensors that transmit ultrasonic waves and receive reflected waves of the ultrasonic waves and are arranged at intervals on a vehicle, adjusting a widthwise determination range of a determination region of a first distance measurement sensor that is located closer to a center of the vehicle in a width direction than the other distance measurement sensors among the plurality of distance measurement sensors; detecting an obstacle around the vehicle based on reflected waves received by the plurality of distance measuring sensors; A program that executes the following.

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