Object detection device and driving assistance system

Abstract

The present invention is provided with: a first detection unit that detects an object by transmitting a supersonic wave in the movement direction of a movable body and receiving a reflected wave of the supersonic wave; a second detection unit that detects an object by transmitting a supersonic wave in the movement direction of the movable body from a position different from that of the first detection unit and receiving a reflected wave of the supersonic wave; an obstacle determination unit that, on the basis of the result of detection of the object by the first detection unit and the result of detection of the object by the second detection unit, determines the presence of an obstacle in the movement direction of the movable body; and a crossing determination unit that, in a state where the obstacle determination unit has determined the presence of the obstacle, determines crossing by the obstacle when the first detection unit has determined non-detection of the object from a state where the object has been detected by the first detection unit and the second detection unit. When the crossing determination unit has determined that crossing has occurred, traveling restriction control for restricting the movement of the movable body is canceled. When a cancellation determination unit for prohibiting cancellation of traveling restriction control of the movable body has determined cancellation prohibition, a traveling control unit is prohibited from cancellation of the traveling restriction control.

Description

[Technical field]

[0001] The present disclosure relates to an object detection device that detects surrounding objects and a driving assistance system. [Background technology]

[0002] Conventionally, it has been proposed to install a distance measuring sensor such as an ultrasonic sensor in a vehicle to detect objects around the vehicle, such as a preceding vehicle or pedestrian obstacles, and based on the object detection results, perform various controls to improve the vehicle's driving safety, such as activating a control device or alerting the driver.

[0003] An object detection device that detects objects around a vehicle is described in Patent Document 1. In the object detection device described in Patent Document 1, when an object is detected by the first detection unit and the second detection unit and then becomes undetected by the first detection unit, it is determined that an obstacle has crossed the road, and the travel restriction control that restricts the movement of the moving body is released. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-81449 A Summary of the Invention

[0005] The present disclosure provides an object detection device that can provide driving assistance in line with the driver's intentions depending on the situation.

[0006] An object detection device according to one aspect of the present disclosure is an object detection device mounted on a moving body and detecting objects present around the moving body, the object detection device including a first detection unit that detects objects by transmitting ultrasonic waves in the moving direction of the moving body and receiving reflected waves of the ultrasonic waves, a second detection unit that detects objects by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving reflected waves of the ultrasonic waves, an obstacle determination unit that determines the presence of an obstacle in the moving direction of the moving body based on a result of object detection by the first detection unit and a result of object detection by the second detection unit, and a crossing determination unit that determines that an obstacle has crossed when a state in which an obstacle has been determined to exist by the obstacle determination unit changes from a state in which an object has been detected by the first detection unit and the second detection unit to a state in which the object is not detected by the first detection unit; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with El The present invention is characterized by the following.

[0007] In addition, a driving assistance system according to an embodiment of the present disclosure includes: A travel control unit that controls the movement of the moving body; a first detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves in the moving direction of the moving body from a position different from the first detection unit and receiving reflected waves of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in the moving direction of the moving body based on a result of object detection by the first detection unit and a result of object detection by the second detection unit; and a crossing determination unit that determines that an obstacle has crossed when a state in which an obstacle has been determined to exist by the obstacle determination unit changes from a state in which an object has been detected by the first detection unit and the second detection unit to a state in which the object is not detected by the first detection unit. a restriction release determination unit that, when the crossing determination unit determines that the vehicle is crossing, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the movement of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with El The present invention is characterized by the following. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an object detection device. [Diagram 2] FIG. 2 is an example of a functional block diagram of the object detection device according to the first embodiment. [Diagram 3]FIG. 3 is a diagram for explaining a method for calculating an estimated position of an obstacle. [Figure 4] FIG. 4 is a diagram showing an object detection state when another vehicle stops in front of the vehicle. [Diagram 5] FIG. 5 is a diagram showing an object detection state when another vehicle moves in front of the vehicle. [Figure 6] FIG. 6 is a flowchart showing the operation of the sonar control unit according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing the operation of the sonar control unit according to the second embodiment. [Figure 8] FIG. 8 is a flowchart showing the operation of the sonar control unit according to the third embodiment. [Figure 9] FIG. 9 is an example of a functional block diagram of an object detection device according to the fourth embodiment. [Figure 10] FIG. 10 is a diagram showing an object detection state when there is a vehicle following another vehicle. [Figure 11] FIG. 11 is a diagram showing an object detection state when the other vehicle is a trailer having a first container and a second container connected thereto. [Figure 12] FIG. 12 is a flowchart showing the operation of the sonar control unit according to the fourth embodiment. [Figure 13] FIG. 13 is a flowchart showing the operation of the sonar control unit according to the fifth embodiment. [Figure 14] FIG. 14 is a flowchart showing the operation of the sonar control unit according to the sixth embodiment. [Figure 15] FIG. 15 is a flowchart showing the operation of the sonar control unit according to the seventh embodiment. [Figure 16] FIG. 16 is an example of a functional block diagram of an object detection device according to the eighth embodiment. [Figure 17] FIG. 17 is a flowchart showing the operation of the sonar control unit according to the eighth embodiment. [Figure 18] FIG. 18 is a diagram showing an object detection state when crossing determination is performed at the front end of another vehicle. [Figure 19] FIG. 19 is a flowchart showing the operation of the sonar control unit according to the ninth embodiment. [Figure 20] FIG. 20 is a diagram showing an object detection state in a case where the other vehicle according to the tenth embodiment includes a two-wheeled vehicle. [Figure 21] FIG. 21 is a diagram showing an object detection state in a case where the other vehicle according to the modified example includes a two-wheeled vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, each embodiment of the present disclosure will be described in detail with reference to the drawings.

[0010] (First embodiment) A first embodiment embodied as an object detection device 1 mounted on a moving body will be described below with reference to the drawings. The object detection device 1 according to this embodiment is an in-vehicle device mounted on a vehicle 100 as a moving body, and detects objects present around the vehicle 100, such as an obstacle 3 or another vehicle, by receiving object detection information from an obstacle sensor 2. The object detection device 1, together with a vehicle control device 5, constitutes a part of a driving assistance system.

[0011] First, the configuration of an object detection device 1 according to the present embodiment will be described with reference to FIG.

[0012] The obstacle sensor 2 is, for example, an ultrasonic sensor, and has a function of transmitting ultrasonic waves of 20 to 100 kHz as a transmission wave and a function of receiving ultrasonic waves reflected from an object as a reflected wave. In this embodiment, a first detection unit 21 and a second detection unit 22 are attached at a predetermined interval to the front of the vehicle so as to be aligned in the vehicle width direction, which is a direction perpendicular to the traveling direction of the vehicle 100.

[0013] Specifically, the first detection unit 21 is provided to the right of the center line of the vehicle 100. The second detection unit 22 is provided to the left of the center line of the vehicle 100. The first detection unit 21 and the second detection unit 22 are not limited to being attached to the front of the vehicle, and may be attached to, for example, the rear of the vehicle.

[0014] The object detection ranges of the first detection unit 21 and the second detection unit 22 are set as areas in which the reflected waves of the ultrasonic waves transmitted by the first detection unit 21 and the second detection unit 22 can be received. The first detection unit 21 and the second detection unit 22 are attached so that the object detection ranges of the two obstacle sensors 2 partially overlap.

[0015] In this embodiment, the vehicle is provided with two obstacle sensors 2, the first detection unit 21 and the second detection unit 22, but the present disclosure is not limited to this. For example, a plurality of other obstacle sensors 2, such as corner sensors, may be provided separately.

[0016] Next, the configuration of the object detection device 1 will be described. Fig. 2 is a block diagram showing the configuration of the object detection device 1. The object detection device 1 has an obstacle sensor 2 and a sonar control unit 4. The obstacle sensor 2 has a first detection unit 21 and a second detection unit 22. The sonar control unit 4 has a distance calculation unit 41, an obstacle determination unit 42, a crossing determination unit 43, and a restriction release determination unit 44.

[0017] The sonar control unit 4 is mainly composed of a microcomputer including a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and detects the presence or absence of an obstacle 3 around the vehicle based on the detection information of the obstacle 3 received from the obstacle sensor 2.

[0018] The sonar control unit 4 generates a control signal through cooperation between a processor such as the CPU and a program (software) stored in a ROM, etc. The functions of the sonar control unit 4 are not limited to those realized by software, but may be realized by a hardware configuration such as a dedicated circuit.

[0019] Moreover, the object detection device 1 is connected to a vehicle control device 5. The vehicle control device 5 has a driving control unit 51. The vehicle control device 5 is connected to an operation unit 6. The operation unit 6 has an accelerator pedal 61, a brake pedal 62, and a notification unit 63. Here, the vehicle control device 5 is an example of a "driving control unit" in the claims.

[0020] Each of the first detection unit 21 and the second detection unit 22 has a transmission unit (not shown) and a reception unit (not shown). The transmission unit is made of an ultrasonic microphone using a piezoelectric element, and transmits ultrasonic waves having a frequency equal to the input transmission signal to an object such as an obstacle 3, and outputs an electrical signal corresponding to the transmitted ultrasonic waves to the distance calculation unit 41. The transmitted ultrasonic waves are reflected by the object.

[0021] The receiving unit is composed of an ultrasonic microphone using a piezoelectric element like the transmitting unit, and receives ultrasonic waves reflected by an object such as an obstacle 3, converts the ultrasonic waves into an electric signal, and outputs the electric signal to the distance calculation unit 41. The transmitting unit and the receiving unit may be integrated or may exist as separate units. Also, the number of transmitting units and receiving units does not have to be the same. For example, the second detecting unit may have only a receiving unit without a transmitting unit, and the ultrasonic waves transmitted by the transmitting unit of the first detecting unit may be received by the receiving unit of the second detecting unit.

[0022] The distance calculation unit 41 calculates the distance to the object based on the electric signals output from the transmitting unit and the receiving unit. Specifically, the distance to the object is measured based on the time difference between the transmission and reception of the ultrasonic waves from the signals output from the transmitting unit and the receiving unit. The calculated distance is sent as an electric signal to the obstacle determination unit 42. Here, the object refers to a target object including other vehicles, people, walls, etc.

[0023] The obstacle determination unit 42 determines whether or not an obstacle 3 exists based on the electric signal sent from the distance calculation unit 41 and the electric signal output from the receiving unit. Specifically, the obstacle determination unit 42 has a threshold value, and when the signal strength (amplitude) output from the receiving unit is greater than the threshold value, the obstacle determination unit 42 determines that an obstacle 3 exists. The obstacle determination unit 42 may determine whether or not an obstacle 3 exists before the distance calculation unit 41 measures the distance to the object. In this case, the distance calculation unit 41 measures the distance to the obstacle detected by the obstacle determination unit 42 based on the time difference between the transmission and reception of the ultrasonic wave. Here, the obstacle 3 refers to, for example, an object that exists within a predetermined distance from the vehicle 100 in the traveling direction of the vehicle 100.

[0024] The obstacle determination unit 42 may compare the signal strength (amplitude) output from the receiving unit with the threshold value multiple times, and when the signal strength (amplitude) is greater than the threshold value multiple times in succession, the obstacle determination unit 42 may determine that an obstacle 3 exists. Even when the signal strength (amplitude) output from the receiving unit is greater than the threshold value, the obstacle determination unit 42 may not determine that an object is an obstacle if the distance to the object is large based on the distance information sent from the distance calculation unit 41.

[0025] When the obstacle determination unit 42 determines that an obstacle 3 exists, it transmits obstacle information to the driving control unit 51 in the vehicle control device 5. At this time, the driving control unit 51 performs steering control, acceleration suppression control, and braking control of the vehicle 100 as contact avoidance control so that the vehicle 100 does not come into contact with the obstacle 3. Alternatively, the notification unit 63 may notify the driver to call his / her attention. The notification unit is, for example, a speaker or a display.

[0026] In addition, the distance calculation unit 41 not only calculates the distance to the obstacle 3, but also uses the signal information obtained from the first detection unit 21 and the second detection unit 22 to calculate the relative position of the obstacle 3 with respect to the vehicle 100 by utilizing the principle of triangulation.

[0027] Triangulation involves calculating the coordinates of a measurement point based on the distance between two known points and the distance between each of the two known points and the measurement point.

[0028] 3 is a diagram for explaining a method for calculating the position of the obstacle 3. The first detection unit 21, the second detection unit 22, and the obstacle 3 located in front of the first detection unit 21 and the second detection unit 22 are illustrated in a plan view.

[0029] When the sensor that transmits the ultrasonic waves and the sensor that receives them are the same, the received ultrasonic waves are called direct waves, and the sensor that receives them is called a direct detection sensor. In contrast, when the sensor that transmits the ultrasonic waves and the sensor that receives them are different, the received ultrasonic waves are called indirect waves, and the sensor that receives them is called an indirect detection sensor. In Fig. 3, the first detection unit 21 is a direct detection sensor that transmits ultrasonic waves from its own transmission unit and receives them with its own reception unit, while the second detection unit 22 is an indirect detection sensor that receives ultrasonic waves transmitted from the transmission unit of the first detection unit 21 with its own reception unit.

[0030] Distance calculation unit 41 sets up a coordinate system in which a straight line passing through first detection unit 21 and second detection unit 22 is defined as the X-axis, and a straight line passing through the middle between first detection unit 21 and second detection unit 22 and perpendicular to the X-axis is defined as the Y-axis, and calculates the X-coordinate and Y-coordinate of the coordinate system as the position of obstacle 3.

[0031] Specifically, when ultrasonic waves are transmitted from the transmitting unit of the first detection unit 21, reflected by the obstacle 3 and received as direct waves by the receiving unit of the first detection unit 21, the distance calculation unit 41 calculates the distance between the first detection unit 21 and the obstacle 3 based on the direct waves.

[0032] In addition, when the ultrasonic wave reflected by the obstacle 3 is received as an indirect wave by the receiving section of the second detection section 22, the distance calculation section 41 calculates the distance between the second detection section 22 and the obstacle 3 based on the received indirect wave.

[0033] The distance between the origin O, which is the intersection of the X-axis and Y-axis, and the first detection unit 21, and the distance between the origin O and the second detection unit 22 are equal, and this distance is stored in advance in a memory unit (not shown) in the sonar control unit 4.

[0034] Moreover, the distance calculation unit 41 calculates a first time t1 by subtracting the time when the transmission unit of the first detection unit 21 transmitted the ultrasonic wave from the time when the first detection unit 21 received the direct wave. Moreover, the distance calculation unit 41 calculates a second time t2 by subtracting the time when the transmission unit of the first detection unit 21 transmitted the ultrasonic wave from the time when the second detection unit 22 received the indirect wave.

[0035] The value obtained by multiplying the first time t1 by the speed of sound is twice the distance between the first detection unit 21 and the obstacle 3. Moreover, the value obtained by multiplying the second time t2 by the speed of sound is the sum of the distance between the first detection unit 21 and the obstacle 3 and the distance between the second detection unit 22 and the obstacle 3.

[0036] The distance calculation unit 41 can determine the position by calculating the coordinates of the obstacle 3 through triangulation calculations using the distance between the first detection unit 21 and the second detection unit 22 and the measured times, the first time t1 and the second time t2.

[0037] In addition, in Figure 3, an example has been described in which the first detection unit 21 is a direct detection sensor and the second detection unit 22 is an indirect detection sensor, but the distance calculation unit 41 can similarly determine the position of the obstacle 3 even if the first detection unit 21 is an indirect detection sensor and the second detection unit 22 is a direct detection sensor.

[0038] Incidentally, as shown in Fig. 4, there are cases where another vehicle exists as an obstacle 3 blocking the moving direction (which may also be referred to as the traveling direction) of the vehicle 100. In this case, it is possible to determine whether or not there is an obstacle 3 blocking the moving direction of the vehicle 100 based on the detection results of the first detection unit 21 and the second detection unit 22. In the case of Fig. 4, the first detection unit 21 and the second detection unit each detect an object. Fig. 4 illustrates an example in which the moving direction (or traveling direction) of the vehicle 100 is forward of the vehicle 100, but when the vehicle 100 moves backward, the moving direction of the vehicle 100 becomes rearward of the vehicle 100, so the directions illustrated and the wording in the description of the figure should be understood interchangeably.

[0039] 4, another vehicle exists as an obstacle 3 blocking the traveling direction (or the moving direction) of the vehicle 100, so that the ultrasonic waves transmitted by the obstacle sensor 2 are reflected by the side of the other vehicle. The ultrasonic waves transmitted by the first detection unit 21 are reflected by the side of the other vehicle and enter the first detection unit 21 as a direct wave and also enter the second detection unit 22 as an indirect wave. Then, a point on the side of the vehicle ahead is detected as the first obstacle 3a.

[0040] At this time, the determination as to whether the first obstacle 3a exists or not is made based on whether the position of the first obstacle 3a has been stably calculated in multiple transmissions. For example, if the position of the first obstacle 3a can be calculated multiple times in succession, the obstacle determiner 42 determines that the first obstacle 3a exists.

[0041] Similarly, the ultrasonic waves transmitted by the second detection unit 22 are reflected by the side of the other vehicle, and are incident on the second detection unit 22 as direct waves, and are also incident on the first detection unit 21 as indirect waves. Then, a point on the side of the other vehicle is detected as the second obstacle 3b. Whether or not the second obstacle 3b exists is also determined based on whether or not the position of the second obstacle 3b has been stably calculated, as in the case of the first obstacle 3a.

[0042] Then, when the obstacle determination unit 42 determines that either the first obstacle 3a or the second obstacle 3b is present, the driving control unit 51 performs driving restriction control of the vehicle 100, since there is a possibility that the vehicle 100 will come into contact with the obstacle 3, which is the vehicle ahead, if the vehicle 100 is allowed to start moving.

[0043] The driving restriction control includes, for example, acceleration suppression that suppresses the acceleration of the vehicle 100 when the driver operates the accelerator pedal 61, and braking control that brakes the vehicle 100 even if the driver does not operate the brake pedal 62. Alternatively, the driving control unit 51 may perform steering control to prevent contact with the obstacle 3.

[0044] When the obstacle 3 is another vehicle, it may stop in front of the vehicle 100 and then move across in front of the vehicle 100. For example, as shown in Fig. 5, a state in which both the first obstacle 3a and the second obstacle 3b are detected may be transitioned to a state in which the first obstacle 3a is not detected and only the second obstacle 3b is detected, and further, when the other vehicle is no longer present in front of the vehicle 100, a state in which neither the first obstacle 3a nor the second obstacle 3b is detected may be transitioned to.

[0045] 5 has been described with reference to a case where another vehicle moves from right to left in front of the vehicle 100, the same applies to a case where another vehicle moves from left to right in front of the vehicle 100. In this case, the obstacle sensor 2 installed on the front left side of the vehicle 100 may be regarded as the first detection unit 21, and the obstacle sensor 2 installed on the front right side of the vehicle 100 may be regarded as the second detection unit 22.

[0046] At this time, even if the driver of the vehicle 100 recognizes the movement of the other vehicle in front, the driving restriction control is applied until the other vehicle completely passes in front of the vehicle 100. In other words, the driving restriction control is released after waiting for both the first obstacle 3a and the second obstacle 3b to become undetected, so even if the driver recognizes the movement of the other vehicle in front and steps on the accelerator, if the other vehicle has not completely passed in front of the vehicle 100 at that point, the driving restriction control will be activated and the vehicle will not move forward against the driver's will. In addition, the detection time lag also works in the direction of worsening the problem of the driving restriction control. In order to increase the reliability of the detection result, the obstacle detection judges that "an obstacle is present" when an obstacle is detected multiple times in the same distance, and when it has already been judged that "an obstacle is present," the judgment result is not immediately changed to "non-detection" even if the obstacle is not detected once, but the judgment result is changed to "non-detection" when the obstacle is not detected multiple times in a row. The time delay in this change in the detection result is the detection time lag. In other words, even after another vehicle has completely passed in front of vehicle 100, as long as the judgment result that "an obstacle is present" remains unchanged due to the detection time lag, the driving limit control will be activated and the vehicle will not move forward even if the accelerator is depressed.

[0047] This type of driving restriction control is against the will of the driver who is aware of the movement of other vehicles ahead, and therefore needs to be improved. Therefore, a crossing determination unit that determines whether a vehicle is crossing ahead is added. Then, when the crossing determination unit 43 determines that another vehicle is crossing, it sends the determination result to the driving control unit 51, and upon receiving the crossing determination, the driving control unit 51 releases the driving restriction control of the vehicle 100, thereby providing driving support in line with the driver's will.

[0048] Specifically, the crossing determination unit 43 detects the crossing of another vehicle when the state transitions from one in which both the first obstacle 3a and the second obstacle 3b are detected (the first detection unit 21 and the second detection unit 22 are both in a detection state) to one in which the first obstacle 3a is not detected and only the second obstacle 3b is detected (the first detection unit 21 is in a non-detection state and the second detection unit 22 is in a detection state).

[0049] When the crossing determination unit 43 determines that another vehicle is crossing, the driving control unit 51 releases the driving restriction control of the vehicle 100. That is, the acceleration suppression control and the braking control of the vehicle 100 are released. Since the driver is likely to be visually observing another vehicle crossing in front of the vehicle 100, it can be said that releasing the driving restriction control of the vehicle 100 when crossing is detected is driving support that is in line with the driver's intentions.

[0050] However, depending on the driving conditions of the vehicle 100 and the conditions around the vehicle 100, it may be better not to release the driving restriction control of the vehicle 100 in consideration of safety, etc. In this embodiment, the object detection device 1 has a restriction release determination unit 44. The restriction release determination unit 44 determines whether or not to release the driving restriction control depending on the driving conditions of the vehicle 100 and the conditions around the vehicle 100.

[0051] In other words, even if the crossing determination unit 43 determines that another vehicle is crossing, the release of the driving limit control is prohibited in consideration of the driver's safety depending on the driving conditions of the vehicle 100 and the conditions around the vehicle 100. Here, the driving conditions of the vehicle 100 and the conditions around the vehicle 100 are an example of the "predetermined condition" in the claims.

[0052] The term "crossing" refers to another vehicle, which is an obstacle 3, passing in a direction intersecting the moving direction of the vehicle 100 from a state in front of or behind the vehicle 100, which is a moving body, and includes a situation in which, for example, another vehicle enters in front of the vehicle 100 from the right side and then returns to the right side. The crossing determination is not limited to the case where the moving direction is a forward direction, but may be a backward direction. The location where the obstacle sensor is installed is not limited to the front of the vehicle, and rather, there are more cases where the obstacle sensor is installed in the rear of the vehicle. While the front is easy to see from the driver's car, the rear has a wide blind spot for the driver, so the obstacle sensor is installed on the rear bumper of the vehicle to detect obstacles that are not visible to the driver. An example of a situation in which the crossing determination is applied when backing up is when, when backing up the vehicle from a position where the vehicle has been parked forward into a parking space for parallel parking and then leaving the parking space, the vehicle wants to back up behind a vehicle that crosses the rear of the vehicle through the passage. The prior art documents also describe performing crossing determination for vehicles crossing the traveling direction, and are not limited to forward movement.

[0053] In this embodiment, even if the crossing determination unit 43 determines that another vehicle is crossing, if the gear position of the vehicle 100 is in the reverse position, the restriction release determination unit 44 prohibits the release of the driving restriction control.

[0054] The restriction release determination unit 44 determines the driving status of the vehicle 100 based on the gear position. The driving status is, for example, whether the vehicle 100 is moving forward or backward.

[0055] In other words, when the vehicle 100 is moving backwards, the restriction release determination unit 44 prohibits the release of the travel restriction. This is because it is more difficult for the driver to check the safety of the surroundings of the vehicle 100 when the vehicle 100 is moving backwards, compared to when the vehicle 100 is moving forwards. When it is determined that another vehicle is crossing, it is when the other vehicle is detected at least in the traveling direction of the vehicle 100, and if the other vehicle stops before completely passing in the traveling direction of the vehicle 100, there is a risk of collision when the travel restriction is released and the vehicle moves forward. Originally, when an obstacle sensor detects an obstacle, it applies travel restriction (slowing down or braking) to avoid a collision, but when the travel restriction is released due to the crossing determination, the travel restriction does not work, so there is a possibility of a collision. Even if the driving restriction does not work, as long as the driver keeps his / her eyes on the traveling direction, if another vehicle stops without completely passing the traveling direction of the vehicle 100, the driver can step on the brake to brake, or if the other vehicle is slow and takes time to completely pass the traveling direction of the vehicle 100, the driver can ease up on the accelerator to slow down, so collisions do not occur in most cases. However, when reversing, the driver's field of vision may be limited, so there is a risk that the driver will continue reversing without noticing that the other vehicle has stopped or is slow, resulting in a collision. In addition, the driver of a vehicle equipped with an obstacle sensor may step on the accelerator without sufficiently checking for safety, thinking that "the brakes will be applied automatically when there is a risk of collision." In this way, if the driving restriction is released due to the crossing judgment when reversing, there is a risk of a collision. Therefore, when the driver reverses the vehicle 100, the restriction release judgment unit 44 prohibits the release of the driving restriction.

[0056] When the restriction release determination unit 44 prohibits the release of the driving restriction, the prohibition is sent as driving restriction information to the driving control unit 51 in the vehicle control device 5. In this case, the driving control unit 51 maintains the acceleration suppression control or the braking control of the vehicle 100.

[0057] The operation of the sonar control unit 4 according to this embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the operation of the sonar control unit 4. The flowchart shown in Fig. 6 is started when the ignition of the vehicle 100 is turned on, and is executed every time the obstacle sensor 2 transmits ultrasonic waves.

[0058] First, in step S001, the obstacle determination unit 42 determines whether or not the first obstacle 3a has been detected from the received wave signal from the first detection unit 21. If the obstacle determination unit 42 determines that the first obstacle 3a has been detected (YES in step S001), the flow proceeds to step S002. If the obstacle determination unit 42 determines that the first obstacle 3a has not been detected (NO in step S001), the flow returns to before step S001. In addition, if the obstacle determination unit 42 detects the first obstacle 3a, the distance calculation unit 41 calculates the distance to the first obstacle 3a. In addition, if the obstacle determination unit 42 detects the first obstacle 3a in S0001, the obstacle determination unit 42 notifies the driving control unit 51 that an obstacle has been detected, and as a result, the driving control unit 51 executes driving limit control.

[0059] Next, in step S002, the obstacle determination unit 42 determines whether or not the second obstacle 3b has been detected from the wave reception signal from the second detection unit 22. If the obstacle determination unit 42 determines that the second obstacle 3b has been detected (YES in step S002), the flow proceeds to step S003. If the obstacle determination unit 42 determines that the second obstacle 3b has not been detected (NO in step S002), the flow returns to before step S001. Furthermore, if the obstacle determination unit 42 detects the second obstacle 3b, the distance calculation unit 41 calculates the distance to the second obstacle 3b.

[0060] The order of steps S001 and S002 may be random. The obstacle determining unit 42 may detect the second obstacle 3b from the wave receiving signal from the second detecting unit 22 first, and then detect the first obstacle 3a from the wave receiving signal from the first detecting unit 21. The obstacle determining unit 42 may simultaneously determine the detection of the first obstacle 3a and the second obstacle 3b in parallel.

[0061] In step S003, a timer provided in the sonar control unit 4 measures whether or not a predetermined time (e.g., 3 seconds) has elapsed. If the predetermined time has elapsed (YES in step S003), the process proceeds to step S004. If the predetermined time has not elapsed (NO in step S003), the process returns to before step S003. Note that the step of determining whether or not the timer has elapsed the predetermined time is not an essential component of this embodiment.

[0062] In step S004, the obstacle determination unit 42 determines whether or not either the first obstacle 3a or the second obstacle 3b has not been detected based on the received wave signals from the first detection unit 21 and the second detection unit 22. If the obstacle determination unit 42 determines that either the first obstacle 3a or the second obstacle 3b has not been detected (YES in step S004), the flow proceeds to step S005.

[0063] When the obstacle determining unit 42 determines that both the first obstacle 3a and the second obstacle 3b remain detected (NO in step S004), the flow returns to before step S004.

[0064] In step S005, the crossing determination unit 43, to which the obstacle information is sent as a signal from the obstacle determination unit 42 and the distance calculation unit 41, determines that another vehicle has crossed. When the crossing determination unit 43 determines that another vehicle has crossed, the flow chart proceeds to step S006. The crossing information of the other vehicle is sent as a signal to the restriction release determination unit 44.

[0065] In step S006, the restriction release determination unit 44 receives gear position information from the driving information held by the vehicle control device 5. If the gear is in the reverse position (R) (YES in step S006), the restriction release determination unit 44 transmits information to the driving control unit 51 to prohibit the release of the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or the braking control of the vehicle 100 (step S007).

[0066] When the gear is in a position other than the reverse position, such as the parking position (P) or the forward position (D) (NO in step S006), the restriction release determination unit 44 transmits information to the driving control unit 51 to release the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to release the acceleration suppression control or the braking control of the vehicle 100 (step S008).

[0067] After steps S007 and S008, this flow chart ends. The controls performed by the cruise control unit 51 are not limited to the acceleration suppression control and the braking control. The cruise control unit 51 may also perform steering control of the vehicle 100.

[0068] This completes the description of the object detection device 1 according to the first embodiment. In this embodiment, the restriction release determination unit 44 does not necessarily have to be present in the sonar control unit 4. For example, it may be present in the vehicle control device 5. Also, the travel control unit 51 may be present in the object detection device 1. Furthermore, although the distance calculation unit 41, the obstacle determination unit 42, the crossing determination unit, and the restriction release determination unit 44 have been described as having separate functions, they may share or commonize their functions.

[0069] In this embodiment, the restriction release determination unit 44 receives gear position information from the driving control unit 51 as the driving status of the vehicle 100, and then determines whether or not to prohibit the release of the driving restriction, so that driving assistance can be provided in line with the driver's wishes depending on the situation.

[0070] (Second embodiment) Hereinafter, the second embodiment embodied as an object detection device 1a mounted on a vehicle 100 will be described with reference to the drawings. A block diagram of the object detection device 1a according to this embodiment is omitted since it is similar to that of the first embodiment shown in Fig. 2. Also, the principle of detecting the position of an obstacle 3 is similar and therefore omitted.

[0071] The object detection device 1a according to the present embodiment is different from the object detection device 1 according to the first embodiment in the condition under which the restriction release determination unit 44a prohibits the release of the traveling restriction control.

[0072] Specifically, even if the crossing determination unit 43a determines that another vehicle has crossed, if the operation of the accelerator pedal 61 is detected at the time when the obstacle sensor 2a of either the first detection unit 21a or the second detection unit 22a becomes non-detecting from a state in which the first detection unit 21a and the second detection unit 22a have detected the first obstacle 3a and the second obstacle 3b, respectively, the restriction release determination unit 44a prohibits the release of the driving restriction control. Information prohibiting the release of the driving restriction control is sent as a signal to the driving control unit 51 in the vehicle control device 5.

[0073] In other words, if the driver operates the accelerator pedal 61 of the vehicle 100 at the time when the crossing determination unit 43 determines that another vehicle is crossing, the driving control unit 51 maintains the driving restriction control of the vehicle. Note that the restriction release determination unit 44 receives information regarding the operation of the accelerator pedal 61 from the driving control unit 51.

[0074] When the driver operates the accelerator pedal 61 of the vehicle 100, the vehicle 100 may suddenly accelerate and it may be difficult to avoid contact with another vehicle when the crossing determination unit 43a determines that the vehicle is crossing. Therefore, the above control is performed. Even if the driver depresses the accelerator when the crossing determination unit 43a determines that the vehicle is crossing, the risk of contact with another vehicle can be reduced.

[0075] The operation of the sonar control unit 4a according to this embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart showing the operation of the sonar control unit 4a. The flowchart shown in Fig. 7 is started when the ignition of the vehicle 100 is turned on, and is executed every time the obstacle sensor 2b transmits ultrasonic waves. Note that steps S001 to S005 are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0076] After step S005, the flowchart proceeds to step S009. In step S009, the restriction release determination unit 44a receives information on whether or not the driver is operating the accelerator of the vehicle 100 from the driving information held by the vehicle control device 5. If the driver is operating the accelerator (YES in step S009), the restriction release determination unit 44a transmits information to the driving control unit 51 to prohibit the release of the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or the braking control of the vehicle 100 (step S010).

[0077] In addition, when the driver is operating the accelerator (YES in step S009), it is preferable that the sonar control unit 4a issues a notification to the notification unit 63 provided in the operation unit 6 requesting the driver not to operate the accelerator pedal 61.

[0078] The driver is notified by visual information, audio information, or other means of transmitting instructions to the driver. Instead of notifying the driver to not operate the accelerator pedal 61, the driver may be notified to operate the brake pedal 62.

[0079] If the driver is not operating the accelerator (NO in step S009), the restriction release determination unit 44 transmits information to the driving control unit 51 to release the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to release the acceleration suppression control or the braking control of the vehicle 100 (step S011). After steps S010 and S011, this flowchart ends.

[0080] (Modification) In the above embodiment, a configuration has been shown in which release of the travel limit control is prohibited if the driver operates the accelerator pedal 61 of the vehicle 100 at the time when the crossing determination unit 43 determines that another vehicle is crossing, but when the driver does not operate the brake pedal 62 of the vehicle 100 when the crossing determination unit 43 determines that another vehicle is crossing, the restriction release determination unit 44a may also prohibit release of the travel limit control. That is, in the flowchart of Fig. 7, step S009: accelerator operation performed may be read as step S009: brake operation not performed.

[0081] When the driver does not operate the brake pedal 62 of the vehicle 100, if the crossing determination unit 43a determines that the vehicle 100 is crossing, the vehicle 100 may suddenly accelerate and collide with another vehicle, so the above control is performed. If the driver is stepping on the brake when the crossing determination unit 43a determines that the vehicle is crossing, the vehicle can be stopped simply by stepping on the pedal, so the risk of colliding with another vehicle even if the vehicle 100 moves forward can be reduced.

[0082] In this modified example, in step S009, the restriction release determination unit 44a receives information on whether or not the driver is braking the vehicle 100 from the driving information held by the vehicle control device 5. When the driver is not braking (YES in step S009), the restriction release determination unit 44a transmits information to the driving control unit 51 to prohibit the release of the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to maintain the acceleration suppression control or the braking control of the vehicle 100 (step S010). When the driver is not braking, it is preferable that the sonar control unit 4a notifies the notification unit 63 provided in the operation unit 6 to request the driver to operate the brake pedal 62.

[0083] If the driver is applying the brakes (NO in step S010), the restriction release determination unit 44 transmits information to the driving control unit 51 to release the driving restriction control. In other words, the driving control unit 51 controls the vehicle 100 to release the acceleration suppression control or the braking control of the vehicle 100 (step S011). After steps S010 and S011, this flowchart ends.

[0084] In step S009 of this modified example, the restriction release determination unit 44a determines whether or not to prohibit release of the driving restriction control depending on whether or not the driver of the vehicle 100 is applying the brakes, but this is not limited to the above.

[0085] Brake operation may be permitted even when the brake is not depressed. In an automatic vehicle, even if the accelerator is not depressed, the vehicle can move forward at a low speed by creeping if the brake is not depressed. If the driver places his / her foot on the brake pedal 62, the driver can immediately depress the brake pedal to stop the vehicle 100 when a danger occurs, which is safer than when the brake is not operated. For example, the driver of the vehicle 100 may detect whether the driver places his / her foot on the brake pedal 62, and the restriction release determination unit 44a may determine whether or not to prohibit the release of the travel restriction control according to the detection result. Note that the time when it is determined in step S009 whether or not the brake is being operated is not limited to the moment when the crossing is detected in step S005. When the first detection unit 21a and the second detection unit 22a detect the first obstacle 3a and the second obstacle 3b, respectively, and the obstacle sensor 2a of either the first detection unit 21a or the second detection unit 22a becomes non-detecting and crossing is determined, if the brake operation is not performed, the release of the travel limit control may be prohibited even if it is not the moment when the crossing is determined. More specifically, it may be considered that the crossing is determined while at least one of the first detection unit 21c and the second detection unit 22c is detecting an obstacle. In other words, even if the driver is braking at the time when the crossing is determined and the travel limit control is released, if the brake operation is no longer performed while an obstacle is detected in front, the release of the travel limit control is prohibited. As a result, even after the crossing is determined and the vehicle starts moving forward, if the state in which the brake is applied by depressing the pedal is not maintained, the travel limit control is performed again to stop the vehicle 100, and the risk of contact with the vehicle in front is further reduced. However, this may cause the driver to feel uncomfortable because braking is applied by releasing the foot from the brake pedal. Therefore, it is preferable that the sonar control unit 4a notifies the notification unit 63 of the operation unit 6 to the driver, requesting the driver to continue operating the brake pedal 62, such as "Release the brake and move forward," even when the driver is operating the brakes. This concludes the description of the object detection device 1a according to the second embodiment.

[0086] In this embodiment, restriction release determination unit 44 determines whether or not to prohibit the release of the driving restriction after receiving accelerator operation information or brake operation information of the driver from driving control unit 51 as the driving status of vehicle 100. Therefore, object detection device 1a of this embodiment has the same effects as those of the first embodiment, and further can reduce the risk of contact with another vehicle because the driver is depressing the accelerator when crossing determination is made.

[0087] (Third embodiment) Hereinafter, the third embodiment, which is embodied as an object detection device 1b mounted on a moving object, will be described with reference to the drawings. A block diagram of the object detection device 1b according to this embodiment is omitted because it is the same as that of the first embodiment shown in FIG.

[0088] An object detection device 1b according to the present embodiment is different from the object detection device 1 according to the first embodiment in the condition under which a restriction release determination unit 44b prohibits the release of the traveling restriction control.

[0089] By applying this embodiment, it is possible to deal with a case where the obstacle detected by one of the detection units is not another vehicle but a fixed object such as a wall or a concrete pillar. Even if the obstacle detected by the other detection unit is a vehicle and moves from the front of the vehicle 100 and is no longer detected, the vehicle 100 does not cross a fixed object such as a wall or a pillar, so the release of the brake must be prohibited in order to prevent the vehicle 100 from colliding with the fixed object. Specifically, even if the crossing determination unit 43b determines that another vehicle has crossed (when the obstacle sensor 2b of either the first detection unit 21b or the second detection unit 22b becomes non-detection from a state in which the first detection unit 21b and the second detection unit 22b detect the first obstacle 3a and the second obstacle 3b, respectively), the restriction release determination unit 44b prohibits the release of the travel restriction control when the variance of the distance information to the second obstacle 3b detected by the second detection unit 22b is equal to or less than a threshold value. Information prohibiting the release of the driving limit control is sent to the driving control unit 51 in the vehicle control device 5 as a signal.

[0090] In other words, for example, when another vehicle crosses from the front right side of the vehicle to the front left side, if the variance of the distance information from the vehicle 100 to the second obstacle 3b detected by the second detection unit 22b, which is the left obstacle sensor 2b, and calculated by the distance calculation unit 41b is below a threshold value, the restriction release determination unit 44b prohibits the release of the driving restriction control.

[0091] 1, the obstacle sensor 2b actually transmits ultrasonic waves that have a spread (object detection range) in the vehicle width direction (horizontal direction) and in the height direction (vertical direction) perpendicular to the traveling direction and vehicle width direction. Also, since the obstacle 3 is an object that has a width and height in the horizontal and vertical directions, the obstacle sensor 2b receives the reflected wave signal corresponding to each point on the obstacle 3.

[0092] Therefore, the distance calculation unit 41b calculates the distance from the vehicle 100 to each point on the obstacle 3 using the time when the obstacle sensor 2b transmitted the wave and the time when the obstacle sensor 2b received each reflected wave corresponding to each point on the obstacle 3.

[0093] Here, when the obstacle 3 is another vehicle, the distance from the vehicle 100 to each point on the obstacle 3 varies. This is because an object such as a vehicle has an uneven surface, and so there is a difference in the time at which ultrasonic waves reflected from the concave and convex parts reach the obstacle sensor 2b. For example, there is a difference in the detected distance between the side of the vehicle body and the wheel part, as the wheel part has a concave part that is recessed further from the side of the vehicle body. In addition, the vehicle body and the tire are made of different materials, and therefore have different reflectivities, which causes a difference in the intensity of the reflected wave.

[0094] On the other hand, when the obstacle 3 is an object with relatively few projections and recesses, such as a wall, the detected distance is generally constant, but the detected distance varies due to the influence of wind, etc., resulting in so-called detection fluctuation. However, the variation caused by the detection fluctuation is smaller than the variation caused by the projections and recesses when the obstacle 3 is another vehicle. Therefore, by evaluating the magnitude of this variation, it is possible to determine whether the obstacle 3 is an object with projections and recesses, such as another vehicle, or an object such as a wall.

[0095] A statistical index called variance is used to evaluate this type of variation. Variance is a value that indicates the degree of dispersion of data, and the greater the dispersion of data, the greater the variance. Variance can be calculated by squaring the deviation (the difference between the numerical value and the average value) and taking the average.

[0096] The obstacle determination unit 42b determines whether the variance of the distance information acquired by the distance calculation unit 41b is equal to or less than a threshold. If the variance of the distance information is equal to or less than the threshold, the obstacle determination unit 42b determines that the obstacle 3 is a fixed object such as a wall. The result of the determination is sent to the restriction release determination unit 44b.

[0097] The restriction release determination unit 44b prohibits the release of the driving restriction control when the obstacle determination unit 42b determines that the obstacle 3 is a fixed object such as a wall (when the variance of the determined distance information is equal to or less than a threshold value) even if the crossing determination unit 43b detects crossing.

[0098] Even when the crossing determination unit 43b determines that another vehicle has crossed (when the first detection unit 21b and the second detection unit 22b detect the first obstacle 3a and the second obstacle 3b, respectively, and then the obstacle sensor 2b of either the first detection unit 21b or the second detection unit 22b goes into non-detection state), there may be cases in which another vehicle has not actually crossed.

[0099] By applying the new embodiment described below, it is possible to deal with the case where the obstacle detected by the two detection units is not another vehicle but a fixed object such as a wall or a concrete pillar. Even if both detection units detect a wall or pillar, one of the detection units may not detect it as an obstacle. At this time, the fixed wall or pillar is not crossed, so the release of the brake must be prohibited to prevent the vehicle 100 from colliding with the fixed object. The ultrasonic waves transmitted by the obstacle sensor 2b are easily affected by wind and outside temperature. This is because the attenuation rate of the ultrasonic waves changes depending on the wind speed and outside temperature. In addition, one reflected wave may be weaker than the other reflected wave depending on the angle of the obstacle surface relative to the detection unit and the difference in material. At this time, if the strength of the reflected wave changes from slightly above to slightly below the threshold at which it is detected as an obstacle, it will no longer be detected as an obstacle. Due to the influence of such conditions around the vehicle 100, the crossing determination unit 43b may erroneously detect that another vehicle has crossed even though there is no crossing. By carrying out the control in this embodiment, even if the crossing determination unit 43b erroneously detects the obstacle 3 as another vehicle crossing due to detection fluctuation, the risk of colliding with the obstacle 3 can be reduced.

[0100] The object detection device 1b of this embodiment can properly determine crossing by evaluating the variance of distance information from the vehicle 100 to the second obstacle 3b, which is detected by the second detection unit 22b and calculated by the distance calculation unit 41b, as the situation around the vehicle 100.

[0101] The operation of the sonar control unit 4b according to this embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart showing the operation of the sonar control unit 4b. The flowchart shown in Fig. 8 is started when the ignition of the vehicle 100 is turned on, and is executed every time the obstacle sensor 2b transmits ultrasonic waves. Note that steps S001 to S005 are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0102] After step S005, the flow chart proceeds to step S012. In step S012, the distance calculation unit 41b calculates the variance of the distance information from the second detection unit 22b to the detected second obstacle 3b. The distance calculation unit 41b sends the calculated variance information to the obstacle determination unit 42b, and the flow chart proceeds to step S013.

[0103] In step S013, the obstacle determination unit 42b determines whether the variance obtained from the distance calculation unit 41b is equal to or less than the threshold. If the variance of the distance information is equal to or less than the threshold (YES in step S013), the restriction release determination unit 44a transmits information to the driving control unit 51 to prohibit the release of the driving restriction control (step S014).

[0104] If the variance of the distance information is greater than the threshold value (NO in step S013), restriction release determination unit 44 transmits information to driving control unit 51 to cancel the driving restriction control (step S015). After steps S014 and S015, this flowchart ends. Note that, in this embodiment, the variance of the distance information is calculated by distance calculation unit 41b, but the variance of the distance information may be calculated by obstacle determination unit 42b.

[0105] (Modification) In the above embodiment, a configuration was shown in which the release of the driving restriction control is prohibited when the variance of the distance information to the obstacle detected by the second detection unit 22b is below a threshold value. In this modified example, however, when the variance of the intensity (amplitude) information of the received signal detected by the second detection unit 22b is below a threshold value, the restriction release determination unit 44a prohibits the release of the driving restriction control.

[0106] As for the variance of the distance information to the obstacle detected by the second detection unit 22b, when the obstacle 3 is an object with relatively few bumps and grooves, such as a wall, the variance of the intensity information of the received signal detected by the second detection unit 22b is smaller than when the obstacle 3 is another vehicle.

[0107] This is because the greater the variation in distance, the greater the variation in the degree of attenuation, and as a result, the greater the variation in the strength of the received signal.

[0108] Therefore, by evaluating the variation in intensity of the received signal, it is possible to determine whether the obstacle 3 is an uneven object such as another vehicle, or an object such as a wall. This concludes the description of the object detection device 1a according to the second embodiment.

[0109] In this embodiment, the restriction release determination unit 44 acquires the variance of distance information from the vehicle 100 to the obstacle 3 detected by the second detection unit 22b or the variance of intensity information of the received signal detected by the second detection unit 22b as the surrounding situation of the vehicle 100 from the obstacle determination unit 42b, and then determines whether or not to prohibit the release of the travel restriction. Therefore, the object detection device 1b of this embodiment has the same effect as the first embodiment, and furthermore, can provide appropriate travel support after determining whether the obstacle 3 is an uneven object such as another vehicle or an object such as a wall. Note that, although the variance is used as an index for evaluating the degree of dispersion of data in this embodiment, the standard deviation may be used.

[0110] (Fourth embodiment) Hereinafter, the fourth embodiment, which is embodied as an object detection device 1c mounted on a moving object, will be described with reference to the drawings.

[0111] 9 is a block diagram of an object detection device 1c according to the present embodiment. The object detection device 1c according to the present embodiment is different from the object detection device 1 according to the first embodiment in that it further includes a third detection unit 23c and a fourth detection unit 24c as an obstacle sensor 2c.

[0112] The third detection unit 23c is installed on the front right side of the vehicle 100 and is installed further outward than the first detection unit 21c. The fourth detection unit 24c is installed on the front left side of the vehicle and is installed further outward than the second detection unit 22c. The third detection unit 23c and the fourth detection unit 24c function as corner sensors that detect an obstacle 3 in an oblique direction of the vehicle 100.

[0113] The first to fourth detection units 21c to 24c are not limited to being installed at the front of the vehicle 100, and may be installed at the rear of the vehicle 100. In the present embodiment, the fourth detection unit 24c is not an essential component, and it is sufficient for the object detection device 1c to have at least the first to third detection units 21c to 23c.

[0114] An object detection device 1c according to the present embodiment is different from the object detection device 1 according to the first embodiment in the condition under which a restriction release determination unit 44c prohibits the release of the traveling restriction control.

[0115] Specifically, when the crossing determination unit 43c determines that another vehicle has crossed (when the first detection unit 21c and the second detection unit 22c detect the first obstacle 3a and the second obstacle 3b, respectively, and either the obstacle sensor 2c of the first detection unit 21c or the second detection unit 22c goes into non-detection), the obstacle determination unit 42c determines whether the third detection unit 23c has detected the third obstacle 3c.

[0116] When the obstacle determination unit 42c detects a third obstacle 3c to the right front of the vehicle 100 from the received signal of the third detection unit 23c, the obstacle determination unit 42c sends the detection signal to the restriction release determination unit 44c. When an obstacle 3c is detected by the third detection unit 23c, the restriction release determination unit 44c prohibits the release of the driving restriction control even if the crossing determination unit 43c determines that another vehicle is crossing. The signal prohibiting the release of the driving restriction control is sent to the driving control unit 51.

[0117] The reason for performing the above control is that, for example, as shown in Fig. 10, even if another vehicle crosses from the front right side of the vehicle 100 to the front left side, there may be a following vehicle in front of the vehicle 100 on the right side. In such a case, if the driving restriction control is released, it may be difficult for the vehicle 100 to avoid contact with the following vehicle. The restriction release determination unit 44c prohibits the release of the driving restriction control, thereby reducing the risk of the vehicle contacting the following vehicle.

[0118] The above control is also effective when the other vehicle is a trailer with a first container and a second container connected to it, and crosses from the front right side to the front left side of the vehicle 100, as shown in Fig. 11. At a container connection section where multiple containers are connected, the reflective surface that reflects the ultrasonic waves transmitted by the obstacle sensor 2c is small, so there may be cases where the obstacle 3 goes undetected. However, the second container exists as an obstacle 3 behind the container connection section.

[0119] Therefore, even if the first detection unit 21c and the second detection unit 22c change from a state in which they have detected the first obstacle 3a and the second obstacle 3b, respectively, to a state in which the first detection unit 21c does not detect the first obstacle 3a, and the crossing determination unit 43c determines that another vehicle (first container) has crossed, the third detection unit 23c will detect the second container as the third obstacle 3c and prohibit the lifting of the travel restriction on the vehicle 100, thereby reducing the risk of a collision with another vehicle.

[0120] In this embodiment, a case where another vehicle crosses from the front right side to the front left side of the vehicle 100 has been described, but the same applies to a case where another vehicle crosses from the front left side to the front right side of the vehicle 100. In this case, the first detection unit 21c and the second detection unit 22c go from a state in which they detect the first obstacle 3a and the second obstacle 3b, respectively, to a state in which the second detection unit 22c does not detect the second obstacle 3b, so that the fourth detection unit 24c only needs to detect the obstacle 3 on the front left side of the vehicle 100.

[0121] The operation of the sonar control unit 4c according to this embodiment will be described with reference to Fig. 12. Fig. 12 is a flowchart showing the operation of the sonar control unit 4c. Note that steps S001 to S005 are the same as those in the first embodiment, so the description will be omitted.

[0122] After step S005, the flowchart proceeds to step S016. In step S016, the obstacle determination unit 42c determines whether or not an obstacle 3 has been detected by the third detection unit 23c. The determination result is sent to the restriction release determination unit 44c. When an obstacle 3 has been detected by the third detection unit 23c (YES in step S016), the restriction release determination unit 44a transmits information to the driving control unit 51 to prohibit the release of the driving restriction control (step S017). Note that the time when it is determined whether or not an obstacle 3 has been detected in step S016 is not limited to the moment when crossing is detected in step S005. When the first detection unit 21c and the second detection unit 22c detect the first obstacle 3a and the second obstacle 3b, respectively, and the first detection unit 21c detects the first obstacle 3a and the crossing determination unit 43c determines crossing, the release of the travel limit control is prohibited when the obstacle 3 is detected, and it may be considered that the crossing is determined while at least one of the first detection unit 21c and the second detection unit 22c is detecting an obstacle. In other words, even if the obstacle 3 is not detected at the time of determining crossing and the travel limit control is released, if the obstacle 3 is detected while an obstacle is detected in front, the release of the travel limit control is prohibited. As a result, even after the vehicle starts moving forward after determining crossing, if a following obstacle is detected, the travel limit control is performed again to stop the vehicle 100 and prevent contact with the vehicle in front or the following vehicle.

[0123] If the third detection unit 23c does not detect the obstacle 3 (NO in step S016), the restriction release determination unit 44 transmits information to the driving control unit 51 to release the driving restriction control (step S018). After steps S017 and S018, the flow chart ends. This concludes the description of the object detection device 1c according to the fourth embodiment.

[0124] In this embodiment, the restriction release determination unit 44 receives detection information of an obstacle other than the other vehicle determined to have crossed by the crossing determination unit 43 as the situation around the vehicle from the third detection unit 23c, and then determines whether or not to prohibit the release of the travel restriction. Therefore, the object detection device 1c of this embodiment has the same effects as the first embodiment, and furthermore, can reduce the risk of the vehicle coming into contact with a following vehicle.

[0125] (Fifth embodiment) Hereinafter, the fifth embodiment, which is embodied as an object detection device 1d mounted on a moving object, will be described with reference to the drawings. A block diagram of the object detection device 1d according to this embodiment is omitted because it is the same as that of the first embodiment shown in FIG.

[0126] The object detection device 1d of this embodiment differs from the object detection device 1 of the first embodiment in that the driving restriction that restricts the movement of the vehicle 100 is lifted only when the vehicle 100 is stopped.

[0127] According to this configuration, it is possible to reliably release the movement restriction while ensuring the safety of the vehicle 100. In addition, it is also possible to move the vehicle 100 forward when there is a line of other vehicles crossing, and to notify the other vehicles of the intention to merge.

[0128] The operation of the sonar control unit 4d according to this embodiment will be described with reference to Fig. 13. Fig. 13 is a flowchart showing the operation of the sonar control unit 4d. Steps S001 to S005 are the same as those in the first embodiment, so the description will be omitted.

[0129] After step S005, the flowchart proceeds to step S019. In step S019, the crossing determination unit 43d acquires information indicating the traveling state of the vehicle 100 from the traveling control unit 51. Specifically, the crossing determination unit 43d acquires information regarding whether the vehicle 100 is stopped. The crossing determination unit 43d determines whether the vehicle 100 is stopped.

[0130] If the vehicle 100 is stopped (YES in step S019), the driving restriction control of the vehicle 100 is released (step S020). In other words, the driving restriction control by the acceleration suppression and braking control of the vehicle 100 is released. If the vehicle 100 is not stopped (NO in step S019), the flow chart is returned to before step S019. In step S020, this flow chart ends.

[0131] (Modification) In the above embodiment, the driving restriction that restricts the movement of vehicle 100 is released only when vehicle 100 is stopped. In this modified example, in addition to the conditions of the above embodiment, if the driving status of vehicle 100 is such that vehicle 100 has stopped and a predetermined time has not yet elapsed, then restriction release determination unit 44d prohibits release of the driving restriction control.

[0132] Immediately after the vehicle 100 stops, it is uncertain whether the driver has stopped by checking whether another vehicle in front of the vehicle 100 has crossed. Therefore, the restriction release determination unit 44d prohibits the release of the travel restriction control until a predetermined time has elapsed after the vehicle 100 stops. Also, by configuring in this manner, the vehicle 100 can indicate to the other vehicles its intention to merge by creeping up to the line of other vehicles crossing in front of the vehicle 100. The predetermined time is, for example, one second.

[0133] (Sixth embodiment) Hereinafter, the sixth embodiment embodied as an object detection device 1e mounted on a moving object will be described with reference to the drawings. A block diagram of the object detection device 1e according to this embodiment is omitted since it is the same as that of the first embodiment shown in FIG.

[0134] The object detection device 1e according to the present embodiment has different conditions for prohibiting the release of the travel restriction compared to the object detection device 1d according to the fifth embodiment. That is, when the crossing determination unit 43e determines that another vehicle is crossing, and even if the vehicle 100 is stopped, the restriction release determination unit 44e prohibits the release of the travel restriction control of the vehicle 100 under certain conditions. The specific conditions will be described in detail in a flowchart.

[0135] The operation of the sonar control unit 4e according to this embodiment will be described with reference to Fig. 14. Fig. 14 is a flowchart showing the operation of the sonar control unit 4e. Steps S001 to S005 and step S019 are similar to those in the fifth embodiment, and therefore their explanation will be omitted. If the vehicle 100 is stopped (YES in step S019), the flowchart proceeds to step S021.

[0136] In step S021, operation information of the accelerator pedal 61 of the vehicle 100 by the driver is obtained from the driving control unit 51. Specifically, information regarding the depression amount of the accelerator pedal 61 is obtained. Here, if the depression amount of the accelerator pedal 61 is equal to or greater than the threshold value (YES in step S021), even if the crossing determination unit 43e detects the crossing of another vehicle and the vehicle 100 is stopped, the restriction release determination unit 44e prohibits the release of the driving restriction control (step S022).

[0137] If the depression amount of the accelerator pedal 61 is smaller than the threshold value (NO in step S021), the restriction release determination unit 44e transmits information to the driving control unit 51 to release the driving restriction control (step S023). After steps S022 and S023, this flowchart ends.

[0138] In this embodiment, even if the crossing determination unit 43e detects another vehicle crossing and the vehicle 100 is stopped, the restriction release determination unit 44e acquires information on the depression amount of the accelerator pedal 61 as the driving condition of the vehicle 100 and then determines whether or not to prohibit the release of the driving restriction control. Therefore, the object detection device 1e of this embodiment has the same effect as the first embodiment, and further, can reduce the risk of contact with another vehicle when the driver strongly depresses the accelerator pedal.

[0139] (Seventh embodiment) Hereinafter, the seventh embodiment embodied as an object detection device 1f mounted on a moving body will be described with reference to the drawings. A block diagram of the object detection device 1f according to this embodiment is omitted since it is the same as that of the first embodiment shown in FIG.

[0140] The object detection device 1f according to this embodiment is different from the object detection device 1d according to the fifth embodiment in the condition for prohibiting the release of the travel restriction. That is, when the crossing determination unit 43f determines that another vehicle is crossing and the vehicle 100 is stopped, the restriction release determination unit 44f prohibits the release of the travel restriction control of the vehicle 100 under certain conditions. The specific conditions will be described in detail in a flowchart.

[0141] The operation of the sonar control unit 4e according to this embodiment will be described with reference to Fig. 15. Fig. 15 is a flowchart showing the operation of the sonar control unit 4f. Steps S001 to S005 and step S019 are similar to those in the fifth embodiment, and therefore their explanation will be omitted. If the vehicle 100 is stopped (YES in step S019), the flowchart proceeds to step S024.

[0142] In step S024, distance information between the vehicle 100 and the obstacle is acquired from the distance calculation unit 41f. If the distance between the vehicle 100 and the obstacle is equal to or less than the threshold (YES in step S024), the restriction release determination unit 44f prohibits the release of the driving restriction control (step S025) even if the crossing determination unit 43f detects the crossing of another vehicle and the vehicle 100 is stopped.

[0143] If the distance from the vehicle 100 to the obstacle is greater than the threshold (NO in step S021), the restriction release determination unit 44e transmits information to the driving control unit 51 to release the driving restriction control (step S026). In steps S025 and S026, this flowchart ends. The threshold of the distance from the vehicle 100 to the obstacle is, for example, 30 cm. Since the obstacle sensor 2f is affected by the reverberation of the ultrasonic waves transmitted by itself, if the distance between the vehicle 100 and the obstacle 3 is too short, it cannot distinguish whether the signal is due to the reverberation of the transmitted ultrasonic waves or the signal reflected by the obstacle 3, and the obstacle 3 cannot be detected. Therefore, the threshold of the distance from the vehicle 100 to the obstacle is set to, for example, the minimum distance at which it is possible to distinguish whether the signal is due to the reverberation of the transmitted ultrasonic waves or the signal reflected by the obstacle 3.

[0144] In this embodiment, even if the crossing determination unit 43f detects the crossing of another vehicle and the vehicle 100 is stopped, the restriction release determination unit 44f acquires information on the distance from the vehicle 100 to the obstacle 3 as the surrounding situation of the vehicle 100, and then determines whether or not to prohibit the release of the travel restriction control. Therefore, the object detection device 1f of this embodiment has the same effect as the first embodiment, and further, even if the distance between the vehicle 100 and the other vehicle is short, the risk of contacting the other vehicle can be reduced. Note that the fifth to seventh embodiments may be combined with the fourth embodiment. In combination with the fourth embodiment, even if the crossing determination unit 43d (43e, 43f) determines the crossing of another vehicle, if an object is detected by two or more (multiple) of at least three detection units, the restriction release determination unit 44f may prohibit the release of the travel restriction control. With this configuration, when there is a high probability that an obstacle 3 other than another vehicle exists, the risk of a collision between the vehicle 100 and the obstacle 3 can be reduced.

[0145] (Eighth embodiment) Hereinafter, an eighth embodiment embodied as an object detection device 1g mounted on a moving body will be described with reference to the drawings.

[0146] FIG. 16 is a block diagram of an object detection device 1g according to this embodiment. The object detection device 1g according to this embodiment is different from the object detection device 1 according to the first embodiment in that the sonar control unit 4g does not include a crossing determination unit, but instead includes a coordinate tracking unit 45g and a collision prediction determination unit 46g. The object detection device 1g according to this embodiment may include a second detection unit 22g, but this is not a required configuration. The object detection device 1g according to this embodiment may also include a crossing determination unit (not shown), but this is not a required configuration.

[0147] Based on the object detection result by the first detection unit 21g, the coordinate tracking unit 45g calculates a predicted trajectory of another vehicle, which is an obstacle 3, crossing the traveling direction of the vehicle 100. Based on the detection result of the first obstacle 3a by the first detection unit 21g, the distance calculation unit 41 calculates the distance between the vehicle 100 and the other vehicle.

[0148] The predicted trajectory (predicted position) of the other vehicle can be calculated from the calculated distance information. The collision prediction determination unit 46g determines the possibility of a collision between the host vehicle 100 and the other vehicle based on the predicted trajectory calculated by the coordinate tracking unit 45g.

[0149] In addition, it is preferable that the object detection device 1g further includes a second detection unit 22g at a position different from that of the first detection unit 21g. The coordinate tracking unit 45g calculates a predicted trajectory of another vehicle, which is an obstacle 3 crossing the traveling direction of the vehicle 100, based on the object detection result of the detection result of the first obstacle 3a by the first detection unit 21g and the detection result of the second obstacle 3b by the second detection unit 22g.

[0150] By further providing a second detection unit 22g at a position different from the first detection unit 21g and using the detection results of the two obstacle sensors 2g, more accurate position information of other vehicles can be obtained. Note that the second detection unit 22g is not limited to an indirect detection sensor and may be a direct detection sensor. By using a direct detection sensor, the collision prediction determination unit 46g can determine the possibility of a collision even with an object whose coordinates cannot be obtained.

[0151] In the first embodiment, when the object detection device 1 detects another vehicle crossing at the rear end of the other vehicle, if the first detection unit 21 does not detect the first obstacle 3a, the crossing determination unit 43 determines that the other vehicle is crossing.

[0152] However, the bumper provided at the rear end of the other vehicle is generally formed with a rounded shape, and due to this rounded shape, it is possible that the reflected wave of the ultrasonic wave transmitted by the obstacle sensor 2 of the object detection device 1 may be received by the obstacle sensor 2 even after the other vehicle has actually passed in front of the vehicle. In other words, depending on the timing of the transmission and reception of waves by the obstacle sensor 2, the traveling control unit 51 may not be able to release the traveling restriction control of the vehicle 100 at the desired timing.

[0153] Furthermore, in the object detection device 1, the ultrasonic waves transmitted by the obstacle sensor 2 are easily affected by external disturbances such as wind and weather, so when the crossing determination unit 43 determines that another vehicle is crossing (when the first detection unit 21 and the second detection unit 22 detect the first obstacle 3a and the second obstacle 3b, respectively, and then the obstacle sensor 2 of either the first detection unit 21 or the second detection unit 22 goes from not detecting the first obstacle 3a or the second detection unit 22, respectively), there is a problem that there is a risk of collision with the other vehicle if the vehicle 100 immediately accelerates rapidly.

[0154] Therefore, in this embodiment, the coordinate tracking unit 45g creates a predicted trajectory of the other vehicle, and the collision prediction determination unit 46g determines the possibility of a collision between the vehicle 100 and the other vehicle based on the predicted trajectory, thereby more accurately detecting the crossing of the other vehicle. In other words, by detecting past position (coordinate) information of the other vehicle in chronological order, the future trajectory of the other vehicle is predicted and the possibility of a collision is evaluated. The specific operation of the sonar control unit 4g will be described in detail with reference to a flowchart.

[0155] The operation of the sonar control unit 4g according to this embodiment will be described with reference to Fig. 17. Fig. 17 is a flowchart showing the operation of the sonar control unit 4g. The flowchart shown in Fig. 17 is started when the ignition of the vehicle 100 is turned on, and is executed every time the obstacle sensor 2 transmits ultrasonic waves. First, in step S027, the obstacle determination unit 42g determines whether or not an obstacle 3 has been detected from the received wave signal from the first detection unit 21g.

[0156] If the obstacle determination unit 42g determines that an obstacle 3 has been detected (YES in step S027), the flow proceeds to step S028. If the obstacle determination unit 42g determines that an obstacle 3 has not been detected (NO in step S027), the flow returns to before step S027. In addition, when the obstacle determination unit 42g detects an obstacle 3, the distance calculation unit 41g calculates the distance to the obstacle 3.

[0157] In step S028, the coordinate tracking unit 45g records or stores the position information Xb of the other vehicle based on the object detection result by the first detection unit 21g. The coordinate tracking unit 45g also records (stores) the recording time Tb. The position information is, for example, the position coordinates of the other vehicle. After that, the flow chart proceeds to step S029.

[0158] In step S029, the coordinate tracking unit 45g checks whether there are any previously recorded detection results. If there are previously recorded detection results (YES in step S029), the latest (previously detected) position information Xa and recording time Ta of another vehicle are extracted from the previously recorded (stored) detection results (step S030). The flow chart then proceeds to step S031. If there are no previously recorded (stored) detection results (NO in step S029), the flow chart returns to before step S027.

[0159] Next, in step S031, the coordinate tracking unit 45g judges whether the difference between the currently recorded position information Xb of the other vehicle and the previously recorded position information Xa of the other vehicle is equal to or less than a threshold value. In this process, it is judged whether the other vehicle whose position information is recorded this time and the other vehicle whose position information is recorded previously are the same object. The difference between Xb and Xa (|Xb-Xa|) indicates the amount of movement of the other vehicle, and if the amount of movement (|Xb-Xa|) is too large, it is highly likely that a different object has been detected, so this process is performed.

[0160] If the difference between Xb and Xa (|Xb-Xa|) is equal to or smaller than the threshold (Th) (YES in step S031), the flow chart proceeds to step S032. If the difference between Xb and Xa (|Xb-Xa|) is greater than the threshold (Th) (NO in step S031), the flow chart returns to before step S027.

[0161] In step S032, the coordinate tracking unit 45g estimates the speed of the other vehicle. Specifically, the coordinates are calculated by differential calculation of the position coordinates of the other vehicle with respect to time. That is, the coordinate tracking unit 45g estimates the speed of the other vehicle by dividing the amount of movement (|Xb-Xa|) by the change in time (Tb-Ta). The coordinate tracking unit 45g can also estimate the acceleration of the other vehicle from the change in the estimated speed with time. The estimated acceleration of the other vehicle can be used to determine the possibility of a collision between the vehicle 100 and the other vehicle, which will be described later. The coordinate tracking unit 45g calculates the predicted trajectory of the other vehicle based on the position information of the detected other vehicle. The flow chart proceeds to step S033.

[0162] In step S033, the collision prediction determination unit 46g determines the possibility of a collision between the vehicle 100 and another vehicle based on the predicted trajectory calculated by the coordinate tracking unit 45g. Specifically, the collision prediction determination unit 46g determines the possibility of a collision using the speed of the other vehicle estimated by the coordinate tracking unit 45g in step S031, the distance from the vehicle 100 to the other vehicle calculated by the distance calculation unit 41g, and the speed of the vehicle 100 acquired from the vehicle control device 5.

[0163] When the collision prediction determination unit 46g determines that the possibility of collision between the vehicle 100 and another vehicle is low (YES in step S033), the restriction release determination unit 44 transmits information to the driving control unit 51 to adjust the control amount of the driving restriction of the vehicle 100 (step S034). The driving control unit 51 adjusts the control amount of the driving restriction control of the vehicle 100. Note that the control amount of the driving restriction is, for example, a specific control amount for suppressing acceleration or performing braking control of the vehicle 100. By reducing the control amount, it is possible to reduce the possibility of the vehicle 100 colliding with another vehicle. Furthermore, when it is determined that the possibility of collision between the vehicle 100 and another vehicle is low, the driving restriction of the vehicle 100 may be released (the control amount of the driving restriction is set to 0).

[0164] If the collision prediction determination unit 46g does not determine that the possibility of a collision between the vehicle 100 and another vehicle is low (NO in step S033), the restriction release determination unit 44g transmits information to the driving control unit 51 to maintain the driving restriction control without adjusting the control amount of the driving restriction (step S035). After steps S034 and S035, this flowchart ends.

[0165] In addition, the collision prediction determination unit 46g determines that the possibility of collision between the vehicle 100 and the other vehicle is low, for example, when the predicted trajectory of the other vehicle calculated by the coordinate tracking unit 45g does not intersect with the traveling direction of the vehicle 100 at the same time. Alternatively, the collision prediction determination unit 46g may calculate the arrival time until the vehicle 100 reaches the position of the other vehicle from the distance information from the vehicle 100 to the other vehicle calculated by the distance calculation unit 41g and the speed information of the vehicle 100 acquired from the vehicle control device 5, and determine that the possibility of collision between the vehicle 100 and the other vehicle is low if the other vehicle that crosses by the arrival time is not within the traveling width of the vehicle 100. In addition, information on the traveling direction of the vehicle 100 and the other vehicle may be obtained from the map information and used to determine the possibility of collision. Acceleration information of the vehicle 100 may be obtained from the vehicle control device 5 and used to determine the possibility of collision between the vehicle 100 and the other vehicle.

[0166] In the object detection device 1g of this embodiment, the collision prediction determination unit 46g determines the possibility of a collision between the vehicle 100 and another vehicle based on the predicted trajectory of the other vehicle calculated by the coordinate tracking unit 45g, and then determines whether or not to release the travel restriction of the vehicle 100. Therefore, the object detection device 1g of this embodiment has the same effects as the first embodiment, and further, can release the travel restriction control of the vehicle 100 at a desired timing.

[0167] In the above description, the object detection device 1g includes the coordinate tracking unit 45g and the collision prediction determination unit 46g, but this is not limited to the present embodiment. The vehicle control device 5 may include either or both of the coordinate tracking unit 45g and the collision prediction determination unit 46g.

[0168] Ninth embodiment Hereinafter, a ninth embodiment embodied as an object detection device 1h mounted on a moving object will be described with reference to the drawings.

[0169] A block diagram of an object detection device 1h according to this embodiment is omitted because it is the same as that of the first embodiment shown in Fig. 2. Also, the principle of detecting the position of an obstacle 3 is similar, so it is omitted.

[0170] The object detection device 1h according to the present embodiment differs from the object detection device 1 according to the first embodiment in the method by which the crossing determination unit 43h determines whether the obstacle 3 has "crossed" the obstacle 3. In the first embodiment, as shown in Fig. 5, the crossing determination unit 43 determines whether the other vehicle has crossed at the rear end of the other vehicle, which is the obstacle 3. Specifically, the crossing determination unit 43 determines whether the other vehicle has crossed the obstacle 3 when the first detection unit 21 and the second detection unit 22 both transition from a detection state to a state in which the first detection unit 21 is not detecting and the second detection unit 22 is detecting.

[0171] However, in the case of the above determination, since the first detection unit 21 and the second detection unit 22 detect the rear end of the other vehicle, the crossing determination unit 43 is delayed in determining that the other vehicle is crossing, and the crossing determination is actually made after the vehicle has passed. Therefore, it is not possible to determine in real time whether the currently detected other vehicle is crossing or not.

[0172] 18, in the object detection device 1h according to this embodiment, the crossing determination unit 43 determines that another vehicle is crossing at the front end of the other vehicle, which is the obstacle 3. Specifically, the crossing determination unit 43h determines that another vehicle is crossing when an object is detected by the first detection unit 21h and the second detection unit 22h both transition from a state in which the object is not detected to a detection state in which the first detection unit 21h and the second detection unit 22h both detect the object.

[0173] In the object detection device 1h of this embodiment, as described above, the crossing judgment unit 43h judges that another vehicle is crossing at the front end of the other vehicle, and therefore, the object detection device 1h can detect the crossing of another vehicle at an earlier timing than when the crossing judgment is made at the rear end of the other vehicle.

[0174] In addition, by detecting the crossing of another vehicle at a relatively early timing, it is possible to provide driving assistance in line with the driver's intentions without excessively controlling the driving restrictions of the vehicle 100. Note that, although a case where another vehicle moves from right to left in front of the vehicle 100 has been described in Fig. 18, the same applies to a case where another vehicle moves from left to right in front of the vehicle 100. In this case, the obstacle sensor 2h installed on the front left side of the vehicle 100 may be the first detection unit 21h, and the obstacle sensor 2h installed on the front right side of the vehicle 100 may be the second detection unit 22h.

[0175] Needless to say, the object detection device 1h in this embodiment can also be applied to the case where the vehicle 100 moves backward. In this case, the first detection unit 21h and the second detection unit 22h provided at the rear of the vehicle 100 detect the crossing of another vehicle.

[0176] In the object detection device 1h, the obstacle sensor 2h may further include two detection units in front of the vehicle 100. The additional two detection units are, for example, corner sensors. By configuring the obstacle sensor 2h with four detection units, the accuracy of crossing determination can be improved.

[0177] When the obstacle sensor 2h is composed of four detection units, the obstacle sensor 2h installed at the front and farthest right of the vehicle 100 is designated as the first detection unit 21h, and the obstacle sensor 2h installed at the front and second farthest right of the vehicle 100 is designated as the second detection unit 22h, and by using the first detection unit 21h and the second detection unit 22h to detect other vehicles crossing, it becomes possible to detect other vehicles crossing at an even earlier timing.

[0178] In this case, the first detection unit 21h and the second detection unit 22h are installed in front of the vehicle 100 to the right of the center of the vehicle 100, but when another vehicle moves from left to right in front of the vehicle 100, the obstacle sensor 2h installed in front of the vehicle 100 to the left of the center of the vehicle 100 can be used as the first detection unit 21h and the second detection unit 22h to detect the crossing of the other vehicle.

[0179] The operation of the sonar control unit 4h according to this embodiment will be described with reference to Fig. 19. First, in step S036, the obstacle determination unit 42h determines whether or not the first obstacle 3a has been detected from the wave reception signal from the first detection unit 21h. If the obstacle determination unit 42h determines that the first obstacle 3a has been detected (YES in step S036), the flow proceeds to step S037. If the obstacle determination unit 42h determines that the first obstacle 3a has not been detected (NO in step S036), the flow returns to before step S036.

[0180] Next, in step S037, the obstacle determiner 42 determines whether or not the second obstacle 3b has been detected based on the wave receiving signal from the second detector 22h. If the obstacle determiner 42h determines that the second obstacle 3b has not been detected (YES in step S037), the flow proceeds to step S038.

[0181] When the obstacle determining unit 42h determines that the second obstacle 3b has been detected (NO in step S037), the obstacle determining unit 42h transmits a signal to the traveling control unit 51 indicating that the first detection unit 21h and the second detection unit 22h have detected the first obstacle 3a and the second obstacle 3b (step S039). In addition, the distance calculation unit 41h calculates the distance to the obstacle 3 from the wave reception signals of the first detection unit 21h and the second detection unit 22h.

[0182] The order of steps S036 and S037 is not limited. The obstacle determining unit 42h may determine the presence or absence of the second obstacle 3b from the wave receiving signal from the second detecting unit 22h first, and then detect the first obstacle 3a from the wave receiving signal from the first detecting unit 21h. The obstacle determining unit 42h may simultaneously determine the presence or absence of the first obstacle 3a and the second obstacle 3b in parallel.

[0183] In step S038, a timer provided in the sonar control unit 4h measures whether or not a predetermined time (e.g., 3 seconds) has elapsed. If the predetermined time has elapsed (YES in step S038), the process proceeds to step S040. If the predetermined time has not elapsed (NO in step S038), the process returns to before step S038. Note that the step of determining whether or not the timer has elapsed a certain time is not an essential component of this embodiment.

[0184] In step S040, if the obstacle determination unit 42h determines from the received signals from the first detection unit 21h and the second detection unit 22h that both the first obstacle 3a and the second obstacle 3b are in a detection state (YES in step S040), the flow proceeds to step S041.

[0185] When the obstacle determining unit 42h determines that either the first obstacle 3a or the second obstacle 3b is undetectable (NO in step S040), the flow returns to a point before step S040.

[0186] In step S041, the crossing determination unit 43h, to which obstacle information has been sent as a signal from the obstacle determination unit 42h and the distance calculation unit 41h, determines that a crossing of another vehicle, which is an obstacle 3, has occurred. When the crossing determination unit 43h determines that another vehicle has crossed, the crossing determination unit 43h transmits the crossing determination information as a signal to the traveling control unit 51 in the vehicle control device 5. When the traveling control unit 51 acquires the crossing determination information of the other vehicle from the crossing determination unit 43h, it releases the traveling restriction control of the vehicle 100 (step S042). In step S042, this flowchart ends.

[0187] In the above flowchart, steps S028 to S035 described in the operation of the sonar control unit 4g of the object detection device 1g according to embodiment 8 may be added after step S041. By including the coordinate tracking unit 45h and the collision prediction determination unit 46h in the object detection device 1h and adding the above steps, the object detection device 1h can determine whether or not to release the travel restriction of the vehicle 100 after the collision prediction determination unit 46h determines the possibility of a collision between the vehicle 100 and another vehicle based on the predicted trajectory of the other vehicle calculated by the coordinate tracking unit 45h, and therefore can release the travel restriction control of the vehicle 100 at a desired timing.

[0188] In the object detection device 1h according to this embodiment, the crossing determination unit 43 determines the crossing of another vehicle at the front end of the other vehicle, which is the obstacle 3 (when an object is detected by the first detection unit 21h and both the first detection unit 21h and the second detection unit 22h transition from a state in which the object is not detected to a detection state). Therefore, the object detection device 1h according to this embodiment has the same effect as the first embodiment, and further, can detect the crossing of another vehicle at an earlier timing compared to a case in which the crossing is determined at the rear end of the other vehicle. Furthermore, since the object detection device 1h according to this embodiment can detect the crossing of another vehicle at a relatively earlier timing, it becomes easier to adjust the brake timing, the driving force suppression amount, the release condition of the crossing state, and the like.

[0189] (Tenth embodiment) A tenth embodiment embodied as an object detection device 1 mounted on a moving object will be described below with reference to the drawings. The block diagram of the object detection device 1 according to this embodiment is similar to FIG. 2 used in the description of the first embodiment, and therefore a description of each part will be omitted. However, the object detection device 1 according to this embodiment is different from the object detection device 1 according to the first embodiment in the condition under which the restriction release determination unit 44 prohibits the release of the driving restriction control. For example, the predetermined condition under which the release of the driving restriction control in this embodiment is prohibited is a condition related to the plurality of objects.

[0190] FIG. 20 is a diagram showing an object detection state in the case where the other vehicle according to the present embodiment includes a two-wheeled vehicle. In FIG. 20, the vehicle 100 is illustrated as having the first detection unit 21, the second detection unit 22, the third detection unit 23, and the fourth detection unit 24, but it is sufficient to have at least the first detection unit 21 and the second detection unit 22. By applying this embodiment, it is possible to deal with a case where the obstacle detected by the multiple detection units is not a single vehicle, but a multiple object such as a four-wheeled vehicle 31a and a two-wheeled vehicle 31b as shown in FIG. In this embodiment, when simply referring to a vehicle, it is assumed to include not only the four-wheeled vehicle 31a but also the two-wheeled vehicle 31b. The two-wheeled vehicle 31b may be a motorcycle or a bicycle. The two-wheeled vehicle 31b may reflect ultrasonic waves less easily than the four-wheeled vehicle 31a, or the strength of reflection may differ depending on the part.

[0191] Specifically, when the two-wheeled vehicle 31b is in front of the object detection device 1, ultrasonic waves are reflected when they hit the main body of the two-wheeled vehicle 31b, especially the engine part, but the ultrasonic waves pass through the spokes of the wheel, so that the two-wheeled vehicle 31b may not be detected as an obstacle. In addition, since it may be difficult to grasp the shape of the two-wheeled vehicle 31b as an obstacle using ultrasonic waves, when there is a four-wheeled vehicle 31a in front of the vehicle 100 and there is a two-wheeled vehicle 31b in front of the four-wheeled vehicle 31a, the detection of the four-wheeled vehicle 31a and the detection of the two-wheeled vehicle 31b in front may be mixed up, and the obstacle determination unit 42 may not be able to distinguish the four-wheeled vehicle 31a and the two-wheeled vehicle 31b as separate obstacles. In this case, even if it is determined that the four-wheeled vehicle 31a has moved in front of the vehicle 100 and crossing has occurred, the two-wheeled vehicle 31b may not necessarily move at the same time, so the release of the brake must be prohibited to prevent the vehicle 100 from colliding with the two-wheeled vehicle 31b. That is, in order to be safe even if the brake is released when it is determined that crossing has occurred, it is necessary as a condition that the object in front of the vehicle 100 is single, so that the release of the brake must be prohibited when there is a suspicion that there are multiple objects in front. Hereinafter, this condition for prohibiting the release of the brake will be called the condition related to the plurality of objects. Specifically, even if the crossing determination unit 43 determines that another vehicle has crossed (for example, when the first detection unit 21 and the second detection unit 22 detect the first obstacle 3a and the second obstacle 3b, respectively, and the obstacle sensor 2 of either the first detection unit 21 or the second detection unit 22 becomes non-detecting), if it is estimated that the obstacle is multiple, that is, that the obstacle is not single, the restriction release determination unit 44 determines that the condition related to the plurality of objects is met, and prohibits the release of the driving restriction control. Information prohibiting the release of the driving restriction control is sent as a signal to the driving control unit 51 in the vehicle control device 5.

[0192] There are several methods for estimating that there are multiple obstacles, and any of them may be used. For example, the obstacle determination unit 42 of this embodiment may determine that two vehicles with different distances have been detected when there are multiple pieces of detected distance information and the difference between the multiple pieces of distance information exceeds a predetermined value, for example, 30 cm. Note that the detected distance information is information indicating the distance calculated by the distance calculation unit 41 from an electrical signal based on an ultrasonic wave received by a receiving unit included in the first detection unit 21 or the second detection unit 22, as described in the first embodiment.

[0193] The predetermined condition for prohibiting the release of the travel limit control in this embodiment is a condition related to the plurality of distance information to the detected obstacle, as described above. More specifically, when there is a plurality of distance information and the difference between the plurality of distance information exceeds a threshold, the restriction release determination unit 44 in this embodiment determines that the condition related to the plurality of objects is met and prohibits the release of the travel limit control. In other words, when the restriction release determination unit 44 in this embodiment determines that the release prohibition prohibits the release of the travel limit control of the moving body under a predetermined condition, it causes the travel control unit 51 to prohibit the release of the travel limit control. Note that the threshold for the difference between the plurality of distance information is 30 cm in this embodiment, but is not limited to this value.

[0194] For example, in the case of Fig. 20, the first detector 21 disposed on the right side of the front center of the vehicle 100 detects the distance A1 of the ultrasonic waves reflected by the four-wheeled vehicle 31a after passing through the spokes of the wheel of the two-wheeled vehicle 31b. In contrast, the second detector 22 disposed on the left side of the front center of the vehicle 100 detects the distance A2 of the ultrasonic waves reflected by the main body of the two-wheeled vehicle 31b, particularly the engine, resulting in a difference in the detected distance information. In general, the side of a single vehicle rarely has large irregularities exceeding 30 cm, and when the two-wheeled vehicle 31b is next to the four-wheeled vehicle 31a, they will not come closer than 30 cm as long as a safe lateral distance is maintained. Therefore, if there are multiple pieces of distance information and the difference in the distance information exceeds 30 cm, it may be assumed that there are two vehicles. Here, the case where there is a difference between the distance information detected by two detection units, that is, the first detection unit 21 and the second detection unit 22, has been described, but it is also applicable to the case where there is a plurality of distance information detected by one detection unit and there is a difference between the plurality of distance information. For example, the second detection unit 22 located to the left of the center of the front of the vehicle 100, or the first detection unit 21 located to the right of the center of the front of the vehicle 100, may receive an ultrasonic wave reflected by the four-wheeled vehicle 31a after a time difference according to the flight distance after receiving an ultrasonic wave reflected by the two-wheeled vehicle 31b. Since the first detection unit 21 or the second detection unit 22 can individually detect the reflected waves received at different times, a plurality of distance information corresponding to each reflected wave can be obtained. In this way, the obstacle determination unit 42 of this embodiment may estimate that there are two vehicles even when there are a plurality of distance information detected by one obstacle detection device and the difference between the plurality of distance information exceeds 30 cm.

[0195] In addition, when the distribution of the intensity (amplitude) information of the received signal detected by the second detection unit 22 has multiple peaks, the restriction release determination unit 44 may prohibit the release of the travel restriction control. When there are multiple obstacles that reflect ultrasonic waves, such as the above-mentioned case where the ultrasonic waves reflected by the two-wheeled vehicle 31b are received and then the ultrasonic waves reflected by the four-wheeled vehicle 31a are received, the distribution of the intensity (amplitude) information of the received signal, i.e., the distribution of the received signal intensity on the time axis, has peaks at positions (times) corresponding to the distances to each of the multiple obstacles, so the obstacle determination unit 42 of this embodiment may determine that there are two obstacles at different distances if there are two peaks. Since the reflected wave from the two-wheeled vehicle 31b tends to have a low intensity, if there is a second peak at a position different from that of the reflected wave from the four-wheeled vehicle 31a, the plurality of obstacles may be estimated even if the intensity does not reach the threshold for detecting an obstacle. If the difference in distance corresponding to the difference in the positions of these two peaks exceeds 30 cm, the possibility that the waves are reflected at different positions on the side of a single vehicle can be eliminated. Therefore, if the intensity distribution has two peaks and the difference in distance corresponding to the difference in the positions of the peaks exceeds 30 cm, the obstacle determination unit 42 of this embodiment may estimate that there are two vehicles from the standpoint of the plurality of distance information.

[0196] Furthermore, if the difference in the strength of the received signal detected by one detection unit or multiple detection units is equal to or greater than a predetermined threshold, the number of obstacles may be estimated. If the two-wheeled vehicle 31b is a bicycle without an engine, part of the ultrasonic waves emitted by the second detection unit 22 is blocked by the feet of the bicycle rider, and the remaining part of the ultrasonic waves is reflected by the four-wheeled vehicle 31a, and part of the reflected ultrasonic waves is blocked again by the feet of the bicycle rider, and the remaining part is received by the second detection unit 22. In this way, if the feet of the bicycle rider are on the path of the ultrasonic waves traveling back and forth, the strength of the received signal is weakened by the amount blocked by the rider's feet. Since the human body, especially a human body covered with clothing, has a low reflectivity of ultrasonic waves, ultrasonic waves reflected from the human body may not produce a detectable peak in the distribution of intensity information of the received signal, and may not be detected as an obstacle. However, if there is a difference of a predetermined threshold or more between the intensity of the reflected wave from the four-wheeled vehicle 31a received by another detection unit, for example, the first detection unit 21 and the intensity of the reflected wave from the four-wheeled vehicle 31a received by the second detection unit 22, it is possible that another vehicle is in front of the four-wheeled vehicle 31a and is blocking it, so if there is a difference of a predetermined threshold or more in the intensity of the reflected wave, the plurality of obstacles may be estimated. In other words, the predetermined condition for prohibiting the release of the driving limit control in this embodiment may be a condition related to the intensity information of the detected received wave signal. In this case, the restriction release determination unit 44 in this embodiment prohibits the release of the driving limit control due to the plurality of obstacles when the difference in the intensity information of the received wave signal exceeds the threshold.

[0197] (Modification) The above tenth embodiment deals with a case where there is a four-wheeled vehicle 31a and a two-wheeled vehicle 31b in front of the vehicle 100, but this modified example deals with a case where there is initially only the four-wheeled vehicle 31a in front of the vehicle 100, and later the two-wheeled vehicle 31b is added. The configuration of the object detection device 1 according to this modified example is similar to that of the object detection device 1c shown in the block diagram of Fig. 9 used in the description of the fourth embodiment, so a description of each part will be omitted, but compared to the object detection device 1c according to the fourth embodiment, the conditions under which the restriction release determination unit 44c prohibits the release of the traveling restriction control are different.

[0198] This modification will be described with reference to Fig. 21 as a diagram showing the positional relationship of the vehicles. Fig. 21 is a diagram showing an object detection state when other vehicles according to this modification include a two-wheeled vehicle. The fourth embodiment corresponds to a case where a vehicle (two-wheeled vehicle 31b) follows a vehicle (four-wheeled vehicle 31a) that crosses in front of the vehicle 100, but this modification corresponds to a case where the two-wheeled vehicle 31b following from the right catches up with the vehicle (four-wheeled vehicle 31a) crossing in front and lines up with the vehicle at the position shown in Fig. 20.

[0199] When the two-wheeled vehicle 31b is in front of the first to fourth detection units 21 to 24, as described above, the spokes of the wheel pass through the ultrasonic waves, so the two-wheeled vehicle 31b may not be detected as an obstacle in part. However, this does not mean that the vehicle is not detected at all, and the main body of the vehicle 31b, particularly the engine, reflects ultrasonic waves, so the obstacle determination unit 42 can detect the two-wheeled vehicle 31b as an obstacle in part. Since the first to fourth detection units 21 to 24 repeat detection at a frequency of more than 10 times per second, the obstacle determination unit 42 can detect the two-wheeled vehicle 31b as an obstacle based on the detection results of the first to fourth detection units 21 to 24 at any point during the time from when the two-wheeled vehicle 31b following from the right passes the position shown in FIG. 21 to when it reaches a position lined up with the vehicle (four-wheeled vehicle 31a) crossing in front of it as shown in FIG. 20. For example, in FIG. 21, if the third detection unit 23 detects the two-wheeled vehicle 31b as an obstacle, the third detection unit 23 changes from a state in which no object was detected when there was only the four-wheeled vehicle 31a in front to a state in which an object is detected, and it can be determined that another obstacle has been added to the original obstacle, that is, there are now multiple obstacles.

[0200] Since the two-wheeled vehicle 31b does not reflect ultrasonic waves depending on its parts, it may be detected as an obstacle when it stops in front of the vehicle 100 and assumes the positional relationship shown in FIG. 20, but it may not be detected. In other words, when the crossing determination unit 43 determines that a crossing has occurred, the two-wheeled vehicle 31b is not necessarily detected as an obstacle different from the obstacle detected in the moving direction of the moving body. However, if the object detection device 1 stores the fact that there was an event indicating that an obstacle other than the four-wheeled vehicle 31a may have been added in front until the time of determining the crossing, it can determine that there is an obstacle in front and there is a possibility of a collision, and prohibit the release of the travel limit control. The existence of an event indicating that an obstacle other than the four-wheeled vehicle 31a may have been added is stored, for example, in a storage unit (not shown) in the object detection device 1.

[0201] Specifically, even if the crossing determination unit 43 determines that another vehicle has crossed (when the obstacle sensor 2c of either the first detection unit 21c or the second detection unit 22c becomes non-detecting from a state in which both the first detection unit 21c and the second detection unit 22c have detected an obstacle), the restriction release determination unit 44 prohibits the release of the travel restriction control when it is estimated that there are multiple obstacles because there is a possibility that another obstacle has been added in front. Information prohibiting the release of the travel restriction control is sent as a signal to the travel control unit 51 in the vehicle control device 5. In other words, when an event occurs in which an obstacle different from the obstacle detected in the moving direction of the moving body is detected before the crossing determination unit 43 determines that a crossing has occurred, the restriction release determination unit 44 prohibits the release of the travel restriction control due to the condition of the plurality of obstacles.

[0202] The case where the addition of another obstacle can be detected is not limited to the case where the state changes from a state where no object is detected to a state where an object is detected. For example, when the two-wheeled vehicle 31b moves forward from the position shown in FIG. 21, the ultrasonic waves emitted by the first detection unit may change from a state where the ultrasonic waves are reflected only by the four-wheeled vehicle 31a to a state where the ultrasonic waves are reflected by both the four-wheeled vehicle 31a and the two-wheeled vehicle 31b, and the intensity distribution of the received signal may have multiple peaks. At this time, if the peak indicating the sound waves reflected by the two-wheeled vehicle 31b exceeds the threshold for detecting the sound waves as an obstacle, it can be determined that an event has occurred in which an obstacle other than the obstacle detected in the moving direction of the moving body has been detected. However, as described above, the intensity of the reflected waves from the two-wheeled vehicle 31b (including the rider) may be weak. Therefore, even if the threshold for detecting the sound waves as an obstacle is not exceeded, it may be determined that the condition for the plurality of objects is met when the intensity distribution of the received signal has multiple peaks. Also, as described above, when the two-wheeled vehicle 31b cuts in front of the four-wheeled vehicle 31a, the intensity of the reflected wave from the four-wheeled vehicle 31a may be weakened. Therefore, when the intensity distribution of the received signal changes beyond a threshold, it may be assumed that the signal is blocked by another object, and it may be determined that the condition related to the plurality of objects is met. In this case, the predetermined condition used to determine whether or not to release the restriction is a condition related to a change in the intensity distribution of the detected received signal, and when an event occurs in which the number of peaks appearing in the intensity distribution of the received signal increases before the crossing determination unit 43 determines that a crossing has occurred, the restriction release determination unit 44 prohibits the release of the travel restriction control.

[0203] Alternatively, the predetermined condition used for determining whether or not to prohibit the release may be a condition related to a change in the intensity information of the detected received signal. In this case, if an event occurs in which the intensity information of the received signal changes beyond a threshold before the crossing determination unit 43 determines that a crossing has occurred, the restriction release determination unit 44 prohibits the release of the driving restriction control.

[0204] The possibility that another obstacle has been added ahead may be determined based on a change in the detected distance. When the positional relationship between the four-wheeled vehicle 31a and the two-wheeled vehicle 31b changes from that shown in FIG. 21 to that shown in FIG. 20, the distance detected by the second detection unit 22 located to the left of the center of the front of the vehicle 100 changes from distance B1 to distance A2 as the two-wheeled vehicle 31b enters in front of the four-wheeled vehicle 31a. If a safe lateral distance is maintained, the difference between the distance to the side of the four-wheeled vehicle 31a and the distance to the side of the two-wheeled vehicle 31b will not be less than 30 cm. Therefore, if the detected distance decreases beyond 30 cm, the obstacle determination unit 42 of this modified example detects this as an event indicating the possibility that another obstacle has been added ahead, and if the occurrence of this event is stored until the time of determining the crossing, it can determine that the condition related to the plurality of objects is met and prohibit the release of the travel limit control.

[0205] As described above, the change in the intensity distribution of the received signal, the change in the intensity information of the received signal, or the change in the detected distance are conditions that allow detection of a change in the number of obstacles. In other words, the predetermined conditions are conditions related to a change in the number of detected obstacles. In other words, if an event occurs in which an obstacle different from the obstacle detected in the moving direction of the moving object is detected before the crossing determination unit 43 determines that a crossing has occurred, the restriction release determination unit 44 prohibits the release of the driving restriction control.

[0206] According to the object detection device 1 of this embodiment, when the obstacle ahead of the vehicle 100 is multiple vehicles, for example, a four-wheeled vehicle 31a and a two-wheeled vehicle 31b, and the four-wheeled vehicle 31a passes by but the two-wheeled vehicle 31b remains ahead, it is determined that the condition relating to the plurality of objects is met and the release of the driving restriction control is prohibited, thereby reducing the possibility of the vehicle 100 coming into contact with the two-wheeled vehicle 31b in such a situation.

[0207] The first to tenth embodiments of the object detection device of the present disclosure have been described above, but each embodiment can be implemented in appropriate combination with other embodiments. In the above embodiments, the object detection device is mounted on the vehicle 100, but it is not limited to the vehicle 100 and may be a moving body such as an airplane or a ship. In addition, the obstacle is not limited to other vehicles and may be a bicycle or a motorbike, and the object detection device of the present disclosure can determine whether they cross.

[0208] In the above embodiment, ultrasonic waves are used as the detection waves transmitted by the obstacle sensors, but detection waves other than ultrasonic waves, such as sound waves or radio waves, may also be used. [Explanation of symbols]

[0209] 1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h Object detection device 2, 2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h Obstacle Sensor 21, 21a, 21b, 21c, 21d, 21e, 21f, 21g, 21h First detection unit 22, 22a, 22b, 22c, 22d, 22e, 22f, 22g, 22h Second detection unit 23, 23c Third detection section 24,24c Fourth detection section 3. Obstacles 3a First Obstacle 3b 2nd obstacle 31a four-wheeled vehicle 31b Motorcycle 4a, 4b, 4c, 4d, 4e, 4f Sonar control unit 41, 41a, 41b, 41c, 41d, 41e, 41f, 41g, 41h Distance calculation section 42, 42a, 42b, 42c, 42d, 42e, 42f, 42g, 42h Obstacle detection unit 43, 43a, 43b, 43c, 43d, 43e, 43f, 43h Crossing judgment section 44, 44a, 44b, 44c, 44d, 44e, 44f, 44g, 44h Restriction release determination section 45g, 45h coordinate tracking unit 46g, 46h Collision prediction judgment section 5 Vehicle control device 51 Driving control unit 6 Control section 61 Accelerator pedal 62 Brake pedal 63 Notification Department

Claims

1. An object detection device that is mounted on a moving body and detects objects present around the moving body, a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with the predetermined condition is a condition regarding a plurality of objects; The predetermined condition is a condition related to a variance of distance information to the obstacle detected by the second detection unit, and when the variance of the distance information is equal to or smaller than a threshold, the restriction release determination unit prohibits the release of the traveling restriction control. Object detection device.

2. The restriction release determination unit causes the travel control unit to release a travel restriction control that restricts the movement of the moving body when the moving body is stopped. The object detection device according to claim 1 .

3. the crossing determination unit determines that the obstacle is crossing when the first detection unit detects an object and the second detection unit detects an object from a state in which the first detection unit and the second detection unit do not detect the object while the obstacle determination unit determines that the obstacle is present; The object detection device according to claim 1 .

4. the crossing determination unit, in a state in which it has been determined by the obstacle determination unit that the obstacle is present, determines a possibility of a collision between the moving body and the obstacle based on predicted trajectory information of the obstacle calculated based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; When the crossing determination unit determines that the possibility of a collision between the moving body and the obstacle is low, the restriction release determination unit causes the travel control unit to adjust a control amount of travel restriction control that restricts the movement of the moving body. The object detection device according to claim 1 .

5. The travel limiting control is to limit the movement of the moving body by suppressing acceleration or braking control. The object detection device according to claim 1 .

6. The predetermined condition is a condition related to a plurality of pieces of distance information to the detected obstacle, and when there are a plurality of pieces of distance information and a difference between the plurality of pieces of distance information exceeds a threshold, the restriction release determination unit prohibits the release of the traveling restriction control. The object detection device according to claim 1 .

7. An object detection device mounted on a moving body and detecting an object present around the moving body, a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with the predetermined condition is a condition regarding a plurality of objects; The predetermined condition is a condition related to the variance of intensity information of the received signal detected by the second detection unit, and when the variance of the intensity information of the received signal is equal to or less than a threshold, the restriction release determination unit prohibits the release of the driving restriction control. Object detection device.

8. An object detection device mounted on a moving body and detecting an object present around the moving body, a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with The predetermined condition is a condition related to the variance of intensity information of the detected received wave signals, and when a difference in the intensity information of the received wave signals exceeds a threshold, the restriction release determination unit prohibits the release of the driving restriction control. Object detection device.

9. An object detection device mounted on a moving body and detecting an object present around the moving body, a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with The predetermined condition is a condition regarding a change in the intensity distribution of the detected received signal, and before the crossing determination unit determines that the crossing has occurred, When an event occurs in which the number of peaks appearing in the intensity distribution of the received signal increases, The restriction release determination unit prohibits the release of the traveling restriction control. Object detection device.

10. An object detection device mounted on a moving body and detecting an object existing around the moving body, comprising: a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with The predetermined condition is a condition related to a change in the number of detected obstacles, and when an event occurs in which an obstacle different from the obstacle detected in the moving direction of the moving body is detected before the crossing determination unit determines that the crossing has occurred, the restriction release determination unit prohibits the release of the driving restriction control. Object detection device.

11. An object detection device mounted on a moving body and detecting an object existing around the moving body, comprising: a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines whether the obstacle is crossing based on a result of the object detection by the first detection unit and a result of the object detection by the second detection unit when the obstacle determination unit determines that the obstacle is present; a restriction release determination unit that, when the crossing determination unit determines that the vehicle has crossed, causes a travel control unit mounted on the vehicle to release a travel restriction control that restricts the travel of the vehicle, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with The predetermined condition is a condition related to a time since the moving body has stopped, and when a predetermined time has not elapsed since the moving body has stopped, the restriction release determination unit prohibits the release of the traveling restriction control. Object detection device.

12. A travel control unit that controls the movement of the moving body; a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines, in a state in which the obstacle determination unit has determined that the obstacle exists, that the obstacle has crossed based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a restriction release determination unit that, when it is determined by the crossing determination unit that the crossing has occurred, causes the travel control unit to release a travel restriction control that restricts the movement of the moving body, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with the predetermined condition is a condition regarding a plurality of objects; The predetermined condition is a condition related to a variance of distance information to the obstacle detected by the second detection unit, and when the variance of the distance information is equal to or smaller than a threshold, the restriction release determination unit prohibits the release of the traveling restriction control. Driving assistance system.

13. A travel control unit that controls the movement of a moving body; a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines, in a state in which the obstacle determination unit has determined that the obstacle exists, that the obstacle has crossed based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a restriction release determination unit that, when it is determined by the crossing determination unit that the crossing has occurred, causes the travel control unit to release a travel restriction control that restricts the movement of the moving body, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with the predetermined condition is a condition regarding a plurality of objects; The predetermined condition is a condition related to the variance of intensity information of the received signal detected by the second detection unit, and when the variance of the intensity information of the received signal is equal to or less than a threshold, the restriction release determination unit prohibits the release of the driving restriction control. Driving assistance system.

14. A travel control unit for controlling the movement of a moving body; a first detection unit that detects an object by transmitting ultrasonic waves in a moving direction of the moving body and receiving reflected waves of the ultrasonic waves; a second detection unit that detects an object by transmitting ultrasonic waves from a position different from that of the first detection unit in a moving direction of the moving body and receiving a reflected wave of the ultrasonic waves; an obstacle determination unit that determines the presence of an obstacle in a moving direction of the moving body based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a crossing determination unit that determines, in a state in which the obstacle determination unit has determined that the obstacle exists, that the obstacle has crossed based on a detection result of the object by the first detection unit and a detection result of the object by the second detection unit; a restriction release determination unit that, when it is determined by the crossing determination unit that the crossing has occurred, causes the travel control unit to release a travel restriction control that restricts the movement of the moving body, or prohibits the release of the travel restriction control under a predetermined condition; Equipped with The predetermined condition is a condition related to the variance of intensity information of the detected received wave signals, and when a difference in the intensity information of the received wave signals exceeds a threshold, the restriction release determination unit prohibits the release of the driving restriction control. Driving assistance system.

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