Target recognition device and target recognition method

Abstract

To provide a target recognition device and method capable of selecting a recognition target by simpler information processing.SOLUTION: A target recognition device S includes: a processing subject target storage unit 31 and a target processing unit 23. The processing subject target storage unit associates a target detection unit OD for detecting an object existing around a moving body as a target and an evaluation value that is stored and preserved and determined according to a state of the target with respect to the moving body to store the target as a target to be processed at an upper limit value or less. The target processing unit selects, when the target to be processed is stored at the upper limit value, the target of a lowest evaluation value from among the upper limit number of stored targets to be processed, and determines either the selected target to be processed or the target newly detected by the target detection unit OD based on the evaluation value of the selected target to be processed and the evaluation value of the target newly detected by the target detection part OD to store it as the target to be processed in the processing subject target storage unit 31.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a target recognition device and a target recognition method for detecting an object existing around a moving object as a target. [Background technology]

[0002] In recent years, there has been a demand for recognition of surrounding conditions due to demands for safety technology and autonomous driving technology. For example, recognition of surrounding conditions is important when a moving body such as a vehicle or a robot needs to avoid a collision or change lanes. For this reason, moving bodies often have an object detection device (target recognition device) that detects (recognizes) objects in order to recognize surrounding conditions. Such technology for detecting and recognizing objects is disclosed, for example, in Patent Document 1.

[0003] The vehicle periphery monitoring device disclosed in Patent Document 1 is provided in a driving assistance system having a driving assistance control means for implementing safety-based driving assistance control that issues an alarm when there is a risk of collision between the host vehicle and a moving object approaching the host vehicle relatively, and an operation-based driving assistance control that assists in operations related to the lateral movement of the host vehicle, and is a vehicle periphery monitoring device that supplies periphery monitoring information to the driving assistance control means, and includes a moving object detection means that detects moving objects moving around the host vehicle, and a moving object that is approaching the host vehicle relatively from among the moving objects detected by the moving object detection means, The system includes a first selection means for selecting a first set number of moving bodies with a higher priority, giving priority to moving bodies with a short predicted collision time, which is the predicted time until a collision with the vehicle; a second selection means for selecting a second set number of moving bodies with a higher priority, from among the moving bodies detected by the moving body detection means excluding the moving bodies selected by the first selection means, giving priority to moving bodies with a short relative distance between the vehicle and the moving bodies; and an information supply means for supplying information regarding the moving bodies selected by the first selection means and the moving bodies selected by the second selection means to the driving assistance control means as the surrounding monitoring information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-053633 Summary of the Invention [Problem to be solved by the invention]

[0005] The vehicle periphery monitoring device disclosed in Patent Document 1 performs safety driving assistance control to prevent collision accidents by selecting a first set number of moving objects with high priority from among the moving objects detected by a moving object detection means moving around the vehicle, giving priority to moving objects with short collision prediction times. Also, for lane change assistance control to assist steering operation for lane changes, the device selects a second set number of moving objects with high priority from among the moving objects, giving priority to moving objects with short relative distances between the vehicle and the moving objects. However, the information processing required to sort the detected moving objects moving around the vehicle according to a predetermined priority and then select the set number of moving objects takes a long time. This time becomes particularly significant as the number and diversity of targets to be recognized increase. This point is important because there are limitations on the processing power of resources such as a CPU that executes the information processing.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a target recognition device and a target recognition method that can select a target to be recognized with simpler information processing. [Means for solving the problem]

[0007] As a result of various studies, the inventors have found that the above object can be achieved by the following invention. That is, a target recognition device according to one aspect of the present invention is a device mounted on a moving body, and includes: a target detection unit that detects objects present around the moving body as targets; a target storage unit that stores the targets as target targets to be processed at a value equal to or less than a predetermined upper limit, in association with evaluation values ​​at the time of storage and determined depending on a situation of the targets relative to the moving body; and a target processing unit that performs a selection and storage process, when the target targets to be processed are stored in the target target storage unit at the upper limit, to select a target target to be processed that is associated with the lowest evaluation value from among the target targets of the number equal to the upper limit stored in the target target storage unit, and to determine either the selected target target to be processed or a target newly detected by the target detection unit based on the evaluation value of the selected target target to be processed and an evaluation value of a target newly detected by the target detection unit, and store the determined target target in the target target storage unit as the target target to be processed. Preferably, in the above-described target recognition device, when the evaluation value of the selected target to be processed is lower than the evaluation value of a target newly detected by the target detection unit, the target processing unit stores the target newly detected by the target detection unit in the target to be processed memory unit as the target to be processed instead of the selected target to be processed.

[0008] Since this type of target recognition device selects the target to be processed that is associated with the lowest evaluation value from among the target targets to be processed stored in the target target storage unit, there is no need to sort (rearrange) the target targets to be processed stored in the target target storage unit in order of priority. The target recognition device can determine the target to be stored in the target target storage unit by comparing the evaluation value of the selected target to be processed with the evaluation value of a target newly detected by the target detection unit. Therefore, the target recognition device can select a recognized target with simpler information processing.

[0009] In another aspect, in the above-described target recognition device, when the target detection unit newly detects a plurality of targets, the target processing unit performs the selection and storage process on the plurality of targets one by one in sequence.

[0010] Such a target recognition device performs the selection and storage process sequentially on the multiple targets one by one. Therefore, for example, when one of the multiple targets is stored in the target target storage unit as the target to be processed by the selection and storage process, when the selection and storage process is performed on another target of the multiple targets, the one target and the other target can be compared using the evaluation value. Therefore, even if the target detection unit newly detects multiple targets, the target with the truly highest evaluation value can be stored in the target target storage unit as the target to be processed.

[0011] In another aspect, in the above-mentioned target recognition device, the evaluation value associated with the target comprises a plurality of evaluation values ​​based on a plurality of scales of mutually different types, and the target processing unit, in selecting the target to be processed to which the lowest evaluation value is associated, extracts targets to be processed that are candidates for the selection based on a first evaluation value based on a first scale among the plurality of scales from among the target targets to be processed that correspond to the upper limit value number of target targets stored in the target target storage unit, and selects the target to be processed to which the lowest evaluation value is associated from among the targets to be processed extracted as candidates for selection based on a second evaluation value based on a second scale among the plurality of scales that is different from the first scale.

[0012] Such a target recognition device has multiple evaluation values ​​based on multiple different types of scales, each of which corresponds to an evaluation value of the target, so that the target to be stored in the target memory unit to be processed can be determined from various perspectives using multiple different types of scales (indices, standards).

[0013] In another aspect, in the above-mentioned target recognition device, in extracting targets to be processed that are candidates for selection, the target processing unit divides the targets to be processed stored in the target processing target memory unit and targets newly detected by the target detection unit into multiple groups based on the first evaluation value using the first scale, and performs the extraction for each group.

[0014] In the above-mentioned target recognition device, targets are divided into groups according to the first evaluation value, and extraction is performed for each group. Therefore, targets to be processed that are candidates for the selection can be extracted from various perspectives (levels) of the first scale.

[0015] In another aspect, the target recognition device described above further includes a minimum retention value, which is the minimum number of targets to be processed that should be stored and retained in the target target storage unit, corresponding to each group, and the target processing unit, when extracting each group, compares the number of targets to be processed stored in the target target storage unit with the minimum retention value if the group has the minimum retention value, and invalidates the extraction if the number of targets to be processed stored in the target target storage unit is equal to or less than the minimum retention value as a result of the comparison. Preferably, in the target recognition device described above, when the target processing unit invalidates the extraction, it does not execute the selection and storage process that would be executed if the extraction was not invalid.

[0016] Such a target recognition device invalidates the extraction when the number of targets to be processed stored in the target memory unit for processing in a group having a minimum retention value is less than or equal to the minimum retention value, thereby ensuring at least the storage of targets to be processed in a group having a minimum retention value.

[0017] In another aspect, in the above-mentioned target recognition device, the target processing unit, in determining either the selected target to be processed or the target newly detected by the target detection unit, first determines either of them using a first evaluation value based on the first scale, and second, if either of them cannot be determined using the first evaluation value based on the first scale, determines either of them using a second evaluation value based on the second scale.

[0018] Such a target recognition device first determines which of the above is determined by a first evaluation value based on the first scale, so that it can determine the target to be stored in the target memory unit to be processed from the perspective of the first scale, and secondly, if it cannot determine which of the above is determined by the first evaluation value based on the first scale, it determines which of the above is determined by a second evaluation value based on the second scale, so that even if it cannot determine the target to be stored in the target memory unit to be processed from the perspective of the first scale, it can determine the target to be stored in the target memory unit to be processed from the perspective of the second scale.

[0019] Preferably, in the above-described target recognition device, the first scale is a scale having approaching, ahead, and others as the first evaluation value, and the first evaluation value is, when the total number of targets whose first evaluation value is the approaching one among the processing target stored in the processing target storage unit and the targets newly detected by the target detection unit is na, the total number of targets whose first evaluation value is the ahead one is nb, the minimum retention value corresponding to the approaching group is na0, and the minimum retention value corresponding to the ahead group is nb0, the approaching one when na≦na0, the ahead one when nb≦nb, and others when nb≦nb. The other values ​​are defined in the order of "ahead" when nb>nb0 and "approach" when na>na0, from highest to lowest; the second scale is a collision prediction time of the target with the moving body; the longer the collision prediction time, the lower the second evaluation value; and when the first evaluation value based on the first scale for the selected target to be processed is "approach" and the first evaluation value based on the first scale for a target newly detected by the target detection unit is "approach," and when it is not possible to determine either of the above using the first evaluation value based on the first scale, the target processing unit determines either of the above using the second evaluation value based on the second scale.Preferably, in the above-mentioned target recognition device, the first scale is a scale having approaching, ahead, and others as the first evaluation value, and the first evaluation value is defined in the order of approaching when na≦na0, ahead when nb≦nb, others, ahead when nb>nb0, and approaching when na>na0, where na is the total number of targets whose first evaluation value is approaching among targets to be processed stored in the target storage unit to be processed and targets newly detected by the target detection unit, nb is the total number of targets whose first evaluation value is ahead, and na is the minimum retention value corresponding to the approaching group, and nb is the minimum retention value corresponding to the ahead group, and nb0 is the minimum retention value corresponding to the ahead group, and the second scale is defined in the order of approaching when na≦na0, ahead when nb≦nb, others, ahead when nb>nb0, and approaching when na>na0, and the distance to the target, and the second evaluation value becomes lower as the distance becomes longer; the target processing unit determines which of the two is the first evaluation value using the second evaluation value using the second scale when the first evaluation value using the first scale for the selected target to be processed is forward and the first evaluation value using the first scale for a target newly detected by the target detection unit is forward and either of the two cannot be determined using the first evaluation value using the first scale; and the target processing unit determines which of the two is the second evaluation value using the second scale when the first evaluation value using the first scale for the selected target to be processed is other and the first evaluation value using the first scale for a target newly detected by the target detection unit is other and either of the two cannot be determined using the first evaluation value using the first scale.

[0020] In another aspect, in the above-mentioned target recognition device, the first evaluation value of the first scale includes "approaching" where the target approaches the moving body, "ahead" where the target is located in front of the moving body, and "other" where the target is neither "approaching" nor "ahead" of the moving body.

[0021] Such a target recognition device can determine targets to be stored in the target processing storage unit from the viewpoint of a first measure having a first evaluation value determined based on the direction and traveling state of the target relative to the moving body.

[0022] In another aspect, in the above-described target object recognition device, the second evaluation value of the second measure includes a value of a predicted collision time of the target with the moving body or a value of a distance of the target with respect to the moving body.

[0023] Such a target recognition device can determine targets to be stored in the target processing memory unit from the perspective of a second measure having a second evaluation value determined based on the running state of the target relative to the moving body or the direction of the target relative to the moving body.

[0024] In another aspect, in the above-described target object recognition device, the target object processing unit determines whether or not to invalidate the extraction only when the traveling state of the moving object satisfies a predetermined condition.

[0025] Such a target recognition device determines whether to invalidate the extraction only when the traveling state of the moving body satisfies predetermined conditions, and therefore can determine whether to invalidate the extraction taking into account the traveling state of the moving body.

[0026] A target recognition method according to another aspect of the present invention is a method executed by a moving body, and includes a target detection step of detecting objects present around the moving body as targets, and a target processing step of, for a target storage unit that stores the targets as target objects to be processed at a value equal to or less than a predetermined upper limit, the target being associated with an evaluation value when stored and saved, the evaluation value being determined depending on the situation of the target relative to the moving body, and selecting, when the target object to be processed is stored in the target storage unit at the upper limit, a target object to be processed that is associated with the lowest evaluation value from among the target objects to be processed that number equal to the upper limit stored in the target storage unit, and determining either the selected target object to be processed or a target newly detected by the target detection unit based on the evaluation value of the selected target object to be processed and an evaluation value of a target newly detected by the target detection unit, and storing the determined target object in the target storage unit as the target to be processed.

[0027] This target recognition method selects the target to be processed that is associated with the lowest evaluation value from among the target targets to be processed stored in the target target storage unit, eliminating the need to sort the target targets to be processed stored in the target target storage unit in order of priority. In the target recognition method, the target to be stored in the target target storage unit can be determined by comparing the evaluation value of the selected target to be processed with the evaluation value of a target newly detected by the target detection unit. Therefore, the target recognition method can select a target to be recognized with simpler information processing. [Effects of the Invention]

[0028] The target recognition device and the target recognition method according to the present invention can select a recognized target through simpler information processing. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a block diagram showing a configuration of a target recognition device according to an embodiment; [Figure 2] FIG. 2 is a diagram for explaining first to fifth detection units attached to a vehicle. [Figure 3] 3 is a diagram for explaining each area set around a vehicle equipped with the target object recognition device. FIG. [Figure 4] 4 is a flowchart showing an operation of the target recognition device when storing a target to be processed. [Figure 5] 5 is a flowchart of a pre-processing in the flowchart shown in FIG. 4. [Figure 6] 4A and 4B are diagrams for explaining the effects of the target recognition device; DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. In addition, components with the same reference numerals in each drawing indicate the same components, and their description will be omitted as appropriate. In this specification, when referring to a general term, a reference numeral without a subscript is used, and when referring to an individual component, a reference numeral with a subscript is used.

[0031] The target recognition device according to the embodiment is a device mounted on a moving body for recognizing objects present around the moving body (objects visible from the moving body within a predetermined range), and the target recognition process is performed on the moving body. This target recognition device includes a target detection unit that detects objects around the moving body as targets; a target storage unit that stores the targets as target objects to be processed, with the target objects corresponding to evaluation values ​​determined based on the status of the targets relative to the moving body, at or below a predetermined upper limit; and a target processing unit that, when the target objects are stored in the target storage unit at the upper limit, selects a target object to be processed that corresponds to the lowest evaluation value from among the target objects stored in the target storage unit up to the upper limit, and determines either the selected target object or a target newly detected by the target detection unit based on the evaluation value of the selected target object and the evaluation value of a target newly detected by the target detection unit, and stores the determined target object in the target storage unit as the target object to be processed. The moving body is a device that can change its position, such as a vehicle or a robot. The vehicle is, for example, a parts transport vehicle in a factory, an automobile, or the like. The following will more specifically describe a case where the target detection device is mounted on a vehicle, which is an example of a moving body.

[0032] Fig. 1 is a block diagram showing the configuration of a target object recognition device according to an embodiment. Fig. 2 is a diagram illustrating first to fifth detection units attached to a vehicle. Fig. 3 is a diagram illustrating each area set around a vehicle equipped with the target object recognition device.

[0033] 1, the target recognition device S in the embodiment includes a detection unit 1 (1-1 to 1-5), a control processing unit 2, and a storage unit 3. In the example shown in FIG. 1, the target recognition device S further includes a driving assistance unit 4 to assist the driver of the vehicle in driving.

[0034] The detection unit 1 is connected to the control processing unit 2 and is a device that detects objects around the target object recognition device S within a predetermined detection range under the control of the control processing unit 2 and outputs the detection results as detection points to the control processing unit 2. There may be one detection unit 1, but multiple detection units 1 may be provided to cover a wider detection range. In the example shown in FIG. 1, the detection unit 1 includes five detection units, first through fifth, 1-1 through 1-5, to cover the entire circumference of the vehicle VC on which the target object recognition device S is mounted. These first through fifth detection units 1-1 through 1-5 are disposed, for example, at the front and corners of the vehicle VC, as shown in FIG. 2. The first detection unit 1-1 is provided at a substantially central position in the front of the vehicle VC and detects objects around the vehicle VC within a predetermined first detection range RF centered on a first direction PR, which is the traveling direction of the vehicle VC. The second detection unit 1-2 is provided at the front end of one side of the vehicle VC (e.g., a right front corner) and detects objects around the vehicle VC in a predetermined second detection range RRF centered in a second direction FR diagonally forward from the vehicle width direction of the one side. The third detection unit 1-3 is provided at the rear end of the one side of the vehicle VC (e.g., a right rear corner) and detects objects around the vehicle VC in a predetermined third detection range RRB centered in a third direction BR diagonally rearward from the vehicle width direction of the one side. The fourth detection unit 1-4 is provided at the front end of the other side of the vehicle VC (e.g., a left front corner) and detects objects around the vehicle VC in a predetermined fourth detection range RLF centered in a fourth direction FL diagonally forward from the vehicle width direction of the other side. The fifth detection unit 1-5 is provided at the rear end of the other side of the vehicle VC (e.g., a left rear corner) and detects objects around the vehicle VC in a predetermined fifth detection range RLB centered in a fifth direction BL diagonally rearward from the vehicle width direction of the other side.

[0035] Each of the first to fifth detection units 1-1 to 1-5 is a radar device (Radio Detection and Ranging) that detects an object by transmitting a predetermined transmission wave and receiving a reflected wave of the transmission wave reflected by the object, and measures the position of the object (the relative position (relative direction, relative distance) of the object with respect to the host vehicle VC) by measuring the direction of the object and the distance to the object. The transmission wave is, for example, an electromagnetic wave in the millimeter wave band. Each of the first to fifth detection units 1-1 to 1-5 includes, for example, a transmitter that transmits a millimeter wave band transmission wave while scanning it over first to fifth detection ranges RF, RRF, RRB, RLF, and RLB, a receiver that receives reflected waves of the transmission wave reflected by the object, and a signal processor that determines the position of the object as a detection point by determining the direction of the object and the distance to the object based on the transmission wave and the reflected wave. The signal processing unit determines the direction of the object from the transmission direction of the transmission wave during scanning of the detection range, and determines the distance to the object based on the time difference between the transmission timing of the transmission wave and the reception timing of the reflected wave (TOF (Time-Of-Flight) method). Note that the first to fifth detection units 1-1 to 1-5 are not limited to this configuration and may have any appropriate configuration, for example, a device that includes multiple receiving antennas and determines the direction of the object from the phase difference of the reflected waves received by the multiple receiving antennas. In this embodiment, a radar device as an example of the first to fifth detection units 1-1 to 1-5 also determines the relative speed of the object with respect to the vehicle VC based on the Doppler shift of the reflected wave with respect to the transmission wave, and outputs the result to the control processing unit 2.

[0036] Note that each of the first to fifth detection units 1-1 to 1-5 is not limited to a radar device, but may be another device, for example, a LiDAR (Light Detection And Ranging) that uses an infrared laser instead of the millimeter wave band, or may be an ultrasonic radar that uses ultrasonic waves instead of the millimeter wave band, or may be an object detection device that detects an object within a predetermined detection range based on a pair of images captured by a stereo camera.

[0037] The storage unit 3 is connected to the control processing unit 2 and is a circuit that stores various predetermined programs and various predetermined data under the control of the control processing unit 2. The various predetermined programs include, for example, a control program that controls each of the units 1, 3, and 4 of the target recognition device S according to the function of each unit, a detection processing program that detects objects existing around the moving body (in this embodiment, an example of which is a vehicle (own vehicle, own machine) VC, hereinafter referred to as "moving body (vehicle VC")) as targets based on the detection points detected by the detection unit 1, or the detection points detected by the first to fifth detection units 1-1 to 1-5 in this embodiment, and a program that detects targets to be processed within a predetermined upper limit value that is set in advance in the processing target storage unit 31 as described later. The program includes a target processing program that performs a selection and storage process to, when stored in the target storage unit 31, select a target to be processed that is associated with the lowest evaluation value from among the target objects to be processed that number equal to the upper limit value stored in the target storage unit 31, and determine either the selected target to be processed or the target newly detected by the target detection unit based on the evaluation value of the selected target to be processed and the evaluation value of a target newly detected by the target detection unit, and store the determined target as the target to be processed in the target storage unit 31. The various predetermined data include, for example, data required to execute each program, such as the detection results of the detection unit 1, the upper limit value, and the target to be processed. The storage unit 3 includes, for example, a nonvolatile storage element such as a ROM (Read Only Memory) or a rewritable nonvolatile storage element such as an EEPROM (Electrically Erasable Programmable Read Only Memory). The storage unit 3 includes a RAM (Random Access Memory) that serves as a so-called working memory of the control processing unit 2 and stores data and the like generated during execution of the predetermined program.

[0038] The storage unit 3 functionally includes a target object to be processed storage unit 31. The target object to be processed storage unit 31 stores the target object as a target object to be processed at a predetermined upper limit or less, in association with an evaluation value at the time of storage and determined according to the situation of the target relative to the moving body (vehicle VC). Therefore, a storage area capable of storing the target object to be processed at the upper limit together with the evaluation value associated therewith is secured in the storage unit 3 as the target object to be processed storage unit 31, for example, during initial processing. The target object recognition device S periodically and repeatedly recognizes targets at a predetermined time interval (sampling interval). The upper limit is the maximum number of targets to be processed that can be stored in the target object to be processed storage unit 31 of the storage unit 3 during this repeated target recognition, and is appropriately set in advance. The upper limit is set to, for example, 5, 10, or the like, depending on the type of driving assistance provided by the driving assistance unit 4 that utilizes the target recognition results. In other words, the target to be processed is a target stored in the target to be processed storage unit 31, and is one of the targets to be subjected to the selection and storage process.

[0039] The evaluation value represents the position (order) of the target when the targets are arranged in the order of priority for storage and saving in the target storage unit 31, and is determined according to the situation of the target relative to the moving body (vehicle VC). In other words, once the situation of the target relative to the moving body (vehicle VC) is determined, the evaluation value is also determined. When there are multiple targets and it is not possible to store all of them, targets with high evaluation values ​​are preferentially stored in the target storage unit 31. In this embodiment, the evaluation value associated with the target comprises multiple evaluation values ​​based on multiple different types of scales.

[0040] More specifically, there are three types of three scales. The first scale comprises a first evaluation value determined based on the direction and running state of the target relative to the moving body (vehicle VC). More specifically, the first scale comprises "approaching," "ahead," and "other" as the first evaluation values.

[0041] The area around the host vehicle VC is divided into a plurality of areas, for example, seven areas (first through seventh areas AA-AG) as shown in FIG. 3, in order to determine a first evaluation value based on the direction of a target relative to the moving body (vehicle VC). The first area AA is a rectangular area having a width substantially equal to the width of the vehicle VC and extending a predetermined distance (forward division distance) from the front end of the vehicle VC. The second area AB is a triangular (or fan-shaped) area that spreads forward with one vertex (center point) CP, which is the intersection of the vehicle length direction and vehicle width direction of the vehicle VC and is the center position in the vehicle length direction (or the center position of the rectangular outer contour shape of the vehicle VC when viewed from above), and is an area of ​​the triangular (or fan-shaped) area that opens outward by the same predetermined first angle θ1 (θ1>0) on both sides (left and right sides) in the vehicle width direction relative to the traveling direction DD, excluding the area that overlaps with the first area AA. The third area AC is a triangular (or sectorial) area with the center point CP as one vertex and spreading forward, and the triangular (or sectorial) area opens to both the left and right sides of the traveling direction DD by the same predetermined second angle θ2 (θ2 > θ1), excluding the area overlapping with the first and second areas AA and AB. The fourth area AD is an area forward of a straight line (front / rear dividing line) SL that passes through the center point CP and is parallel to the vehicle width direction, excluding the area overlapping with the first to third areas AA, AB, and AC. The sixth area AF is a rectangular area having a width substantially the same as the vehicle width of the vehicle VC and extending a predetermined distance (rear dividing line distance) from the rear end of the vehicle VC. The fifth area AE is an area rearward of the front / rear dividing line SL, and is a rectangular area disposed on both sides of the sixth area AF in the vehicle width direction. The seventh area AG is an area behind the longitudinal dividing line SL, excluding areas overlapping with the fifth and sixth areas AE, AF.

[0042] When a target for the moving body (vehicle VC) is located in either the first or second area AA, AB, the first evaluation value of the first measure is "forward," which indicates that the target is located forward of the moving body (vehicle VC).

[0043] In driving assistance that automatically activates the brakes to mitigate the damage of a collision (collision mitigation brake assistance) and driving assistance that automatically controls the driving of the host vehicle VC so that it follows another vehicle ahead while maintaining a predetermined distance (follow-up driving assistance), the target object is likely to appear in the first area AA or the second area AB, and by setting the direction within the first and second areas AA and AB to "forward," the target object can be more reliably treated as the target to be processed. In one example, the second angle θ2 is approximately 45 degrees, taking into account other vehicles that may be the target of the collision mitigation brake assistance at an intersection.

[0044] When the traveling state of the target relative to the moving body (vehicle VC) approaches the moving body (vehicle VC) at a speed equal to or greater than a predetermined relative speed threshold, the first evaluation value of the first scale becomes "approaching," meaning that the target is approaching the moving body (vehicle VC).

[0045] If the first evaluation value of the first scale is neither "ahead" nor "approaching", the first evaluation value of the first scale is "other".

[0046] The first evaluation value of the first scale is defined in advance. For example, the first evaluation value of the first scale is appropriately defined in advance taking into consideration the content of driving assistance by the driving assistance unit 4 that uses the target recognition result. For example, the first evaluation value decreases in the order of "approaching," "ahead," and "other" ("approaching" > "ahead" > "other"). In this embodiment, the first evaluation value is determined based on the total number of "approaching" targets (first total number) na, the total number of "ahead" targets (second total number) nb, the first minimum retention value na0, and the second minimum retention value nb0, among the targets to be processed stored in the target to be processed storage unit 31 and targets newly detected by the detection processing unit 22. As will be described later, the first minimum retention value na0 is the minimum number of targets to be processed that should be stored and retained in the target memory unit 31 in a group of targets whose first evaluation value is "approaching," and the second minimum retention value nb0 is the minimum number of targets to be processed that should be stored and retained in the target memory unit 31 in a group of targets whose first evaluation value is "ahead." More specifically, for example, the first evaluation values ​​are defined in the following order from highest to lowest: a first evaluation value of "approaching" when the first total number na is equal to or less than the first minimum retention value na0 ("approaching" first evaluation value|na≦na0), a first evaluation value of "forward" when the second total number nb is equal to or less than the second minimum retention value nb0 ("forward" first evaluation value|nb≦nb0), a first evaluation value of "others" ("others" first evaluation value), a first evaluation value of "forward" when the second total number nb is greater than the second minimum retention value nb0 ("forward" first evaluation value|nb>nb0), and a first evaluation value of "approaching" when the first total number na is greater than the first minimum retention value na0 ("approaching" first evaluation value|na>na0) (Inequality 1; ""approaching" first evaluation value|na≦na0" > ""forward" first evaluation value|nb≦nb0" > “'Other' first evaluation value” > “'Ahead' first evaluation value|nb>nb0” > “'Approaching' first evaluation value|na>na0”).By defining the first evaluation value based on the magnitude relationship between the first total number na and the first minimum retention value na0 and the magnitude relationship between the second total number nb and the second minimum retention value nb0 in this way, it is possible to take into consideration the content of driving assistance by the driving assistance unit 4 that uses the target recognition results, and during the repeated target recognition, ``approaching'' targets can be retained at or above the first minimum retention value na0, and ``ahead'' targets can be retained at or above the second minimum retention value nb0. On the other hand, during the repeated target recognition, ``approaching'' targets that are more than the first minimum retention value na0 can be preferentially deleted, and ``ahead'' targets that are more than the second minimum retention value nb0 can be preferentially deleted, thereby making it possible to effectively utilize the storage area allocated to the processing target storage unit 31.

[0047] In this embodiment, the second scale includes two types: a collision prediction time of the target relative to the moving body (vehicle VC) (second A scale) and a distance of the target relative to the moving body (vehicle VC) (second B scale). These are used depending on the first evaluation value of the first scale, as described below. When the second scale is the collision prediction time, the second evaluation value (second A evaluation value of the second A scale) is predefined and becomes lower as the collision prediction time becomes longer. When the second scale is the distance, the second evaluation value (second B evaluation value of the second B scale) is predefined and becomes lower as the distance becomes farther (longer, larger). The collision prediction time TTC (Time To Collision) is a predicted time until the host vehicle VC collides with another vehicle, and is calculated by dividing the distance DT of the target relative to the moving body (vehicle VC) by the relative speed RS of the moving body (vehicle VC) relative to the target (TTC=DT / RS).

[0048] The control processing unit 2 is a circuit that controls each of the units 1, 3, and 4 of the target object recognition device S according to the function of each unit, and recognizes objects existing around the moving body (vehicle VC) within a predetermined range. The control processing unit 2 is configured with, for example, a CPU (Central Processing Unit) and its peripheral circuits. By executing the control processing program, the control processing unit 2 is functionally provided with a control unit 21, a detection processing unit 22, and a target object processing unit 23.

[0049] The control unit 21 controls each of the units 1, 3, and 4 of the target object recognition device S in accordance with the function of each unit, and is in charge of overall control of the target object recognition device S.

[0050] The detection processing unit 22 detects objects around the moving body (vehicle VC) as targets based on the detection points detected by the detection unit 1, which in this embodiment are detected by the first to fifth detection units 1-1 to 1-5. A known, conventional method is used to detect targets based on these detection points. Typically, multiple detection points are detected from one object depending on the spatial resolution of the detection unit 1, the size of the object, and the distance from the detection unit 1 to the object. Therefore, the detection processing unit 22, for example, clusters one or more detection points detected by the first to fifth detection units 1-1 to 1-5 to determine a cluster (group) of detection points as a target. Alternatively, in periodically repeated target recognition processing, the size and position of the target change due to at least one of the movement of the moving body (vehicle VC) and the movement of the target object. However, these changes can be predicted from past observation data of the distance, relative speed, and angle of the target. For this reason, the detection processing unit 22, for example, clusters one or more detection points detected by the first through fifth detection units 1-1 through 1-5 to determine clusters of the detection points as target candidates, determines observation data that is object state information including the size and position of the determined target candidates, determines predicted data that predicts the object state information based on past observation data, determines whether the targets represented by the observation data and the predicted data are the same by correlating the observation data with the predicted data, and if it is determined that they are the same, associates the target candidate represented by the observation data with the target represented by the predicted data to set it as the target of the observation data, and if it is determined that they are not the same, sets the target candidate represented by the observation data as a new target of the observation data. In this way, targets (objects) are tracked for each of the periodically repeated target recognition processes.

[0051] In this embodiment, the first to fifth detection units 1 and the detection processing unit 22 constitute a target detection unit OD, and correspond to an example of a target detection unit that detects objects existing around the moving body as targets.

[0052] Then, the detection processing unit 22 temporarily stores the detected target in the storage unit 3 in association with an evaluation value determined according to the situation of the target relative to the moving body (vehicle VC). When there are multiple detected targets, each of the multiple targets is stored.

[0053] More specifically, in the first scale, for example, when the traveling state of the target with respect to the moving body (vehicle VC) is approaching the host vehicle VC at a relative speed equal to or greater than the relative speed threshold, the first evaluation value becomes “approaching,” and the detected target is stored in the storage unit 3 in association with “approaching.” Alternatively, for example, when the position of the detected target is located within at least one of the first and second areas AA and AB, the first evaluation value becomes “ahead,” and the detected target is stored in the storage unit 3 in association with “ahead.” Alternatively, for example, when the position is neither “approaching” nor “ahead,” the first evaluation value becomes “other,” and the detected target is stored in the storage unit 3 in association with “other.” In the secondA scale, the detection processing unit 22 calculates a predicted collision time of the target with respect to the moving body (vehicle VC), and the detected target is stored in the storage unit 3 in association with the calculated predicted collision time of the target (value of the predicted collision time) as a secondA evaluation value. In the 2B scale, the detection processing unit 22 obtains the distance of the target from the moving body (vehicle VC), and the detected target is stored in the storage unit 3 in association with the obtained distance (distance value) of the target as a 2B evaluation value. In this embodiment, as will be described later, when the first evaluation value is "approaching", the collision prediction time of the 2A evaluation value is used, so that the collision prediction time may be obtained only for targets that are "approaching".

[0054] When the target to be processed is stored in the target to be processed storage unit 31 at the upper limit value, the target processing unit 23 selects the target to be processed associated with the lowest evaluation value from the target to be processed of the upper limit number of targets stored in the target to be processed storage unit 31, and performs a selection and storage process to determine either the selected target to be processed or a target newly detected by the detection processing unit 22 based on the evaluation value of the selected target to be processed and the evaluation value of a target newly detected by the target detection unit, and stores the determined target as the target to be processed in the target to be processed storage unit 31. When the detection processing unit 22 detects multiple new targets, the target processing unit 23 performs the selection and storage process on the multiple targets one by one in sequence. The target newly detected by the detection processing unit 22 is a target detected in the current target recognition process in the periodically repeated target recognition process, and is determined, for example, by the tracking.

[0055] The target processing unit 23 is configured to perform processing based on Inequality 1. More specifically, in selecting the target to be processed associated with the lowest evaluation value, the target processing unit 23 extracts target to be processed candidates for the selection based on a first evaluation value according to a first scale among the plurality of scales from among the target to be processed of the upper limit number of target to be processed stored in the target to be processed storage unit 31, and selects the target to be processed associated with the lowest evaluation value from among the target to be processed extracted as the candidates for selection based on a second evaluation value according to a second scale among the plurality of scales that is different from the first scale. More specifically, in extracting the target to be processed that are candidates for selection, the target processing unit 23 divides the target to be processed stored in the target to be processed storage unit 31 and targets newly detected by the detection processing unit 22 into a plurality of groups based on the first evaluation value according to the first scale, and performs the extraction for each group. More specifically, when extracting each group, if the group has a predetermined minimum retention value, the target processing unit 23 compares the number of targets to be processed stored in the target processing memory unit 31 with the minimum retention value, and if the comparison result shows that the number of targets to be processed stored in the target processing memory unit 31 is equal to or less than the minimum retention value, invalidates the extraction. When invalidating the extraction, the target processing unit 23 does not execute the selection and storage process that is not invalid. The minimum retention value is the minimum number of targets to be processed that should be stored and stored in the target processing memory unit 31. In this embodiment, the minimum retention value is set for each of the group of targets whose first evaluation value is "approaching" and the group of targets whose first evaluation value is "ahead." A minimum hold value (first minimum hold value) na0 is set for a group of targets whose first evaluation value is "approaching," and a minimum hold value (second minimum hold value) nb0 is set for a group of targets whose first evaluation value is "ahead."

[0056] For example, the processing is divided into groups for "approaching," "ahead," and "other." In the "approaching" group, from among the target objects to be processed that are equal to the upper limit number stored in the target object to be processed storage unit 31, target objects to be processed that are associated with "approaching" are extracted as candidates for the selection. From among the target objects to be processed extracted as candidates for selection, a target object to be processed that is associated with the lowest evaluation value is selected based on the 2A evaluation value (the value of the collision prediction time) according to the 2A scale (the collision prediction time). In other words, the target object with the lowest 2A evaluation value is selected. Here, if the total number na of target objects to be processed that are associated with "approaching" is equal to or less than the minimum retention value na0, the extraction is invalidated. Therefore, at least target objects to be processed that are associated with "approaching" are stored and retained in the target object to be processed storage unit 31.

[0057] Then, in determining which of the selected target object to be processed and the target object newly detected by the detection processing unit 22 is to be processed, the target processing unit 23 first determines which of the selected target object to be processed is determined using a first evaluation value based on the first scale, and secondly, if the determination of which of the selected target object to be processed is not possible using the first evaluation value based on the first scale, the target processing unit 23 determines which of the selected target object to be processed is determined using a second evaluation value based on the second scale. More specifically, if the first evaluation value based on the first scale for the selected target object to be processed is "approaching" and the first evaluation value based on the first scale for the target newly detected by the detection processing unit 22 is "approaching," and the determination of which of the selected target object to be processed is not possible using the first evaluation value based on the first scale, the target processing unit 23 determines which of the selected target object to be processed is determined using a secondA evaluation value based on the secondA scale. The target processing unit 23 determines which of the above-mentioned directions is based on a secondB evaluation value (the value of the distance) using the secondB scale (the distance) when the first evaluation value using the first scale for the selected target to be processed is "forward" and the first evaluation value using the first scale for a target newly detected by the detection processing unit 22 is "forward" and either of the above-mentioned directions cannot be determined using the first evaluation value using the first scale. The target processing unit 23 determines which of the above-mentioned directions is based on a secondB evaluation value (the value of the distance) using the secondB scale (the distance) when the first evaluation value using the first scale for the selected target to be processed is "other" and the first evaluation value using the first scale for a target newly detected by the target detection unit is "other" and either of the above-mentioned directions cannot be determined using the first evaluation value using the first scale.

[0058] The driving assistance unit 4 is a device connected to the control processing unit 2 and assists driving under the control of the control processing unit 2. In this embodiment, the driving assistance unit 4 assists driving based on a target object to be processed stored in the target object to be processed storage unit 31. Various driving assistance technologies have been developed, and for example, they have been developed and publicly known as advanced driver assistance systems (ADAS). The driving assistance unit 4 can utilize a target object-using technology among the driving assistance technologies developed as ADAS. For example, the collision damage mitigation brake assistance technology, the adaptive cruise control assistance technology, and driving assistance that warns the driver of the presence of another object (e.g., another vehicle) in an area that could be the driver's blind spot (rear object presence warning assistance) can be utilized. The driving support unit 4 equipped with the collision damage mitigation brake support technology issues a collision warning, for example, by an alarm sound or a warning light, when the predicted time of collision with a target as another object becomes equal to or less than a preset threshold (first judgment threshold), and activates a brake device of the moving body (vehicle VC) to decelerate or stop the moving body (vehicle VC) when the predicted time of collision with the target becomes equal to or less than a preset threshold (second judgment threshold, first judgment threshold > second judgment threshold). The driving support unit 4 equipped with the following driving support technology controls the speed and steering of the moving body (vehicle VC) by controlling devices related to the accelerator, brake, and steering, for example, so that the moving body (vehicle VC) follows another vehicle (target as another vehicle) traveling ahead of the moving body (vehicle VC) while maintaining a preset distance between the moving body and the target. In the example shown in Figure 3, the driving assistance unit 4 that implements the rear object presence warning assistance technology issues a warning that another object is present behind the vehicle, for example by an alarm sound or a warning light, when a target object as another object is detected within the fifth area AE.

[0059] The control processing unit 2 and the storage unit 3 in such a target object recognition device S can be configured by a computer called an ECU (Electronic Control Unit).

[0060] Next, the operation of this embodiment will be described. Fig. 4 is a flowchart showing the operation when storing a target to be processed in the target recognition device. Fig. 5 is a flowchart of pre-processing in the flowchart shown in Fig. 4.

[0061] When the moving body (vehicle VC) starts operation, the target recognition device S executes initialization of the necessary parts and starts operation. By executing the control processing program, the control processing unit 2 is functionally configured with a control unit 21, a detection processing unit 22, and a target processing unit 23, and the memory unit 3 secures a memory area for the processing target memory unit 31 with the upper limit value n.

[0062] In recognizing objects around the moving body (vehicle VC), the target recognition device S repeatedly executes the following operations shown in FIG. 4 at a predetermined sampling period.

[0063] 4, in this process, the target object recognition device S acquires detection points detected by the first to fifth detection units 1-1 to 1-5 from the first to fifth detection units 1-1 to 1-5, detects objects present around the moving body (vehicle VC) as targets using the detection processing unit 22 of the control processing unit 2, and temporarily stores the detected targets in the storage unit 3 in association with evaluation values, in this embodiment, a first evaluation value based on a first scale and a second evaluation value based on a second scale (2A and 2B evaluation values ​​based on the 2A and 2B scales, respectively) (S1). Here, in this embodiment, among the detected targets, a target determined to be a newly detected target as a result of tracking is assigned a number (identification number) k as an identifier for specifying and identifying the target, and when temporarily storing the targets in the storage unit 3, this assigned identification number k is also stored in association with the newly detected target. The identification number k is an integer ranging from 1 to the number m of targets determined to be the newly detected targets in the process S1 (k=1, . . . , m). Note that if there is one target determined to be the newly detected target in the process S1, m=1, and if there are multiple targets determined to be the newly detected targets in the process S1, m is an integer greater than 1.

[0064] The target processing unit 23 of the control processing unit 2 sequentially performs each of the following processes S2 to S16 as the selection storage process on the target with identification number k, from the target with identification number k = 1 to the target with identification number k = m, one by one.

[0065] In process S2, the target recognition device S determines, by the target processing unit 23, whether there is an empty storage area in the target processing storage unit 31 where the target can be stored as a target to be processed. More specifically, the target processing unit 23 determines whether the target to be processed is stored in the target processing storage unit 31 up to the upper limit value n. As a result of this determination, if the target to be processed is stored in the target processing storage unit 31 below the upper limit value n, it is determined that the empty storage area exists (Yes), and the target processing unit 23 then executes process S3 and ends the selection storage process for the target with identification number k. Therefore, when the identification number k < m, the selection storage process for the next target with identification number k + 1 is executed, while when the identification number k = m, the current process ends. As a result of the determination, if the target to be processed is stored in the target processing storage unit 31 up to the upper limit value n, it is determined that the empty storage area does not exist (No), and the target processing unit 23 then executes process S4.

[0066] In process S3, since the empty storage area exists, the target processing unit 23 stores the target with identification number k in the target processing storage unit 31 in association with the evaluation value (the first and second evaluation values in this embodiment) as the target to be processed.

[0067] From process S4 onwards, up to process S16 described below, the target processing unit 23 performs a selection and storage process in which it selects the target to be processed that is associated with the lowest evaluation value from the upper limit value n of targets to be processed stored in the target processing unit memory 31, and based on the evaluation value of this selected target to be processed and the evaluation value of a target newly detected by the detection processing unit 22, it determines either this selected target to be processed or the target newly detected by the detection processing unit 22 and stores this in the target to be processed in the target processing unit memory 31 as the target to be processed.

[0068] In the selection and storage process, the target processing unit 23 first executes pre-processing S4 (S41 to S49) shown in Fig. 5. In pre-processing S4, in selecting the target object to be processed associated with the lowest evaluation value, the target processing unit 23 extracts target objects to be selected as candidates for the selection based on the first evaluation value according to the first scale from among the target objects to be processed equal to the upper limit value n stored in the target object to be processed storage unit 31, and selects the target object to be selected associated with the lowest evaluation value based on the second evaluation value according to the second scale from among the target objects to be processed extracted as candidates for selection. Here, in extracting the target objects to be selected as candidates for the selection, the target processing unit 23 divides the target objects to be processed stored in the target object to be processed storage unit 31 and targets newly detected by the detection processing unit 22 into a plurality of groups based on the first evaluation value according to the first scale, and performs the extraction for each group. In extracting each group, if the group has the minimum retention value, the target processing unit 23 compares the number of targets to be processed stored in the target processing memory unit 31 with the minimum retention value, and if the result of the comparison shows that the number of targets to be processed stored in the target processing memory unit 31 is less than or equal to the minimum retention value, the target processing unit 23 invalidates the extraction.

[0069] 5, the target processing unit 23 first searches for a first exclusion candidate based on the evaluation values ​​of the first and second scales in a group of targets having the first evaluation value of “approaching” (the “approaching” group) (S41). More specifically, the target processing unit 23 extracts target objects associated with “approaching” from the upper limit value n of target objects stored in the target object storage unit 31, and identifies, from the extracted target objects, a target object associated with the lowest evaluation value based on the second evaluation value of the second scale, as a first exclusion candidate. Here, since the first evaluation value is “approaching,” the collision prediction time of the second scale is used as the second scale, and the target processing unit 23 identifies, as the first exclusion candidate, a target object having the longest collision prediction time. Since the time until a collision is important for a target approaching the moving body (vehicle VC), the collision prediction time is used as the second scale. The first excluded candidate is a target object to be selected as a candidate for selection in "approach" when selecting a target object to be processed that is associated with the lowest evaluation value from among the upper limit value n of target objects to be processed stored in the target object to be processed storage unit 31. If the extraction of the first excluded candidate is valid and not invalidated, the first excluded candidate becomes the target object to be processed that is associated with the lowest evaluation value in the "approach" group.

[0070] Next, the target processing unit 23 searches for second exclusion candidates in a group of targets having the first evaluation value "forward" (the "forward" group) based on the evaluation values ​​of the first and second scales (S42). More specifically, the target processing unit 23 extracts target objects to be processed that are associated with "forward" from the upper limit value n of target objects to be processed stored in the target object storage unit 31, and determines, from these extracted target objects to be processed, the target object to be processed that is associated with the lowest evaluation value based on the second evaluation value using the second scale, as the second exclusion candidate. Here, since the first evaluation value is "forward," the distance of the secondB scale is used as the second scale, and the target processing unit 23 determines, as the second exclusion candidate, the target object to be processed that has the longest distance. Since the inter-vehicle distance is important for targets ahead of the moving body (vehicle VC), the distance is used as the second scale. The second exclusion candidate is a target object to be processed that is a candidate for the selection in the "forward" direction, and if its extraction is not invalidated but valid, it is the target object to be processed that is associated with the lowest evaluation value in the "forward" group.

[0071] Next, the target processing unit 23 searches for a third exclusion candidate in a group of targets having the first evaluation value of “Other” (the “Other” group) based on the evaluation values ​​of the first and second scales (S43). More specifically, the target processing unit 23 extracts target objects associated with “Other” from the upper limit value n of target objects stored in the target object storage unit 31, and determines, from these extracted target objects, a target object associated with the lowest evaluation value based on the second evaluation value using the second scale, as a third exclusion candidate. Here, since the first evaluation value is “Other,” the distance of the second scale B is used as the second scale, and the target processing unit 23 determines, as the third exclusion candidate, a target object to be processed having the longest distance. The third exclusion candidate is a target object to be processed as a candidate for the selection in “Other.” In this embodiment, if the extraction is not disabled and is valid, it is the target object to be processed that is associated with the lowest evaluation value in the “Other” group.

[0072] Next, the target processing unit 23 counts the number of targets to be processed that are equal to the upper limit value n stored in the target processing unit 31 and that are associated with "approach" among targets with identification number k newly detected by the detection processing unit 22, in order to compare with the first minimum retention value na0 associated with the "approaching" group, and calculates the first total number na (S44).

[0073] Next, the target processing unit 23 counts the number of targets associated with "Ahead" among the targets to be processed that number equal to the upper limit value n stored in the target processing memory unit 31 and the target with identification number k newly detected by the detection processing unit 22, to compare with the second minimum hold value nb0 associated with the "Ahead" group, and obtains a second total number nb (S45). That is, from targets other than targets associated with "Approaching" after the execution of process S44, targets associated with "Ahead" are counted to obtain the second total number nb.

[0074] Next, the target processing unit 23 determines whether the first total number na is equal to or less than the first minimum retention value na0 (na≦na0?, S46). If the result of this determination is that the first total number na is equal to or less than the first minimum retention value na0 (Yes), the target processing unit 23 executes process S47 and then process S48. On the other hand, if the result of the determination is that the first total number na is not equal to or less than the first minimum retention value na0 (No), the target processing unit 23 executes process S48.

[0075] In step S47, the target processing unit 23 sets "invalidate extraction" for the first exclusion candidate in the "approaching" group so as to invalidate extraction for the first exclusion candidate. For example, a flag (first invalidation flag) indicating whether the first exclusion candidate is set to "invalidate extraction" is associated with the first exclusion candidate and stored in the storage unit 3. For example, "1" of the first invalidation flag indicates "invalidate extraction," and "0" indicates that extraction is not invalid. By setting "invalidate extraction" for the first exclusion candidate in the "approaching" group, regardless of the first evaluation value of the target with identification number k newly detected by the detection processing unit 22, the target to be processed associated with "approaching" is held in the processing target storage unit 31 in the processing for the target with identification number k, and the memory thereof is maintained. In this embodiment, even if there is no target in the "approaching" group, the first invalidation flag is set to "1," thereby reducing information processing related to the first exclusion candidate.

[0076] In the process S48, the target processing unit 23 determines whether the second total number nb is equal to or less than the second minimum retention value nb0 (nb≦nb0?). If the result of this determination is that the second total number nb is equal to or less than the second minimum retention value nb0 (Yes), the target processing unit 23 executes process S49, then terminates this pre-processing S4, and executes process S5 shown in Fig. 4 as described above. On the other hand, if the result of the determination is that the second total number nb is not equal to or less than the second minimum retention value nb0 (No), the target processing unit 23 terminates this pre-processing S4 and executes the process S5.

[0077] In this process S49, the target processing unit 23 sets "invalidate extraction" to the second exclusion candidate so as to invalidate extraction of the second exclusion candidate in the "forward" group. For example, a flag (second invalidation flag) indicating whether the second exclusion candidate is set to "invalidate extraction" similar to the first invalidation flag is associated with the second exclusion candidate and stored in the storage unit 3. By setting "invalidate extraction" to the second exclusion candidate in the "forward" group, regardless of the first evaluation value of the target with identification number k newly detected by the detection processing unit 22, the target to be processed associated with "forward" is held in the processing target storage unit 31 in the processing of the target with identification number k, and the memory thereof is maintained. In this embodiment, even if there is no target in the "forward" group, the second invalidation flag is set to "1", thereby reducing information processing regarding the second exclusion candidate.

[0078] Returning to Fig. 4, in process S5 following pre-processing S4, the target processing unit 23 determines whether the first exclusion candidate is set to "disable extraction." If the result of this determination is that the first exclusion candidate is set to "disable extraction" (Yes), the target processing unit 23 executes process S9 (thus, processes S6 to S8 are not executed). On the other hand, if the result of the determination is that the first exclusion candidate is not set to "disable extraction" (No), the target processing unit 23 executes process S6.

[0079] In this process S6 and process S7 described below, the target processing unit 23, in determining which of the selected target to be processed and the target with identification number k newly detected by the detection processing unit 22, first determines which of the targets is the target using a first evaluation value based on the first scale, and second, if it is not possible to determine which of the targets is the target using the first evaluation value based on the first scale, determines which of the targets is the target using a second evaluation value based on the second scale. The target processing unit 23 also executes processes S10 and S11, which will be described later, and processes S14 and S15, which will be described later, but in processes S6 and S7, the target processing unit 23 executes processes when the first evaluation value of the first excluded candidate is "'approaching' first evaluation value |na>na0", in processes S10 and S11, the target processing unit 23 executes processes when the first evaluation value of the second excluded candidate is "'forward' first evaluation value |nb>nb0", and in processes S14 and S15, the target processing unit 23 executes processes when the first evaluation value of the third excluded candidate is "'other' first evaluation value".

[0080] More specifically, in step S6, the target processing unit 23 determines whether the first evaluation value of the target (detected target k) with identification number k newly detected by the detection processing unit 22 is higher than the first evaluation value of the first exclusion candidate. The first evaluation value is determined based on the above-mentioned inequality 1. If the result of this determination is that the first evaluation value of the detected target k is higher than the first evaluation value of the first exclusion candidate, that is, if the first evaluation value of the first exclusion candidate is lower than the first evaluation value of the detected target k (Yes), the target processing unit 23 executes step S8. On the other hand, if the result of the determination is that the first evaluation value of the detected target k is not higher than the first evaluation value of the first exclusion candidate (No), the target processing unit 23 executes step S7. That is, in process S6, since the extraction of the first exclusion candidate is not invalid, the determination is made by inequality 1, "'Other' first evaluation value' > ''Ahead' first evaluation value |nb>nb0' > ''Approaching' first evaluation value |na>na0'", so if the first evaluation value of the detected target k is "Other" or "Ahead", the result is determined to be the "Yes" case, and process S8 is executed, and if the first evaluation value of the detected target k is "Approaching", the result is determined to be the "No" case, and process S7 is executed.

[0081] In step S7, since the comparison of the first evaluation values ​​using the first scale failed to determine whether the target k is a candidate for exclusion, the target processing unit 23 determines whether the second evaluation value of the detected target k is higher than the second evaluation value of the first candidate for exclusion to compare the second evaluation values ​​using the second scale. This step S7 is executed when the first evaluation value is "approach," so the collision prediction time of the secondA scale is used as the second scale, and the collision prediction time of the secondA evaluation value is used as the second evaluation value. If the result of this determination is that the secondA evaluation value of the detected target k is higher than the secondA evaluation value of the first candidate for exclusion—that is, if the collision prediction time of the detected target k is shorter than the collision prediction time of the first candidate for exclusion and therefore the secondA evaluation value of the first candidate for exclusion is lower than the secondA evaluation value of the detected target k (Yes), the target processing unit 23 executes step S8 and then terminates the selection and storage process for the target with identification number k. On the other hand, if the result of the judgment is that the 2A evaluation value of the detected target k is not higher than the 2A evaluation value of the first exclusion candidate (No), the target processing unit 23 terminates the selection and storage process for the target with identification number k.

[0082] In the process S8, the target processing unit 23 stores the target with identification number k (detected target k) newly detected by the detection processing unit 22 in place of the first exclusion candidate target as the target to be processed in the process target storage unit 31. Therefore, in the selection and storage process for the next target with identification number k+1, the detected target k stored in the process target storage unit 31 in place of the first exclusion candidate target becomes one of the upper limit value n of target objects to be processed stored in the process target storage unit 31. Processes S12 and S16 described below also have the same effects as process S8.

[0083] In step S9, the target processing unit 23 determines whether the second exclusion candidate is set to "disable extraction." If the result of this determination is that the second exclusion candidate is set to "disable extraction" (Yes), the target processing unit 23 executes step S13 (thus, steps S10 to S12 are not executed). On the other hand, if the result of the determination is that the second exclusion candidate is not set to "disable extraction" (No), the target processing unit 23 executes step S10.

[0084] In step S10, the target processing unit 23 determines whether the first evaluation value of the target (detected target k) with identification number k newly detected by the detection processing unit 22 is higher than the first evaluation value of the second exclusion candidate. The first evaluation value is determined based on the above-mentioned inequality 1. If the result of this determination is that the first evaluation value of the detected target k is higher than the first evaluation value of the second exclusion candidate, that is, if the first evaluation value of the second exclusion candidate is lower than the first evaluation value of the detected target k (Yes), the target processing unit 23 executes step S12. On the other hand, if the result of the determination is that the first evaluation value of the detected target k is not higher than the first evaluation value of the first exclusion candidate (No), the target processing unit 23 executes step S11. That is, in process S10, since the extraction of the first exclusion candidate is invalid but the extraction of the second exclusion candidate is not invalid, the determination is made by inequality 1, "``Approaching'' first evaluation value |na≦na0'' > ````Other'' first evaluation value'' > ````Ahead'' first evaluation value |nb>nb0''", so if the first evaluation value of the detected target k is ``approaching'' or ``other'', the result is determined to be the ``Yes'' case and process S12 is executed, and if the first evaluation value of the detected target k is ``Ahead'', the result is determined to be the ``No'' case and process S11 is executed.

[0085] In this process S11, since the comparison of the first evaluation values ​​using the first scale was not successful, the target processing unit 23 determines whether the second evaluation value of the detected target k is higher than the second evaluation value of the second exclusion candidate to compare the second evaluation values ​​using the second scale. This process S11 is executed when the first evaluation value is "forward," so the distance of the secondB scale is used as the second scale, and the distance value of the secondB evaluation value is used as the second evaluation value. If the result of this determination is that the secondB evaluation value of the detected target k is higher than the secondB evaluation value of the second exclusion candidate, that is, if the distance of the detected target k is shorter than the distance of the second exclusion candidate and therefore the 2B evaluation value of the second exclusion candidate is lower than the 2B evaluation value of the detected target k (Yes), the target processing unit 23 executes process S12 and then terminates the selection and storage process for the target with identification number k. On the other hand, if the result of the judgment is that the 2B evaluation value of the detected target k is not higher than the 2B evaluation value of the second exclusion candidate (No), the target processing unit 23 terminates the selection and storage process for the target with identification number k.

[0086] In the process S12, the target processing unit 23 stores the target with identification number k (detected target k) newly detected by the detection processing unit 22 in place of the second exclusion candidate target in the processing target memory unit 31 as the target to be processed.

[0087] In step S13, the target processing unit 23 determines whether the third exclusion candidate is set to "invalidate extraction." If the result of this determination is that the third exclusion candidate is set to "invalidate extraction" (Yes), the target processing unit 23 ends the selection and storage process for the target with identification number k (thus, the processes of steps S14 to S16 are not executed). On the other hand, if the result of the determination is that the third exclusion candidate is not set to "invalidate extraction" (No), the target processing unit 23 executes step S14.

[0088] In step S14, the target processing unit 23 determines whether the first evaluation value of the target with identification number k (detected target k) newly detected by the detection processing unit 22 is higher than the first evaluation value of the third exclusion candidate. The first evaluation value is determined based on the above-mentioned inequality 1. If the result of this determination is that the first evaluation value of the detected target k is higher than the first evaluation value of the third exclusion candidate, that is, if the first evaluation value of the third exclusion candidate is lower than the first evaluation value of the detected target k (Yes), the target processing unit 23 executes step S16. On the other hand, if the result of the determination is that the first evaluation value of the detected target k is not higher than the first evaluation value of the third exclusion candidate (No), the target processing unit 23 executes step S15. That is, in process S14, since the extraction of the first and second exclusion candidates is invalid, a determination is made by inequality 1, i.e., "'Approaching' first evaluation value |na≦na0' > 'Ahead' first evaluation value |nb≦nb0' > ''Other' first evaluation value'", so if the first evaluation value of the detected target k is "approaching" or "ahead", the result is determined to be "Yes", and process S16 is executed, whereas if the first evaluation value of the detected target k is "Other", the result is determined to be "No", and process S15 is executed.

[0089] In step S15, since the comparison of the first evaluation values ​​using the first scale was not successful, the target processing unit 23 determines whether the second evaluation value of the detected target k is higher than the second evaluation value of the third exclusion candidate to compare the second evaluation values ​​using the second scale. This step S15 is executed when the first evaluation value is "other," so the distance on the secondB scale is used as the second scale, and the distance value of the secondB evaluation value is used as the second evaluation value. If the result of this determination is that the secondB evaluation value of the detected target k is higher than the secondB evaluation value of the third exclusion candidate, that is, if the distance of the detected target k is shorter than the distance of the third exclusion candidate and therefore the 2B evaluation value of the third exclusion candidate is lower than the 2B evaluation value of the detected target k (Yes), the target processing unit 23 executes step S16 and then terminates the selection and storage process for the target with identification number k. On the other hand, if the result of the judgment is that the 2B evaluation value of the detected target k is not higher than the 2B evaluation value of the third excluded candidate (No), the target processing unit 23 terminates the selection and storage process for the target with identification number k.

[0090] In the process S16, the target processing unit 23 stores the target (detected target k) with identification number k newly output by the detection processing unit 22 in place of the third exclusion candidate target in the processing target memory unit 31 as the target to be processed.

[0091] In this way, each of the processes S2 to S16 is carried out as the selection and storage process.

[0092] The driving support unit 4 then supports driving based on the target object to be processed stored in the target object to be processed storage unit 31. For example, the collision damage mitigation braking, the following driving support, the rear object presence warning support, etc. are performed.

[0093] As described above, the target recognition device S and the object recognition method implemented therein in the embodiment select the target to be processed that is associated with the lowest evaluation value from among the targets to be processed stored in the target target storage unit 31, eliminating the need to sort the targets to be processed stored in the target target storage unit 31 in order of priority. The target recognition device S and the target recognition method can determine the target to be stored in the target target storage unit 31 by comparing the evaluation value of the selected target to be processed with the evaluation value of a target newly detected by the target detection unit OD. Therefore, the target recognition device S and the target recognition method can select a target to be recognized with simpler information processing.

[0094] Fig. 6 is a diagram for explaining the action and effect of the target recognition device, Fig. 6A is a diagram for conceptually explaining the case of this embodiment, and Fig. 6B is a diagram for conceptually explaining the case of Patent Document 1.

[0095] More specifically, in the vehicle surroundings monitoring device disclosed in Patent Document 1, as shown in FIG. 6B, (n+m) targets consisting of n existing targets and m new targets are sorted in order of collision prediction time, and a first set number of targets at the top are selected. The remaining targets are then sorted in order of relative distance, and a second set number of targets at the top are selected. Therefore, the processing time is approximately (n+m) 2 On the other hand, in this embodiment, as shown in Fig. 6A, for (n+m) targets, the target with the lowest evaluation value is selected from n targets, and each of the m targets is compared with this target with the lowest evaluation value, so the processing time is roughly on the order of (n x m). Therefore, the target recognition device S and target recognition method described above can select a recognized target with simpler information processing.

[0096] The target recognition device S and the target recognition method perform the selection and storage process sequentially on a plurality of targets one by one. Therefore, for example, when one of the plurality of targets (e.g., detected target k) is stored in the target to be processed storage unit 31 as the target to be processed by the selection and storage process, when the selection and storage process is performed on another target of the plurality of targets (e.g., detected target k+1), the one target and the other target can be compared using the evaluation value. Therefore, even when a plurality of targets are newly detected by the target detection unit, the target with the truly highest evaluation value can be stored in the target to be processed storage unit 31 as the target to be processed.

[0097] In the above-mentioned target recognition device S and target recognition method, the evaluation values ​​associated with the target are provided by a plurality of evaluation values ​​based on a plurality of different types of scales, and therefore the target to be stored in the target memory unit 31 to be processed can be determined from various perspectives using a plurality of different types of scales (indices, standards).

[0098] The above-mentioned target recognition device S and target recognition method extract targets for each group divided by the first evaluation value, so that targets to be processed that are candidates for the selection can be extracted from various perspectives (levels) of the first scale.

[0099] The above-mentioned target recognition device S and target recognition method invalidate the extraction when the number of targets to be processed stored in the target memory unit 31 in a group having a minimum retention value is less than or equal to the minimum retention value, thereby ensuring at least the storage of targets to be processed in a group having a minimum retention value.

[0100] The target recognition device S and the target recognition method can determine a target to be stored in the target to be processed storage unit 31 from the viewpoint of a first criterion having a first evaluation value determined based on the direction and running state of the target relative to the moving body (vehicle VC). The target recognition device S and the target recognition method can determine a target to be stored in the target to be processed storage unit 31 from the viewpoint of a second criterion having a second evaluation value determined based on the running state of the target relative to the moving body (vehicle VC) or the direction of the target relative to the moving body.

[0101] The target recognition device S and the target recognition method firstly determine which of the targets is to be stored in the target storage unit 31 from the perspective of the first scale by using a first evaluation value based on the first scale, and can therefore determine the target to be stored in the target storage unit 31 from the perspective of the first scale, and secondly, if the target cannot be determined from the first evaluation value based on the first scale, the target is determined from the second evaluation value based on the second scale. Therefore, even if the target cannot be determined from the perspective of the first scale, the target to be stored in the target storage unit 31 can be determined from the perspective of the second scale. In the above example, the target recognition device S and the target recognition method can firstly determine the target to be stored in the target storage unit 35 from the perspective of the first scale having a first evaluation value determined based on the direction and traveling state of the target relative to the moving object, and secondly, from the perspective of the secondA scale having a secondA evaluation value determined by the value of the collision prediction time or the secondB scale having a secondB evaluation value determined by the value of the distance.

[0102] In the above-described embodiment, the target processing unit 23 may determine whether to disable extraction only when the traveling state of the moving body satisfies a predetermined condition. This determines whether to disable extraction only when the traveling state of the moving body (vehicle VC) satisfies a predetermined condition, so that the traveling state of the moving body (vehicle VC) can be taken into consideration when determining whether to disable extraction. For example, when applying driving assistance (e.g., the following driving assistance) by the driving assistance unit 4 that uses the target recognition result, if a condition (application condition) is set for the application (e.g., an application condition for the following driving assistance that allows following driving assistance only when the vehicle speed is equal to or greater than a predetermined threshold), by setting the predetermined condition as the application condition, the application condition is satisfied, and a determination is made as to whether to disable extraction.

[0103] For example, the traveling state of the moving body (vehicle VC) is speed (vehicle speed), and the predetermined condition is that the speed of the moving body (vehicle VC) is equal to or greater than a preset speed (speed threshold value). Therefore, only when the speed of the moving body (vehicle VC) is equal to or greater than the speed threshold value, the target processing unit 23 determines whether or not to invalidate the extraction. More specifically, as shown in parentheses in process S48 of FIG. 5, process S48 is executed only when the vehicle speed of the moving body (vehicle VC) is equal to or greater than the speed threshold value ve. Note that if the vehicle speed of the moving body (vehicle VC) is not equal to or greater than the speed threshold value ve, process S48 is skipped, and the extraction is not invalidated.

[0104] In order to express the present invention, the present invention has been properly and sufficiently described above through the embodiments with reference to the drawings, but it should be recognized that those skilled in the art can easily change and / or improve the above-mentioned embodiments. Therefore, unless the changes or improvements made by those skilled in the art are at a level that causes departure from the scope of the claims described in the claims, such changes or improvements are interpreted as being included in the scope of the claims. [Explanation of symbols]

[0105] S target object recognition device OD target detection unit 1-1 to 1-5 First to fifth detectors 2. Control processing section 3 Storage section 4. Driving Support Department 21 Control section 22 Detection processing section 23 Target processing unit 31 Processing target memory unit

Claims

1. A target recognition device mounted on a moving body, a target detection unit that detects objects present around the moving object as targets; a processing target storage unit that stores the target as a processing target at a value equal to or less than a predetermined upper limit value in association with an evaluation value when the evaluation value is stored and saved, the evaluation value being determined depending on the situation of the target relative to the moving body; a target processing unit that performs a selection and storage process in which, when the target to be processed is stored in the target to be processed storage unit at the upper limit value, a target to be processed associated with a lowest evaluation value is selected from the target to be processed as many as the upper limit value stored in the target to be processed storage unit, and based on the evaluation value of the selected target to be processed and the evaluation value of a target newly detected by the target detection unit, one of the selected target to be processed and the target newly detected by the target detection unit is determined and stored in the target to be processed storage unit as the target to be processed, the evaluation value associated with the target includes a plurality of evaluation values ​​based on a plurality of scales of different types, In selecting the target object to be processed associated with the lowest evaluation value, the target processing unit extracts target objects to be selected as candidates for the selection based on a first evaluation value according to a first scale among the plurality of scales from among the target objects to be processed of the number of the upper limit value stored in the target object to be processed storage unit, and selects the target object to be processed associated with the lowest evaluation value from among the target objects to be processed extracted as candidates for the selection based on a second evaluation value according to a second scale among the plurality of scales that is different from the first scale. Target recognition device.

2. when the target detection unit newly detects a plurality of targets, the target processing unit sequentially performs the selection and storage process on the plurality of targets one by one. The target recognition device according to claim 1 .

3. the target processing unit, in extracting the target to be processed that is a candidate for selection, divides the target to be processed stored in the target to be processed storage unit and the target newly detected by the target detection unit into a plurality of groups for each first evaluation value based on the first scale, and performs the extraction for each group.

3. The target recognition device according to claim 1 or 2.

4. a minimum retention value, which is the minimum number of targets to be processed that should be stored and retained in the target storage unit, corresponding to the group; the target processing unit, in the extraction for each group, if the group has the minimum retention value, compares the number of targets to be processed stored in the processing target storage unit with the minimum retention value, and invalidates the extraction if the result of the comparison shows that the number of targets to be processed stored in the processing target storage unit is equal to or less than the minimum retention value; The target recognition device according to claim 3.

5. the target processing unit, in determining either the selected target to be processed or the target newly detected by the target detection unit, firstly determines either one of them using a first evaluation value based on the first scale, and secondly, when either one of them cannot be determined using the first evaluation value based on the first scale, determines either one of them using a second evaluation value based on the second scale; 5. The target recognition device according to claim 2.

6. The first evaluation value of the first scale includes "approaching" in which the target approaches the moving body, "ahead" in which the target is located in front of the moving body, and "other" in which the target is neither "approaching" nor "ahead" of the moving body. The target recognition device according to claim 5.

7. the second evaluation value of the second scale includes a value of a predicted collision time of the target with the moving body or a value of a distance of the target with respect to the moving body; 7. The target recognition device according to claim 5 or 6.

8. the target processing unit determines whether to disable the extraction only when a traveling state of the moving object satisfies a predetermined condition; 10. The target recognition device according to claim 4, claim 5 which relies on claim 4, claim 6 which further relies on claim 5 which relies on claim 4, and claim 7 which further relies on claim 5 which relies on claim 4.

9. A target recognition method executed by a computer mounted on a moving body, comprising: a target detection step of detecting an object existing around the moving object as a target; a target processing step for, in a target processing target storage unit that stores the target as a target to be processed at a predetermined upper limit or less, in association with an evaluation value when the evaluation value is stored and saved, the evaluation value being determined depending on the situation of the target relative to the moving body, selecting, when the target to be processed is stored in the target processing target storage unit at the upper limit, a target to be processed that is associated with the lowest evaluation value from among the target to be processed in the number of targets to be processed equal to the upper limit stored in the target processing target storage unit, and determining either the selected target to be processed or the target newly detected in the target detection step based on the evaluation value of the selected target to be processed and an evaluation value of a target newly detected in the target detection step, and storing the determined target as the target to be processed in the target processing target storage unit; the evaluation value associated with the target includes a plurality of evaluation values ​​based on a plurality of scales of different types, In the target processing step, in selecting a target to be processed that is associated with the lowest evaluation value, targets to be processed that are candidates for the selection based on a first evaluation value according to a first scale among the plurality of scales are extracted from the target to be processed that is the number of targets to be processed that is the upper limit value stored in the target to be processed storage unit, and a target to be processed that is associated with the lowest evaluation value is selected from the targets to be processed extracted as candidates for the selection based on a second evaluation value according to a second scale among the plurality of scales that is different from the first scale. Target recognition method.