Computer program, object detection device, and object detection method

Abstract

Provided are a computer program, an object detection device, and an object detection method that make it possible to efficiently detect a moving object.　The computer program which is for causing a computer to execute a process for detecting a moving object on the basis of a reflected radio wave acquired by a radar mounted on a vehicle causes the computer to execute a process for: identifying the intensity level of the reflected radio wave acquired by the radar from a stationary object; and when the identified intensity level exceeds a reference, setting a method for the process for detecting the moving object, to a special mode which is different from a normal mode.

Description

Technical Field

[0001] The present invention relates to a computer program, an object detection device, and an object detection method for detecting a moving object using a radar mounted on a vehicle.

Background Art

[0002] In order to prevent vehicle accidents, a radar is mounted on a vehicle, and a moving object such as another vehicle is detected using the radar. When using the radar, in addition to the radio waves reflected from the moving object to be detected, unnecessary radio waves called clutter generated from the environment are obtained. For example, radio waves reflected from a metal wall such as a soundproof wall become clutter. When the intensity of the clutter is high, the detection of the moving object may be inhibited. For example, it becomes difficult to detect another vehicle traveling near the soundproof wall. Patent Document 1 discloses an example of a technique for detecting a moving object in a situation where clutter occurs.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a process for detecting a moving object using a radar, there are a plurality of processes with different resolutions. When a process for detecting a moving object with a high resolution is executed, the influence of clutter is small. However, the calculation load becomes large and the efficiency is not good.

[0005] The present invention has been made in view of such circumstances, and an object thereof is to provide a computer program, an object detection device, and an object detection method capable of efficiently detecting a moving object. [Means for solving the problem]

[0006] A computer program according to one embodiment of the present invention is a computer program that causes a computer to perform processing for detecting a moving object based on reflected radio waves acquired by a radar mounted on a vehicle, characterized in that the computer is instructed to specify the intensity level of reflected radio waves from a stationary object acquired by the radar, and if the specified intensity level exceeds a standard, to perform processing to set the processing method for detecting the moving object to a special mode different from the normal mode.

[0007] An object detection device according to one embodiment of the present invention is an object detection device that performs processing for detecting a moving object based on reflected radio waves acquired by a radar mounted on a vehicle, and is characterized by comprising: a specification unit that specifies the intensity level of reflected radio waves from a stationary object acquired by the radar, and a setting unit that, when the specified intensity level exceeds a standard, sets the processing method for detecting the moving object to a special mode different from the normal mode.

[0008] An object detection method according to one embodiment of the present invention is characterized by performing a process for detecting a moving object based on reflected radio waves acquired by a radar mounted on a vehicle, identifying the intensity level of reflected radio waves from a stationary object acquired by the radar, and setting the processing method for detecting the moving object to a special mode different from the normal mode when the identified intensity level exceeds a standard.

[0009] In one embodiment of the present invention, a process is performed to detect a moving object located outside the vehicle using radar, and a processing method for detecting the moving object is set. The intensity level of reflected radio waves from a stationary object is determined using radar, and when the intensity level of reflected radio waves from the stationary object exceeds a standard, the processing method for detecting the moving object is set to a special mode. The special mode is a processing method that enables the detection of a moving object even when the intensity level of reflected radio waves from the stationary object is high. The processing method for detecting a moving object when the intensity level of reflected radio waves from the stationary object is high, i.e., when the clutter intensity level is high, can be used as needed. [Effects of the Invention]

[0010] The present invention offers excellent advantages, such as enabling efficient processing for detecting moving objects. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic block diagram showing a vehicle equipped with an object detection device. [Figure 2] This is a block diagram showing an example of the internal configuration of an object detection device. [Figure 3] This flowchart shows an example of the processing procedure according to Embodiment 1, which sets a processing method for detecting moving objects. [Figure 4] This is a flowchart showing the procedure for the first example of level identification processing. [Figure 5] This is a flowchart showing the procedure for the second example of level identification processing. [Figure 6] This is a schematic diagram illustrating the conditions under which the normal mode is set. [Figure 7] This is a schematic diagram illustrating the conditions under which a special mode is activated. [Figure 8] This is an explanatory diagram illustrating the first example of the special mode. [Figure 9]This flowchart shows an example of a processing procedure according to Embodiment 2, which sets a processing method for detecting moving objects. [Figure 10] This is a schematic block diagram showing a vehicle according to Embodiment 3. [Figure 11] This is a block diagram showing an example of the internal configuration of the control device according to Embodiment 3. [Modes for carrying out the invention]

[0012] The present invention will be described in detail below with reference to drawings illustrating its embodiments. <Embodiment 1> In this embodiment, an object detection device 1 that performs an object detection method for detecting moving objects using radar is mounted on a vehicle 4. Figure 1 is a schematic block diagram showing a vehicle 4 equipped with the object detection device 1. The vehicle 4 is equipped with the object detection device 1, a control device 2, and a display device 3. The control device 2 controls various devices provided in the vehicle 4. The control device 2 is configured using, for example, an ECU (Electronic Control Unit). The display device 3 displays information. The display device 3 is, for example, a liquid crystal display or an EL display (Electroluminescent Display). The object detection device 1 and the display device 3 are connected to the control device 2.

[0013] Figure 2 is a block diagram showing an example of the internal configuration of the object detection device 1. The object detection device 1 comprises a calculation unit 11, a memory 12, a storage unit 13, a radar unit 14, and a communication unit 15. The calculation unit 11 is configured using, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a multi-core CPU. The calculation unit 11 may also be configured using a quantum computer. The memory 12 stores temporary data generated in connection with calculations. The memory 12 is, for example, RAM. The storage unit 13 is non-volatile and is, for example, a hard disk or a non-volatile semiconductor memory. The communication unit 15 transmits information to the control device 2.

[0014] The storage unit 13 stores a computer program 131. The computer program 131 is read from a recording medium 10 such as an optical disk or a portable memory that stores the computer program 131, for example, when the object detection device 1 is manufactured, and is stored in the storage unit 13. The computer program 131 may be downloaded using the communication unit 15 and stored in the storage unit 13. The arithmetic unit 11 executes necessary information processing according to the computer program 131. That is, the object detection device 1 is a computer that executes processing according to the computer program 131. The object detection device 1 may be composed of a plurality of computers, and the computer program 131 may be in a form that is executed on a plurality of computers.

[0015] The radar unit 14 realizes the function as a radar. The radar unit 14 transmits radio waves to the outside of the vehicle 4 and receives the reflected radio waves reflected from an object outside the vehicle 4. The radar unit 14 includes an antenna. The radar unit 14 may include a plurality of antennas. The radar unit 14 specifies the distance between the vehicle 4 and the object that reflected the radio waves and specifies the position of the object based on the reception result of the reflected radio waves.

[0016] The radar unit 14 distinguishes whether the object that reflected the radio wave is a stationary object or a moving object. A stationary object is an object that is stationary with respect to the ground, and a moving object is an object that is moving with respect to the ground. A moving object is, for example, a moving automobile. A stationary object is, for example, a metal wall, a road, a building, a guardrail, a signal light, or a tree. The reflected radio waves from a stationary object become clutter. In particular, a metal wall has a high radio wave reflectivity, and the reflected radio waves from a metal wall have a high intensity. Therefore, a metal wall is a main cause of clutter. The radar unit 14 specifies the relative speed of the object and performs a process of distinguishing between a stationary object and a moving object based on the Doppler component included in the reflected radio waves. In addition, the radar unit 14 acquires the intensity of the reflected radio waves.

[0017] The object detection device 1 performs processing for detecting a moving object existing outside the vehicle 4 based on the processing result of the radar unit 14. Further, the object detection device 1 performs processing for setting a processing method for detecting a moving object. FIG. 3 is a flowchart showing an example of the procedure of the processing according to Embodiment 1 for setting a processing method for detecting a moving object. Hereinafter, steps are abbreviated as S. By the arithmetic unit 11 executing information processing according to the computer program 131, the object detection device 1 executes the following processing.

[0018] The object detection device 1 acquires the intensity of the reflected radio wave from a stationary object (S11). In S11, the radar unit 14 acquires the intensity of the reflected radio wave from stationary objects existing at various distances from the vehicle 4. The arithmetic unit 11 acquires the intensity of the reflected radio wave from each stationary object from the radar unit 14. Next, the object detection device 1 executes a level specifying process for specifying the intensity level of clutter (S12). The intensity level of clutter is the intensity level of the reflected radio wave from a stationary object.

[0019] FIG. 4 is a flowchart showing the procedure of the first example of the level specifying process. A plurality of distance ranges from the vehicle 4 are predefined. For example, the plurality of distance ranges are a distance range of 20 to 25 m, a distance range of 25 to 30 m, a distance range of 30 to 35 m, a distance range of 35 to 40 m, a distance range of 40 to 45 m, a distance range of 45 to 50 m, a distance range of 50 to 55 m, a distance range of 55 to 60 m, a distance range of 60 to 65 m, and a distance range of 65 to 70 m. The object detection device 1 acquires the maximum value or the median value of the intensity of the reflected radio wave from stationary objects existing in each distance range (S121). In S121, the arithmetic unit 11 calculates the maximum value or the median value of the intensity of the reflected radio wave from stationary objects existing in each distance range based on the intensity of the reflected radio wave from stationary objects existing within each distance range obtained from the radar unit 14.

[0020] The object detection device 1 then calculates the average of the maximum or median values ​​of the reflected radio wave intensity from a stationary object (S122). In S122, the calculation unit 11 calculates the average of the maximum or median values ​​of the reflected radio wave intensity from a stationary object by averaging the maximum or median values ​​of the reflected radio wave intensity from a stationary object calculated for each distance range over multiple distance ranges. The object detection device 1 then identifies the calculated average value as the clutter intensity level (S123). In S123, the calculation unit 11 uses the average of the maximum or median values ​​of the reflected radio wave intensity from a stationary object as the clutter intensity level. After S123 is completed, the calculation unit 11 returns processing to the main unit.

[0021] The object detection device 1 may also be configured to identify the clutter intensity level for each distance range. In this configuration, the object detection device 1 omits the process in S122. In S123, the object detection device 1 identifies the clutter intensity level for each distance range as the maximum or median value of the reflected radio wave intensity from stationary objects present within each distance range.

[0022] Figure 5 is a flowchart showing the procedure for the second example of level identification processing. The object detection device 1 calculates the average value of the reflected radio wave intensity from multiple stationary objects at different distances from the vehicle 4 (S124). In S124, the calculation unit 11 calculates the average value of the reflected radio wave intensity from stationary objects by averaging the reflected radio wave intensity from stationary objects within a predetermined distance range. For example, the predetermined distance range is 20 to 70 m.

[0023] The object detection device 1 then determines the clutter intensity level based on the calculated average value (S125). In S125, the calculation unit 11 uses the average value of the intensity of reflected radio waves from stationary objects as the clutter intensity level. After S125 is completed, the calculation unit 11 returns the processing to the main unit.

[0024] The object detection device 1 performs level identification processing by executing the processes S121 to S123 or S124 to S125. The object detection device 1 may also perform the level identification processing in S12 by other methods. For example, instead of calculating the average value in S124, the object detection device 1 may calculate the maximum value, median, or mode of the reflected radio wave intensity from stationary objects, and then identify the calculated maximum value, median, or mode as the clutter intensity level. The object detection device 1 may also identify the clutter intensity level for each of multiple distance ranges. For example, in S124, the object detection device 1 may calculate the average value of the reflected radio wave intensity from stationary objects within each distance range, and in S125, identify the calculated average value as the clutter intensity level for each distance range. The level identification processing corresponds to the identification unit.

[0025] After S12 is completed, the object detection device 1 determines whether the clutter intensity level exceeds a reference value (S13). The reference value is set to a predetermined value and is either stored in the storage unit 13 in advance or included in the computer program 131. In S13, the calculation unit 11 compares the identified clutter intensity level with the reference value.

[0026] If the clutter intensity level is below the standard value (S13: NO), the object detection device 1 sets the processing method for detecting moving objects outside the vehicle 4 to normal mode (S14). There are two processing modes for detecting moving objects outside the vehicle 4: normal mode and special mode. If the processing method is already in normal mode, in S14 the calculation unit 11 leaves the processing method in normal mode. If the processing method is in special mode, in S14 the calculation unit 11 changes the processing method to normal mode.

[0027] Figure 6 is a schematic diagram showing the conditions under which the normal mode is set. Assume that another vehicle 41 is present outside vehicle 4, and that vehicles 4 and 41 are traveling from bottom to top in Figure 6. There are no stationary objects around vehicles 4 and 41 that would cause clutter, and the clutter intensity level is low. Therefore, the radar unit 14 can clearly detect reflected radio waves from vehicle 41, and the object detection device 1 can reliably detect vehicle 41.

[0028] If the clutter intensity level exceeds the standard value (S13: YES), the object detection device 1 sets the processing method for detecting moving objects outside the vehicle 4 to a special mode (S15). The special mode is a different processing method from the normal mode. If the processing method is in the normal mode, in S15, the calculation unit 11 changes the processing method to the special mode. If the processing method is already in the special mode, in S15, the calculation unit 11 leaves the processing method in the special mode. The processing in S13 to S15 corresponds to the setting unit.

[0029] Figure 7 is a schematic diagram illustrating the situation in which a special mode is set. Assume that vehicles 4 and 41 are traveling from bottom to top in Figure 7. Vehicles 4 and 41 are traveling near a metal wall 5. The intensity of the reflected radio waves from the metal wall 5 is high, and the metal wall 5 is a cause of clutter. Figure 7 shows region 51 where the intensity level of clutter caused by the metal wall 5 exceeds a standard value. When vehicle 41 is located within region 51, the intensity of the reflected radio waves from the metal wall 5 is high, making it difficult for the radar unit 14 to clearly detect the reflected radio waves from vehicle 41.

[0030] The special mode is a processing method that enables the detection of moving objects outside the vehicle 4 even when the clutter intensity level exceeds a baseline value. The first example of the special mode is a processing method that estimates the position of a moving object by supplementing the position of the moving object based on the already obtained position and velocity of the moving object, and then tracks the moving object. Figure 8 is an explanatory diagram illustrating the first example of the special mode. Figure 8 shows three figures, where the horizontal axis of the graphs in Figure 8 represents time and the vertical axis represents the clutter intensity level. The clutter intensity level changes with time. In the figure labeled "Normal Mode" in Figure 8, the horizontal axis represents time, and black circles indicate that a moving object (e.g., vehicle 41) was detected at each point in time by the normal mode. During periods when the clutter intensity level exceeds the baseline value, the position of the moving object cannot be detected. In the figure labeled "Special Mode" in Figure 8, white circles indicate that the position of the moving object was estimated by the special mode.

[0031] When the clutter intensity level exceeds a baseline value, the position of a moving object cannot be detected by the normal mode, as shown in Figure 8. In the first example of the special mode, the object detection device 1 estimates the position of the moving object by supplementing the position of the moving object based on the position and velocity of the moving object obtained before the clutter intensity level exceeded the baseline value. For example, the calculation unit 11 estimates the position of the moving object by assuming that the moving object is coasting. Coasting is a state in which a moving object is traveling by inertia without accelerating or decelerating. The calculation unit 11 estimates the position of the moving object by supplementing the position of the coasting moving object based on the position and relative velocity of the moving object obtained before the clutter intensity level exceeded the baseline value. As shown in Figure 8, the estimated position of the moving object is obtained during the period when the clutter intensity level exceeds the baseline value. The object detection device 1 tracks the moving object by having the calculation unit 11 sequentially calculate the estimated position of the moving object.

[0032] Since the time that vehicle 4 travels near stationary objects that cause clutter, such as metal walls, is short, the time that the clutter intensity level exceeds the standard value is short. Even if the position of the moving object is estimated assuming that the moving object is coasting during this short time, the error between the estimated position and the correct position is small. Therefore, the object detection device 1 can track and detect the moving object even when the clutter intensity level is high.

[0033] A second example of the special mode is a processing method for detecting the position of a moving object with higher resolution than the normal mode. The calculation unit 11 detects the position of the moving object using an algorithm that provides higher resolution. For example, the calculation unit 11 detects the position of the moving object using the MUSIC (multiple signal classification) method or the Capon method. When the position of a moving object is detected with high resolution, the moving object can be detected even when the clutter intensity level is high. On the other hand, the process of detecting the position of a moving object with high resolution is computationally intensive. Since the time during which the clutter intensity level exceeds the reference value is short, the object detection device 1 can efficiently detect the moving object by detecting the position of the moving object with high resolution only during this short period of time.

[0034] After processing S14 or S15 is completed, the object detection device 1 finishes the process of setting the processing method for detecting moving objects. The object detection device 1 repeatedly executes processing S11 to S15. For example, the object detection device 1 executes processing S11 to S15 every 50ms.

[0035] Furthermore, the object detection device 1 may set the processing method to normal mode when the clutter intensity level is below a reference value, and set the processing method to special mode when the clutter intensity level is above the reference value. The reference value for setting the processing method to normal mode and the reference value for setting the processing method to special mode may be different. For example, a first reference value and a second reference value lower than the first reference value may be defined. The object detection device 1 may set the processing method to special mode when the clutter intensity level exceeds the first reference value, and set the processing method to normal mode when the clutter intensity level exceeds the second reference value. The object detection device 1 may not change the processing method when the clutter intensity level is between the second reference value and the first reference value.

[0036] The object detection device 1 may set a processing method for detecting moving objects for each of the multiple distance ranges. For example, in S12, the object detection device 1 may identify the clutter intensity level for each of the multiple distance ranges, and in S13, it may compare the clutter intensity level for each distance range with a reference value and set a processing method for each distance range. The reference value may differ for each distance range.

[0037] The object detection device 1 may perform the processes S11 to S15 multiple times and use the intensity of reflected radio waves from stationary objects obtained during the multiple processing cycles to perform the processes S11 to S15 again. For example, the object detection device 1 may perform a process to determine the clutter intensity level by averaging the intensity of reflected radio waves from stationary objects obtained during the multiple processing cycles.

[0038] In parallel with the processing in S11 to S15, the object detection device 1 performs processing to detect moving objects located outside the vehicle 4 based on the processing results of the radar unit 14. At this time, the object detection device 1 detects the moving object according to the processing method set by the processing in S11 to S15. The object detection device 1 transmits detection data representing the detection result of the moving object to the control device 2. At this time, the calculation unit 11 causes the communication unit 15 to transmit the detection data to the control device 2. The control device 2 receives the detection data and, based on the detection data, displays an image representing the position of the detected moving object on the display device 3.

[0039] As detailed above, the object detection device 1 uses the radar unit 14 to perform processing for detecting moving objects located outside the vehicle 4, and also sets a processing method for detecting moving objects. When the clutter intensity level exceeds a certain standard, the object detection device 1 sets the processing method for detecting moving objects to a special mode. The special mode is a processing method that enables the detection of moving objects even when the clutter intensity level is high. By executing the special mode only when the clutter intensity level is high, the object detection device 1 can efficiently perform processing for detecting moving objects.

[0040] <Embodiment 2> In Embodiment 2, a processing method for detecting moving objects is set in a different manner than in Embodiment 1. The configuration of the vehicle 4 and the object detection device 1 are the same as in Embodiment 1. Figure 9 is a flowchart showing an example of the processing procedure according to Embodiment 2 for setting a processing method for detecting moving objects. The object detection device 1 acquires the intensity of reflected radio waves from a stationary object (S21). The object detection device 1 then performs a level identification process to identify the intensity level of clutter (S22). The content of the level identification process is the same as in Embodiment 1.

[0041] The object detection device 1 acquires the intensity of reflected radio waves from moving objects (S23). In S23, the radar unit 14 acquires the intensity of reflected radio waves from moving objects located at various distances from the vehicle 4. The calculation unit 11 acquires the intensity of reflected radio waves from each moving object from the radar unit 14. The object detection device 1 then identifies a reference value for comparison with the clutter intensity level (S24). In S24, the calculation unit 11 calculates the average value of the reflected radio wave intensity from stationary objects by averaging the intensity of reflected radio waves from moving objects located within a predetermined distance range. For example, the predetermined distance range is 0 to 70 m. After S24 is completed, the object detection device 1 determines whether the clutter intensity level exceeds the reference value (S25). If the clutter intensity level is below the reference value (S25: NO), the object detection device 1 sets the processing method for detecting moving objects located outside the vehicle 4 to normal mode (S26). If the clutter intensity level exceeds the standard value (S25: YES), the object detection device 1 sets the processing method for detecting moving objects outside the vehicle 4 to normal mode (S27). The processing in S25 to S27 corresponds to the setting unit.

[0042] After processing S26 or S27 is completed, the object detection device 1 finishes the process of setting a processing method for detecting moving objects. The object detection device 1 repeatedly executes processing S21 to S27.

[0043] The object detection device 1 may set the processing method to normal mode when the clutter intensity level is below a reference value, and to special mode when the clutter intensity level is above the reference value. The reference value for setting the processing method to normal mode and the reference value for setting the processing method to special mode may be different. The object detection device 1 may set a processing method for detecting moving objects for each of the multiple distance ranges. For example, in S22, the object detection device 1 may identify the clutter intensity level for each of the multiple distance ranges, in S24, identify a reference value for each of the multiple distance ranges, and in S25, compare the clutter intensity level for each distance range with the reference value and set a processing method for each distance range.

[0044] The object detection device 1 may perform the processes S21 to S27 multiple times, and use the intensity of reflected radio waves from stationary objects obtained during the multiple processing cycles to perform the processes S21 to S27. For example, the object detection device 1 may determine the clutter intensity level based on the intensity of reflected radio waves from stationary objects obtained during the multiple processing cycles, and determine a reference value based on the intensity of reflected radio waves from moving objects obtained during the multiple processing cycles. In parallel with the processes S21 to S27, the object detection device 1 performs processing to detect moving objects outside the vehicle 4 according to a set processing method based on the processing results of the radar unit 14.

[0045] In Embodiment 2, the object detection device 1 can efficiently detect moving objects by using a special mode to detect moving objects when the clutter intensity level is high. Furthermore, the object detection device 1 identifies a reference value according to the intensity of the reflected radio waves from the acquired moving object, and determines the magnitude of the clutter intensity level by comparing the identified reference value with the clutter intensity level. Therefore, the object detection device 1 can determine the magnitude of the clutter intensity level according to the intensity of the reflected radio waves from the moving object, and can appropriately set the processing method for detecting moving objects as needed.

[0046] In embodiments 1 and 2 described above, the object detection device 1 is shown to perform processing for detecting moving objects located outside the vehicle 4 and processing for setting a processing method for detecting moving objects. Part of the processing for detecting moving objects or processing for setting a processing method may be performed by the control device 2. In embodiments 1 and 2, the object detection device 1 is shown to have a single radar unit 14, but the object detection device 1 may also have a plurality of radar units 14. For example, the plurality of radar units 14 transmit radio waves to different areas around the vehicle 4 and receive reflected radio waves reflected from objects in different areas. The object detection device 1 may set a processing method for detecting moving objects for each radar unit 14.

[0047] <Embodiment 3> In Embodiment 3, the control device 2 executes the object detection method. Figure 10 is a schematic block diagram showing a vehicle 4 according to Embodiment 3. The vehicle 4 is equipped with a radar unit 14, a control device 2, and a display device 3. The radar unit 14 and the display device 3 are connected to the control device 2.

[0048] Figure 11 is a block diagram showing an example of the internal configuration of the control device 2 according to Embodiment 3. The control device 2 comprises a calculation unit 21, a memory 22, a storage unit 23, and a communication unit 24. The calculation unit 21 is configured using, for example, a CPU, GPU, or multi-core CPU. The calculation unit 21 may also be configured using a quantum computer. The memory 22 stores temporary data generated in connection with calculations. The memory 22 is, for example, RAM. The storage unit 23 is non-volatile and is, for example, a hard disk or a non-volatile semiconductor memory. The communication unit 24 receives information from the radar unit 14 and transmits the information to the display device 3.

[0049] The storage unit 23 stores the computer program 231. The computer program 231 is read from a recording medium 20, such as an optical disc or portable memory, which stores the computer program 231, for example, during the manufacturing of the control device 2, and stored in the storage unit 23. The computer program 231 may also be downloaded using the communication unit 24 and stored in the storage unit 23. The arithmetic unit 21 performs the necessary information processing according to the computer program 231. In other words, the control device 2 is a computer that performs processing according to the computer program 231. The control device 2 may be composed of multiple computers, and the computer program 231 may be in a form that is executed on multiple computers.

[0050] The radar unit 14 transmits radio waves and receives reflected radio waves. The radar unit 14 performs processes to determine the distance between the vehicle 4 and the object that reflected the radio waves, to distinguish between stationary and moving objects, and to acquire the intensity of the reflected radio waves. The radar unit 14 inputs the processing results to the control device 2. The control device 2 receives the processing results from the radar unit 14 at the communication unit 24.

[0051] The control device 2 performs a process to set a processing method for detecting moving objects located outside the vehicle 4, based on the processing results from the radar unit 14. More specifically, the control device 2 performs the processes S11 to S15 described in Embodiment 1, or the processes S21 to S27 described in Embodiment 2. In parallel with the process to set the processing method, the control device 2 performs a process to detect moving objects located outside the vehicle 4, based on the processing results from the radar unit 14 and according to the set processing method. The control device 2 also displays an image representing the position of the detected moving object on the display device 3.

[0052] In Embodiment 3, when the clutter intensity level is high, the control device 2 sets the processing method for detecting moving objects to a special mode and uses the special mode to detect moving objects. In Embodiment 3 as well, when the clutter intensity level is high, the special mode is executed, allowing for efficient processing to detect moving objects.

[0053] Embodiment 3 shows a configuration in which the vehicle 4 is equipped with a single radar unit 14, but the vehicle 4 may be equipped with multiple radar units 14. The control device 2 may perform some of the processing in the radar unit 14 as described above. For example, the radar unit 14 may only transmit and receive radio waves, while the control device 2 may perform the processing of determining distance, distinguishing between stationary and moving objects, and acquiring the intensity of reflected radio waves.

[0054] The matters described in each embodiment can be combined with each other. Furthermore, the independent and dependent claims described in the claims can be combined with each other in any combination, regardless of the form of reference. In addition, the claims use a form in which claims referencing two or more other claims (multi-claim form), but are not limited to this. A form in which multi-claims referencing at least one multi-claim (multi-multi-claim) may also be used.

[0055] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the invention is indicated by the claims and not in the sense described above, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0056] 1. Object detection device 11 Arithmetic section 13 Storage section 131 Computer Programs 14 Radar Units 2 Control device 21 Arithmetic section 23 Memory section 231 Computer Programs 3 Display device 4 vehicles

Claims

1. In a computer program that causes a computer to perform processing to detect a moving object based on reflected radio waves acquired by a radar mounted on a vehicle, For each of the multiple distance ranges from the vehicle, the radar acquires the maximum or median value of the intensity of reflected radio waves from stationary objects within each distance range. The average value obtained by averaging the maximum value or median value acquired over the aforementioned multiple distance ranges is calculated. By using the calculated average value as the intensity level of reflected radio waves from a stationary object, the intensity level is identified. If the identified intensity level exceeds the standard, the processing method for detecting the moving object is set to a special mode different from the normal mode. A computer program characterized by causing the computer to perform a process.

2. The intensity level of the reflected radio waves from the moving object acquired by the radar is identified. The criteria are determined according to the intensity level of the reflected radio waves from the identified moving object. The computer program according to claim 1, characterized in that it causes the computer to perform further processing.

3. The special mode is a processing method for estimating the position of the moving object based on the position and velocity of the moving object that have already been obtained. The computer program according to feature 1 or 2.

4. The special mode is a processing method for detecting the position of the moving object with a higher resolution than the normal mode. The computer program according to feature 1 or 2.

5. The aforementioned stationary object is a metal wall. The computer program according to feature 1 or 2.

6. The aforementioned moving object is a moving vehicle. The computer program according to feature 1 or 2.

7. In an object detection device that performs processing to detect moving objects based on reflected radio waves acquired by a radar mounted on a vehicle, The radar includes a unit for identifying the intensity level of reflected radio waves from a stationary object, The system includes a setting unit that, when the identified intensity level exceeds a standard, sets the processing method for detecting the moving object to a special mode different from the normal mode. The specified part is, For each of the multiple distance ranges from the aforementioned vehicle, the maximum or median value of the reflected radio wave intensity from stationary objects within each distance range is obtained. The average value obtained by averaging the maximum value or median value acquired over the aforementioned multiple distance ranges is calculated. The intensity level is determined by using the calculated average value as the intensity level of the reflected radio waves from a stationary object. An object detection device characterized by the following features.

8. The system performs processing to detect moving objects based on reflected radio waves acquired by the radar mounted on the vehicle. For each of the multiple distance ranges from the vehicle, the radar acquires the maximum or median value of the intensity of reflected radio waves from stationary objects within each distance range. The average value obtained by averaging the maximum value or median value acquired over the aforementioned multiple distance ranges is calculated. By using the calculated average value as the intensity level of reflected radio waves from a stationary object, the intensity level is identified. If the identified intensity level exceeds the standard, the processing method for detecting the moving object is set to a special mode different from the normal mode. A method for detecting an object characterized by the following features.

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