Object detector for a vehicle

Abstract

The invention provides an object detector for a vehicle that can ensure sufficient S / N ratio and avoid error detection even if structure of a time sequence filter for receiving signal does not become complex. The detector has a L / D apparatus (3) that control light emitting of laser and control light receiving of reflector light, and an object detection part that detects object by receiving signal from the L / D apparatus (3). The object detection part includes: an accumulative data memorizer (43) that received signals are cumulatively added up for each of areas into which the target area is divided; a region measurement data storage memorizer (44) that measures data according with each region storage region; a time series processor (45) that noise is removed from obtained data by time series filtering; the object detector (47), if the value of a peak in data is less than that of the corresponding peak obtained in the previous scan by more than a specified value, such data are considered as an after image and not detected as an object.

Description

technical field [0001] The present invention relates to an object detection device for a mobile body which is mounted on a mobile body such as a vehicle and detects an object such as an obstacle existing ahead. Background technique [0002] The ACC (Adaptive Cruise Control: inter-vehicle distance control device) installed on the car is connected to an object detection device that scans the front using electromagnetic wave (electric wave and light) beams, and measures the distance from when the electromagnetic wave is transmitted to when the reflected wave is received at each scan timing. Time, thereby detecting objects such as preceding vehicles and people existing in front. [0003] In this object detection device, it is required to secure a measurable distance range by improving the S / N ratio, improve the detection rate of low-reflection objects, and further improve the detection rate of moving objects. These requirements can be satisfied if the electromagnetic wave outpu...

AI Technical Summary

Problems solved by technology

[0013] However, in the method of integrating only the received signal, when the object moves, the received signal before the movement remains in the integrated value, so it is difficult to sufficiently improve S / N ratio, and, in the method of using time series filter, there is the following problem: due to the time constant of the filter, even though the object actually leaves the measurement area, the received signal cannot be attenuated immediately and remains as a residual picture

Therefore, in the devices described in Patent Documents 1 and 2, there is a problem that a sufficient S / N ratio cannot be secured, and at the same time, erroneous detection of objects cannot be prevented.

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