JP6424467B2 - Target detection device - Google Patents

Description

  The present invention relates to a technique for detecting a target using a radar and a camera.

  Conventionally, there is known a technique of detecting a target existing outside the vehicle by a method called sensor fusion using information of a plurality of sensors (for example, radar, camera, etc.) and using the detection result for driving assistance of the vehicle, etc. . Patent Document 1 describes a technology for improving the detection accuracy of a target by fusing detection results independently detected by a radar and a camera (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2006-285492

  However, in sensor fusion, it may be erroneously determined that the target detected by the radar and the target detected by the camera are the same target although they are different targets. Because the detection results for different targets detected by the cameras are merged, the detection accuracy of the targets is lower than when only radar information is used or when only camera information is used. There was a problem.

  The present invention has been made in view of these problems, and it is an object of the present invention to provide a technique for suppressing erroneous determination of a target in target detection using a radar and a camera.

  One aspect of the present invention is a target detection device which is mounted on a vehicle and detects a target, and the target is provided with a target feature point indicating a feature of the target. The target detection device includes a first target detection unit, a second target detection unit, a first determination unit, and a second determination unit.

The first target detection means detects a first target provided with a first target feature point reflecting the electromagnetic wave based on the information acquired by transmitting and receiving the electromagnetic wave by the radar.
The second target detection means detects a second target provided with a second target feature point based on the captured image acquired by the camera.

  The first determination means sets a point corresponding to the position of the first target and a point corresponding to the position of the second target in the xy plane in which the vehicle width direction is the x direction and the vehicle length direction is the y direction. It is determined whether the other corresponding point is included in a predetermined range including one corresponding point of the first corresponding point and the second corresponding point as the first corresponding point and the second corresponding point, respectively.

  The second determination means determines that the first target means is selected when it is determined by the first determination means that the other corresponding point is included in the predetermined range including one of the first corresponding point and the second corresponding point. It is determined that the first target and the second target are identical based on the position of the feature point and the position of the second target feature point.

  Here, in particular, the second determination means respectively sets a point corresponding to the position of the first target feature point and a point corresponding to the position of the second target feature point in the xy plane including the predetermined reference point. When the first feature corresponding point is included in the azimuth range of a predetermined angle including the direction of the second feature corresponding point with respect to the reference point as the one feature corresponding point and the second feature corresponding point, the first target and the second It is determined that the targets of are the same.

  According to such a configuration, it is determined whether or not the targets detected by the radar sensor and the camera are the same target based on the target feature points representing not only the target but also the features of the target Therefore, the erroneous determination of the target can be suppressed. As a result, it is possible to suppress the decrease in the detection accuracy of the target due to the sensor fusion.

  In addition, the code | symbol in the parentheses described in the claim shows correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited. is not.

FIG. 2 is a block diagram showing the configuration of a driving support device. The flowchart of the target detection process which driving assistance ECU performs. The figure explaining the detection of the preceding vehicle in target object detection processing. The figure which showed an example of the positional relationship of the detection result of a target based on a camera when looking down at a self-vehicles periphery in the perpendicular direction, and the detection result of a target based on a radar sensor. The figure which shows an example of the image by which the front of the own vehicle was imaged. (A) is a figure explaining an example of detection of the target feature point in xy plane, (b) is a figure explaining an example of the detection of the target feature point in yz plane. An example of the positional relationship between the detection result of a target based on a camera and the detection result of a target based on a radar sensor when looking at the surroundings of the host vehicle in the vertical direction when the preceding vehicle passes the ETC gate Figure. The figure which shows an example of a front image.

Hereinafter, embodiments to which the present invention is applied will be described using the drawings.
[1. Constitution]
The driving support device 10 illustrated in FIG. 1 is a device mounted on a vehicle, and includes a radar sensor 11, a camera 12, a driving support execution unit 13, and a driving support ECU 14. The driving support ECU 14 is communicably connected to each of the radar sensor 11, the camera 12, and the driving support execution unit 13.

  The radar sensor 11 is attached at a central position on the front side of the host vehicle (vehicle on which the driving support device 10 is mounted), for example, at a tip central position. The radar sensor 11 is a laser radar (LIDAR) in this embodiment, and emits a laser beam (electromagnetic wave) in a predetermined angle range in the horizontal direction and the vertical direction in front of the host vehicle, and receives the reflected light. The obtained transmission / reception data is output to the driving support ECU 14.

  The camera 12 is attached at a central position on the front side of the vehicle cabin of the host vehicle. The camera 12 is a color camera, and images the front of the host vehicle at a predetermined cycle. The camera 12 outputs image data representing a captured image to the driving support ECU 14.

  The driving support execution unit 13 includes at least a monitor that displays various images, and a speaker that outputs an alarm sound and a guidance voice, as an on-vehicle device to be controlled by the driving support ECU 14. The driving support execution unit 13 further includes various electronic control units (ECUs) that control an internal combustion engine mounted on the host vehicle, a power train mechanism, a braking mechanism, and the like as on-vehicle devices to be controlled by the driving support ECU 14. It may be

  The driving support ECU 14 is an electronic control unit that controls the driving support device 10, and includes a known microcomputer including a CPU 41, a ROM 42, a RAM 43, and the like as components. The driving support ECU 14 (CPU 41) executes target detection processing for detecting a target based on transmission / reception data output from the radar sensor 11 and image data output from the camera 12 according to a program stored in the ROM 42, for example. Do.

  Further, the driving support ECU 14 executes processing for controlling various devices provided in the driving support execution unit 13 based on the target information detected by the target detection processing. For example, based on the target information, the driving support ECU 14 executes a process of causing the speaker to generate an alarm sound when the distance to the preceding vehicle becomes equal to or less than a predetermined distance. In addition to this, the driving support ECU 14 performs processing for performing various controls such as processing for reducing the speed of the own vehicle by the brake mechanism when it is determined that there is a possibility of collision with the preceding vehicle based on target information. It may be executed.

[2. processing]
Next, target detection processing executed by the driving support ECU 14 is executed according to the flowchart shown in FIG. The target detection process is repeatedly performed each time image data is output from the camera 12 while the ACC switch is turned on.

  First, the driving support ECU 14 performs target detection based on transmission / reception data output from the radar sensor 11 (S110). Specifically, based on the transmission and reception data, the driving support ECU 14 detects the position of the target provided with the target feature point that reflects the laser beam, the distance to the target, and the horizontal and vertical directions in front of the vehicle. The direction of the target, relative velocity, etc. are detected. In the following, according to the description, a target provided with a target feature point obtained by reflecting a laser beam is referred to as a radar target. Also, a target feature point that reflects the laser beam is called a radar feature point.

  The target feature point refers to a portion of the target that is to be detected by the driving support ECU 14 and that indicates the feature of the target. In the present embodiment in which the radar sensor 11 is a laser radar, for example, in the case where a preceding vehicle traveling in front of the own vehicle is to be detected, the light is compared with other parts included in the rear of the preceding vehicle. A portion where the reflection is large is referred to as a target feature point. Specifically, a taillight provided with a reflector that is a portion where light reflection is large is mentioned as an example of the target feature point.

  When the leading vehicle 9 is a four-wheeled vehicle as shown in FIG. 3A, the right taillight 91R installed at the right end of the rear of the leading vehicle 9 and the left taillight installed at the left end The distribution of the reception intensity (reflection intensity) in the horizontal direction of the laser beam reflected by 91 L is detected as shown in (b) in FIG. 3 as an example. That is, in the distribution of reflection intensity in the horizontal direction, the reflection intensity is equal to or greater than the first threshold S1, and a broad peak by reflection on the vehicle body of the preceding vehicle 9 and the reflection intensity is larger than the first threshold S1 The steep peaks due to the reflection at the right tail light 91R and the left tail light 91L, which are equal to or greater than the threshold S2, are detected.

  Therefore, in S110, the driving support ECU 14 is an azimuth included in the reflection range a where the reflection intensity is equal to or higher than the first threshold S1 in the distribution of reflection intensities in the horizontal direction, and sandwiches the center of the reflection range a 2 If a peak whose reflection intensity is greater than or equal to the second threshold S2 is detected in one of the two azimuths, ie, the azimuth on the right and the left of the center, the center of the azimuth at which these peaks are detected Detected as the horizontal direction of the mark. Further, the azimuth in which these peaks are detected is detected as the azimuth in the horizontal direction of the radar feature point.

  Further, although not shown, in the distribution of the reflection intensity to the vertical direction of the laser beam reflected by the right tail light 91R and the left tail light 91L in the leading vehicle 9, the reflection intensity has a predetermined threshold, for example, the second threshold S2. The steep peak which is above is detected.

  Therefore, in S110, the driving assistance ECU 14 similarly detects the direction in which the peak is detected when the peak for which the reflection intensity is equal to or higher than the second threshold S2 is detected, also in the distribution of the reflection intensity in the vertical direction. It is detected as the vertical direction of the radar target and the radar feature point.

  The driving support ECU 14 detects the position and the distance of the radar target based on the horizontal direction and the vertical direction of the radar target. Further, based on the relative velocity at the radar feature point, for example, when there are a plurality of radar feature points such as the preceding vehicle 9, the average value of the relative velocity at these is detected as the relative velocity at the radar target. The position in S110 refers to a coordinate system in which the mounting position of the radar sensor 11 is a reference point (origin), the vehicle width direction is an x direction, the vehicle length direction is ay direction, and the vehicle height direction is az direction. It says position coordinates.

  Returning to FIG. 2, the explanation will be continued. Next, the driving support ECU 14 performs target detection based on the image data output from the camera 12 (S120). That is, the driving support ECU 14 performs known image processing such as pattern matching based on the image data output from the camera 12 to obtain target feature points and target feature points present in the range of this image. Detect the target provided.

  Based on the front image, the driving support ECU 14 detects the position of the target including the target feature point and the target feature point, the distance from the vehicle 1 to the target, and the horizontal and vertical targets in front of the host vehicle. The orientation of feature points and targets, the relative velocity of targets, the type of targets, etc. are detected. Hereinafter, according to the description, a target provided with target feature points detected based on image data is referred to as an image target. In addition, a target feature point detected based on image data is referred to as an image feature point.

  The detection of the position of the image target and the image feature point will be specifically described. As shown in FIG. 5 described later, the driving support ECU 14 detects and detects four-wheeled vehicles (preceding vehicle 9) present in the range of an image (hereinafter referred to as a front image) in which the front of the host vehicle 1 is captured. When a red area is detected where the luminance is higher than a predetermined value within the range of the image representing the preceding vehicle 9, the center of this area is taken as a point corresponding to the position of the target feature point of the preceding vehicle 9 To detect. That is, the driving support ECU 14 detects a point P41 corresponding to the position of the right taillight 91R and a point P42 corresponding to the position of the left taillight 91L as a point corresponding to the position of the image feature point, and the centers of the points P41 and P42. Is detected as a point P4 corresponding to the position of the image target (preceding vehicle 9). In FIG. 5, the horizontal axis represents the vehicle width direction (x direction), and the vertical axis represents the vehicle length direction (y direction) and the vehicle height direction (z direction).

Returning to FIG. 2, the explanation will be continued.
Next, the driving support ECU 14 determines whether the position of the image target is included in a predetermined range including the position of the radar target (S130).

  FIG. 4 is a positional relationship diagram showing an example of the positional relationship between the detection result of a target based on a camera and the detection result of a target based on a radar sensor when looking down around the host vehicle in the vertical direction. Here, a point corresponding to the position of the radar target detected in S110 is projected on this positional relationship diagram as a radar corresponding point P1. When the driving support ECU 14 includes the point P2 corresponding to the position of the image target (preceding vehicle 9) detected in S120 in the predetermined range R1 including the projected radar corresponding point P1 as a center, the position of the radar target It is determined that the position of the image target is included in a predetermined range including. The predetermined range R1 is determined based on the detection error by the radar sensor 11 and the detection error by the camera 12.

  Here, when it is determined that the position of the image target is included in the predetermined range including the position of the radar target (S130: YES), the driving support ECU 14 shifts the processing to S140. Then, the driving support ECU 14 determines whether the position of the radar feature point is included in a predetermined range including the position of the image feature point, based on the front image (S140). When it is determined that the position of the radar feature point is included in the predetermined range including the position of the image feature point in the front image (S140: YES), the driving support ECU 14 generates target information by sensor fusion. (S150), the process proceeds to S170. That is, when the driving support ECU 14 determines that the position of the radar feature point is included in the predetermined range including the position of the image feature point (S140: YES), the image target including the image feature point, and the radar It is determined that the radar targets having feature points are the same.

  In S140, specifically, the driving support ECU 14 defines points corresponding to the positions of the radar feature points detected in S110 as the radar feature corresponding points P31, P32 on the forward image shown in FIG. Then, the driving support ECU 14 projects a predetermined range R4 including a point P41 representing the position of the right taillight 91R, which is a point corresponding to the position of the image feature point, and a point P42 representing the position of the left taillight 91L. When the radar feature corresponding point P31 and the radar feature corresponding point P32 are included, it is determined that the image target provided with the image feature point is the same as the radar target provided with the radar feature point. The predetermined range R4 is determined based on the detection error by the radar sensor 11 and the detection error by the camera 12. Here, the predetermined range R4 is defined as a rectangular area where the range in the vehicle width direction is W1 and the range in the vehicle height direction is H1.

  In other words, it is determined whether the projected radar feature corresponding point P31 or P32 is included in the predetermined range W1 in the vehicle width direction centering on the point P41 corresponding to the position of the image feature point and the point P42. For example, as shown in FIG. 6A, the image feature is on the xy plane including the vehicle width direction as the x direction, the vehicle length direction as the y direction, and the attachment position of the radar sensor 11 as the reference point P0. A point corresponding to the position of the radar feature point (eg, point Q11, point Q12) in an azimuth range of a predetermined angle θxy including the direction of the point (eg, point Q21, point Q22) corresponding to the position of the point with respect to the reference point P0. It corresponds to determining whether or not.

  Further, it is determined whether the projected radar feature corresponding point P11 or P12 is included in a predetermined range H1 in the vehicle height direction centering on the point P41 corresponding to the position of the image feature point and the point P42. For example, as shown in FIG. 6 (b), the vehicle length direction is y, the vehicle height direction is z, and the attachment position of the radar sensor 11 is an image feature point on the yz plane including the reference point P0. A point (for example, point Q31, point Q32) corresponding to the position of the radar feature point is in the azimuth range of a predetermined angle θyz including the direction of the point (for example, point Q41, point Q42) corresponding to the position with respect to the reference point P0. It corresponds to determining whether or not it is included.

  In S150, the driving assistance ECU 14 combines detection results independently detected based on the radar sensor 11 and the camera 12 to generate target information by sensor fusion. Specifically, the driving support ECU 14 sets the type of the target detected based on the camera 12 (here, four-wheeled vehicle) as the detection result of the type of the target in the target information. Further, the driving support ECU 14 sets the position in the vehicle width direction (x direction) detected based on the camera 12 as the detection result of the position in the vehicle width direction (x direction) of the target in the target information. Further, the driving support ECU 14 sets the distance detected based on the radar sensor 11 as the detection result of the distance to the target in the target information. In addition, the driving support ECU 14 detects the relative position of the target with respect to the reference point P0 based on the position in the vehicle width direction (x direction) based on the camera 12 and the distance to the target based on the radar sensor 11. Let this be a detection result of the position of the target in the target information. In addition, the driving support ECU 14 sets the relative velocity detected based on the radar sensor 11 as the detection result of the relative velocity of the target in the target information.

  On the other hand, when the driving support ECU 14 determines that the position of the image target point is not included in the predetermined range including the position of the radar target point in S130 (S130: NO), or the position of the image feature point in S140. If it is determined that the position of the radar feature point is not included in the predetermined range (S140: NO), target information not based on sensor fusion is generated (S160), and the process proceeds to S170. That is, when it is determined that the position of the radar feature point is not included in the predetermined range of the position of the image feature point (S140: NO), the driving support ECU 14 includes the image target including the image feature point and the radar feature point. It is determined that the radar target is not identical.

  In S160, the driving support ECU 14 does not fuse detection results independently detected based on the radar sensor 11 and the camera 12, and generates target information not based on sensor fusion. Specifically, the driving support ECU 14 generates target information using the detection result detected based on the radar sensor 11. That is, the driving support ECU 14 sets the distance detected based on the radar sensor 11, the azimuth, the relative position to the reference point P0, the relative velocity, and the like as the detection result in the target information. The driving support ECU 14 uses the detection result of the type of the target in the cycle before the target object detection process for the detection result of the type of the target in the target information.

Subsequently, the driving support ECU 14 stores, for example, the target information generated in S150 or S160 in the RAM 43 (S170), and ends the real target detection process.
[3. effect]
According to the first embodiment described above, the following effects can be obtained.

  [3A] The driving support ECU 14 may include the radar target detected based on the radar sensor 11 and the image target detected based on the camera 12 within a predetermined range (ie, may be present at a close position) Preliminary determination that these targets may be identical (S130), and furthermore, based on the radar target feature points detected based on the radar sensor 11 and the camera 12 That the target detected by the radar and the target detected by the camera are the same when the image feature point detected is included in the predetermined range (possibly in a close position) A determination is made (S140). That is, since it is judged whether it is the same target object based on the target feature point which represents not only a target but the characteristic of a target, it can control the misjudgment of a target. As a result, it is possible to suppress the decrease in the detection accuracy of the target due to the sensor fusion.

  FIG. 7 shows a detection result of a target based on a camera and a detection of a target based on a radar sensor when the leading vehicle 9 passes the bar 100 of the ETC gate and looking down around the host vehicle 1 in the vertical direction. It is a positional relationship figure which showed an example of the positional relationship of a result. In such a situation, for example, when the bar 100 of the ETC gate has a pattern of alternating yellow and red, the red portion of the bar 100 of this ETC gate is a radar feature point (point P51, point P51, It may be erroneously detected as a point P52).

  Here, for comparison, for example, unlike the target detection process of the present embodiment, when the position of the image target is included in a predetermined range including the position of the radar target (S130: YES), these are the same. If it is determined that the ECU is a target and an ECU that executes processing for generating target information by sensor fusion similar to S150 is a comparison ECU, the comparison ECU can operate as follows. That is, in the situation shown in FIG. 7, the point P5 at the center between the point P51 and the point P52 is detected as a point corresponding to the position of the radar target, and the position of the image target within the predetermined range R1 including the point P5 as a center Since the point P6 corresponding to is included, the comparison ECU may erroneously determine that these are the same target. That is, the comparison ECU may perform processing not suitable for the situation based on the target information by the erroneous sensor fusion indicating that the stopped vehicle is present directly in front of the host vehicle 1.

  On the other hand, at S140, the driving support ECU 14 according to the present embodiment, based on the front image shown in FIG. 8, detects the radar within a predetermined range R4 including the point P81 corresponding to the position of the image feature point and the point P82. It is determined that the point P71 and the point P72 corresponding to the position of the feature point are not included, that is, it is accurately determined that they are not the same target (S140: NO), and target information not based on sensor fusion The generation is performed (S160). As described above, in the driving support ECU 14 according to the present embodiment, the erroneous determination is suppressed in the determination as to whether or not the radar target and the image target are the same, so various types suitable for the situation based on the target information. Processing can be performed.

  [3B] In the target detection process (S130), in both the xy plane and the yz plane, whether a point corresponding to the position of the image target is included within a predetermined range including the point corresponding to the position of the radar target It is determined (S130). For this reason, an erroneous determination can be suppressed more than the case where the determination is performed in only one of the xy plane and the yz plane.

[3C] Since the target to be detected is the leading vehicle 9, various controls based on the target information of the leading vehicle 9 can be performed.
[3D] Since the LIDAR (laser radar) is provided as the radar sensor 11, a portion with high light reflection intensity can be detected as a target feature point.

[3E] Since the taillight with which the preceding vehicle is equipped is used as the target feature point, the target feature point can be accurately detected by the radar sensor 11 even at night.
In the first embodiment, the driving support ECU 14 corresponds to an example of the target detection device. Also, S110 corresponds to an example of processing as a first target detection means, S120 corresponds to an example of processing as a second target detection means, and S130 corresponds to an example of processing as a first determination means. S140 corresponds to an example of processing as the second determination means. In addition, the preceding vehicle 9 corresponds to an example of the first target and the second target, and the right tail light 91R and the left tail light 91L are examples of the first target feature point and the second target feature point. It corresponds to The point P1 corresponds to an example of the first corresponding point, and the point P2 corresponds to an example of the second corresponding point. Further, points Q11 and Q12 correspond to an example of a first feature corresponding point, points Q21 and Q22 correspond to an example of a second feature corresponding point, and points Q31 and Q32 correspond to a first vehicle height direction corresponding point. This corresponds to an example, and the points Q41 and Q42 correspond to an example of the second vehicle height direction corresponding point.

[4. Other embodiments]
As mentioned above, although embodiment of this invention was described, it can not be overemphasized that this invention can take various forms, without being limited to the said embodiment.

  [4A] In the above embodiment, the four-wheeled vehicle is detected based on the transmission and reception data by the radar sensor 11. However, the present invention is not limited to this. For example, a two-wheeled vehicle may be detected. In this case, the point which is one taillight detected as a target feature point differs from the above-mentioned embodiment.

  [4B] Although the LIDAR is provided as the radar sensor 11 in the above embodiment, the present invention is not limited to this, and for example, a millimeter wave radar may be provided as the radar sensor. In the case where a millimeter wave radar is provided as a radar sensor and a vehicle is to be detected, a site where the reflection intensity of the millimeter wave is large, for example, a license plate which is a site made of metal as an example of the target feature points Be

  [4C] In the above embodiment, in the target detection process (S130), it is determined whether or not the point corresponding to the position of the image target is included in the predetermined range including the point corresponding to the position of the radar target. However, the present invention is not limited to this, and it may be determined whether or not a point corresponding to the position of the radar target is included within a predetermined range including the point corresponding to the position of the image target. Similarly, in the target detection process (S140), it is determined whether or not the point corresponding to the position of the radar target feature point is included in a predetermined range including the point corresponding to the position of the image target feature point. You may

  [4D] In the above embodiment, in the target detection process (S140), the radar target feature within a predetermined range including the position of the image target feature point in both the horizontal direction, ie, the xy plane and the vertical direction, ie, the yz plane. Although it was determined whether or not the position of the point is included, the determination is not limited to this, and may be performed, for example, only in the xy plane or only in the yz plane.

  [4E] In the above embodiment, the position of the radar target is represented by the relative position when the attachment position of the radar sensor 11 is used as a reference point. However, the present invention is not limited to this. Further, for example, when the driving support device 10 includes a GPS device or the like, the position of the radar target may be represented by an absolute position (a position based on the world coordinate system).

  [4F] In the above embodiment, although the distance to the target, the direction, the position, and the relative velocity are detected as target information, the present invention is not limited thereto, and other items (for example, relative acceleration with the target, etc. ) May be further detected.

[4G] In the above embodiment, the camera 12 is a single-eye camera. However, the present invention is not limited to this, and the camera 12 may be a compound-eye camera.
[4H] In the above embodiment, the type of target based on the radar sensor 11 is not detected (S110), but the type of target based on the radar sensor 11 may be detected.

  [4I] The function of one component in the above embodiment may be distributed as a plurality of components, or the function of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Further, part of the configuration of the above embodiment may be omitted as long as the problem can be solved. In addition, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of the other above-described embodiment. In addition, all the aspects contained in the technical thought specified from the wording as described in a claim are embodiment of this invention.

  [4J] In addition to the driving support device 10 including the driving support ECU 14 and the driving support ECU 14 described above, various programs for causing the driving support ECU 14 to function, a medium recording the program, a target detection method, etc. It can be realized in a form.

  1 ... own vehicle 10 ... driving support device 11 ... radar sensor 12 ... camera 14 ... driving support ECU 41 ... CPU 42 ... ROM 43 ... RAM.

Claims (4)

A target detection device for detecting the target mounted on a vehicle and having a target feature point indicating a feature of the target,
First target detection means (S110) for detecting a first target provided with a first target feature point reflecting the electromagnetic wave based on information acquired by transmitting and receiving the electromagnetic wave by the radar;
A second target detection means (S120) for detecting a second target provided with a second target feature point based on a captured image acquired by a camera;
A point corresponding to the position of the first target and a point corresponding to the position of the second target in the xy plane in which the vehicle width direction is the x direction and the vehicle length direction is the y direction respectively correspond to the first A first determination unit (S130) that determines whether the other corresponding point is included in a predetermined range including one corresponding point of the first corresponding point and the second corresponding point as a point and a second corresponding point;
The first object feature point when it is determined that the other corresponding point is included in a predetermined range including one corresponding point of the first corresponding point and the second corresponding point by the first determination means A second determination unit (S140) that determines that the first target and the second target are the same based on the position of the second target and the position of the second target feature point;
Equipped with
The second determination means respectively sets a point corresponding to the position of the first target feature point and a point corresponding to the position of the second target feature point in an xy plane including a predetermined reference point. When the first feature corresponding point is included in the azimuth range of a predetermined angle including the direction of the second feature corresponding point with respect to the reference point as the feature corresponding point and the second feature corresponding point , and the vehicle height direction is z As a direction, a point corresponding to the position of the first target feature point in the yz plane including the reference point and a point corresponding to the position of the second target feature point are respectively the first vehicle height direction corresponding point and When the first vehicle height direction corresponding point is included in the azimuth range of a predetermined angle including the direction of the second vehicle height direction corresponding point with respect to the reference point in the yz plane as the second vehicle height direction corresponding point the second target object and the first target is the same Target detection device which is characterized in that determining. The target detection device according to claim 1 , wherein
The target detection device, wherein the target to be detected by the target detection device is a preceding vehicle. The target detection device according to claim 1 or 2 , wherein
The radar is a laser radar,
The target detection device, wherein the target feature point is a portion having a higher light reflection intensity than a portion included in the target other than the target feature point. The target detection device according to claim 3 , wherein
A target detection device, wherein a taillight provided to the preceding vehicle is used as the target feature point.

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