CN104126130B - 障碍物判定装置 - Google Patents
障碍物判定装置 Download PDFInfo
- Publication number
- CN104126130B CN104126130B CN201280070074.1A CN201280070074A CN104126130B CN 104126130 B CN104126130 B CN 104126130B CN 201280070074 A CN201280070074 A CN 201280070074A CN 104126130 B CN104126130 B CN 104126130B
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- CN
- China
- Prior art keywords
- null spot
- radar
- barrier
- interval
- null
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000004888 barrier function Effects 0.000 claims abstract description 99
- 238000013459 approach Methods 0.000 claims abstract description 6
- 230000008093 supporting effect Effects 0.000 abstract description 35
- 238000001514 detection method Methods 0.000 description 20
- 238000013213 extrapolation Methods 0.000 description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 12
- 238000000034 method Methods 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 210000001061 forehead Anatomy 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (7)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012034360A JP5926069B2 (ja) | 2012-02-20 | 2012-02-20 | 障害物判定装置 |
JP2012-034360 | 2012-02-20 | ||
PCT/JP2012/079538 WO2013125110A1 (ja) | 2012-02-20 | 2012-11-14 | 障害物判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104126130A CN104126130A (zh) | 2014-10-29 |
CN104126130B true CN104126130B (zh) | 2016-05-25 |
Family
ID=49005310
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201280070074.1A Active CN104126130B (zh) | 2012-02-20 | 2012-11-14 | 障碍物判定装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9134417B2 (zh) |
EP (1) | EP2818892B1 (zh) |
JP (1) | JP5926069B2 (zh) |
CN (1) | CN104126130B (zh) |
WO (1) | WO2013125110A1 (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6369035B2 (ja) * | 2013-02-05 | 2018-08-08 | 株式会社デンソー | 物標検出装置 |
JP6248778B2 (ja) * | 2014-04-18 | 2017-12-20 | 株式会社デンソー | 物標検出装置 |
EP3270253B1 (en) * | 2015-03-11 | 2022-09-07 | Kubota Corporation | Work vehicle and travel control device for automatic travel of work vehicle |
US9505404B2 (en) * | 2015-04-10 | 2016-11-29 | Jaguar Land Rover Limited | Collision avoidance system |
US10663580B2 (en) * | 2015-05-29 | 2020-05-26 | Mitsubishi Electric Corporation | Radar signal processing device |
JP6629425B2 (ja) * | 2016-03-14 | 2020-01-15 | 日立建機株式会社 | 鉱山用作業機械 |
CN108784220A (zh) * | 2017-05-03 | 2018-11-13 | 苏州古月峰信息技术有限公司 | 一种酒杯以及智能特效*** |
JP6381736B1 (ja) * | 2017-05-24 | 2018-08-29 | 三菱電機株式会社 | 物体検知装置およびこれを用いた自動運転システム |
CN107656283A (zh) * | 2017-09-22 | 2018-02-02 | 合肥晟泰克汽车电子股份有限公司 | 泊车辅助***的控制方法 |
JP6642556B2 (ja) * | 2017-11-22 | 2020-02-05 | マツダ株式会社 | 車両の物標検出装置 |
CN109581380B (zh) * | 2018-12-29 | 2023-04-07 | 百度在线网络技术(北京)有限公司 | 基于雷达的车辆位置检测方法、装置和计算机设备 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3119394B2 (ja) * | 1992-07-20 | 2000-12-18 | 富士通テン株式会社 | 車載用レーダ |
JPH10339774A (ja) * | 1997-06-10 | 1998-12-22 | Fujitsu Ten Ltd | Fm−cwレーダ |
JP3750102B2 (ja) * | 1999-11-24 | 2006-03-01 | 富士通テン株式会社 | 車載レーダ装置 |
JP4698048B2 (ja) * | 2001-03-19 | 2011-06-08 | 富士通テン株式会社 | Fm−cwレーダの路上静止物検知方法 |
JP2006036159A (ja) * | 2004-07-30 | 2006-02-09 | Mazda Motor Corp | 車両の走行制御装置 |
JP4378265B2 (ja) * | 2004-11-29 | 2009-12-02 | 日本無線株式会社 | Fm−cwレーダ装置 |
JP4304517B2 (ja) * | 2005-11-09 | 2009-07-29 | トヨタ自動車株式会社 | 物体検出装置 |
JP4400584B2 (ja) * | 2006-03-01 | 2010-01-20 | トヨタ自動車株式会社 | 障害物検出方法及び障害物検出装置 |
JP2008064743A (ja) * | 2006-08-09 | 2008-03-21 | Fujitsu Ten Ltd | 車載レーダ装置 |
JP4314262B2 (ja) * | 2006-10-24 | 2009-08-12 | 三菱電機株式会社 | 車載用レーダ装置 |
US7623061B2 (en) * | 2006-11-15 | 2009-11-24 | Autoliv Asp | Method and apparatus for discriminating with respect to low elevation target objects |
JP4400634B2 (ja) * | 2007-02-28 | 2010-01-20 | トヨタ自動車株式会社 | 衝突予測装置 |
JP2009300102A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP5434285B2 (ja) | 2009-06-11 | 2014-03-05 | コニカミノルタ株式会社 | 障害物検出装置 |
JP5551892B2 (ja) * | 2009-06-19 | 2014-07-16 | 富士通テン株式会社 | 信号処理装置、及びレーダ装置 |
JP4905512B2 (ja) * | 2009-07-09 | 2012-03-28 | 株式会社デンソー | 物標情報推定装置 |
JP2011122876A (ja) * | 2009-12-09 | 2011-06-23 | Toyota Central R&D Labs Inc | 障害物検出装置 |
JP2011133946A (ja) * | 2009-12-22 | 2011-07-07 | Toyota Motor Corp | 衝突予測装置 |
JP5221698B2 (ja) * | 2011-03-16 | 2013-06-26 | 三菱電機株式会社 | 車載用レーダ装置 |
JP2013002927A (ja) * | 2011-06-15 | 2013-01-07 | Honda Elesys Co Ltd | 障害物検知装置及びコンピュータプログラム |
-
2012
- 2012-02-20 JP JP2012034360A patent/JP5926069B2/ja active Active
- 2012-11-14 WO PCT/JP2012/079538 patent/WO2013125110A1/ja active Application Filing
- 2012-11-14 EP EP12869486.6A patent/EP2818892B1/en active Active
- 2012-11-14 US US14/378,567 patent/US9134417B2/en active Active
- 2012-11-14 CN CN201280070074.1A patent/CN104126130B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US9134417B2 (en) | 2015-09-15 |
JP2013170898A (ja) | 2013-09-02 |
EP2818892B1 (en) | 2019-12-25 |
JP5926069B2 (ja) | 2016-05-25 |
US20150032363A1 (en) | 2015-01-29 |
EP2818892A1 (en) | 2014-12-31 |
CN104126130A (zh) | 2014-10-29 |
EP2818892A4 (en) | 2015-08-05 |
WO2013125110A1 (ja) | 2013-08-29 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: TOYOTA, Aichi Prefecture, Japan Patentee after: Toyota Motor Corp. Patentee after: DENSO TEN LTD. Address before: TOYOTA, Aichi Prefecture, Japan Patentee before: Toyota Motor Corp. Patentee before: FUJITSU TEN Ltd. |
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CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220126 Address after: TOYOTA, Aichi Prefecture, Japan Patentee after: Toyota Motor Corp. Patentee after: DENSO Corp. Address before: TOYOTA, Aichi Prefecture, Japan Patentee before: Toyota Motor Corp. Patentee before: DENSO TEN LTD. |
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TR01 | Transfer of patent right |