JP2009075650A - 衝突判定装置 - Google Patents
衝突判定装置Info
- Publication number
- JP2009075650A JP2009075650A JP2007241341A JP2007241341A JP2009075650A JP 2009075650 A JP2009075650 A JP 2009075650A JP 2007241341 A JP2007241341 A JP 2007241341A JP 2007241341 A JP2007241341 A JP 2007241341A JP 2009075650 A JP2009075650 A JP 2009075650A
- Authority
- JP
- Japan
- Prior art keywords
- collision
- vehicle
- line
- sight angle
- collision determination
- 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.)
- Granted
Links
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
【解決手段】物体と衝突するか否か判定する衝突判定装置であって、前記物体を検出して位置情報を取得するセンサ30と、自車両の進行方向である見通し方向と前記物体の位置情報とによって規定される見通し角度ξmの時間変化に基づいて衝突予測を行う衝突予測部22とを備えることで、物体を検出して、その位置情報と自車両の見通し方向とから規定される見通し角度ξmに基づいて衝突予測を行うことができるので、従来の衝突判定手段と併用して衝突判定を行うことで、衝突判定の精度を向上させることができる。
【選択図】図1
Description
Claims (3)
- 物体と衝突するか否か判定する衝突判定装置であって、
前記物体を検出して位置情報を取得する物体検出手段と、
自車両の進行方向である見通し方向と前記物体の位置情報とによって規定される見通し角度の時間変化に基づいて衝突予測を行う衝突予測手段と、
を備えた衝突判定装置。 - 前記衝突予測手段は、前記見通し角度が小さくなるほど衝突可能性を高く予測することを特徴とする請求項1に記載の衝突判定装置。
- 前記衝突予測手段は、前記見通し角度が大きくなるほど衝突可能性を低く予測することを特徴とする請求項1又は2に記載の衝突判定装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007241341A JP5067091B2 (ja) | 2007-09-18 | 2007-09-18 | 衝突判定装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007241341A JP5067091B2 (ja) | 2007-09-18 | 2007-09-18 | 衝突判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009075650A true JP2009075650A (ja) | 2009-04-09 |
JP5067091B2 JP5067091B2 (ja) | 2012-11-07 |
Family
ID=40610592
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007241341A Active JP5067091B2 (ja) | 2007-09-18 | 2007-09-18 | 衝突判定装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5067091B2 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8862383B2 (en) | 2012-12-11 | 2014-10-14 | Denso Corporation | Apparatus for judging probability of collision between vehicle and object surrounding the vehicle |
JP5835490B2 (ja) * | 2012-08-08 | 2015-12-24 | トヨタ自動車株式会社 | 衝突予測装置 |
JP2017157031A (ja) * | 2016-03-02 | 2017-09-07 | 矢崎総業株式会社 | 運転支援装置 |
JP2018206313A (ja) * | 2017-06-09 | 2018-12-27 | 株式会社Subaru | 車両制御装置 |
WO2019078266A1 (ja) * | 2017-10-20 | 2019-04-25 | 株式会社デンソー | 物体検知装置 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6299208B2 (ja) * | 2013-12-26 | 2018-03-28 | トヨタ自動車株式会社 | 車両周辺状況推定装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003205804A (ja) * | 2002-01-16 | 2003-07-22 | Denso Corp | 車両用衝突被害軽減装置 |
JP2005135025A (ja) * | 2003-10-28 | 2005-05-26 | Denso Corp | 衝突可能性判定装置 |
JP2009009486A (ja) * | 2007-06-29 | 2009-01-15 | Denso Corp | 無線通信装置及び車車間通信システム |
-
2007
- 2007-09-18 JP JP2007241341A patent/JP5067091B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003205804A (ja) * | 2002-01-16 | 2003-07-22 | Denso Corp | 車両用衝突被害軽減装置 |
JP2005135025A (ja) * | 2003-10-28 | 2005-05-26 | Denso Corp | 衝突可能性判定装置 |
JP2009009486A (ja) * | 2007-06-29 | 2009-01-15 | Denso Corp | 無線通信装置及び車車間通信システム |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5835490B2 (ja) * | 2012-08-08 | 2015-12-24 | トヨタ自動車株式会社 | 衝突予測装置 |
US8862383B2 (en) | 2012-12-11 | 2014-10-14 | Denso Corporation | Apparatus for judging probability of collision between vehicle and object surrounding the vehicle |
JP2017157031A (ja) * | 2016-03-02 | 2017-09-07 | 矢崎総業株式会社 | 運転支援装置 |
JP2018206313A (ja) * | 2017-06-09 | 2018-12-27 | 株式会社Subaru | 車両制御装置 |
US10810877B2 (en) | 2017-06-09 | 2020-10-20 | Subaru Corporation | Vehicle control device |
WO2019078266A1 (ja) * | 2017-10-20 | 2019-04-25 | 株式会社デンソー | 物体検知装置 |
JP2019078554A (ja) * | 2017-10-20 | 2019-05-23 | 株式会社Soken | 物体検知装置 |
JP7002910B2 (ja) | 2017-10-20 | 2022-01-20 | 株式会社Soken | 物体検知装置 |
US11614536B2 (en) | 2017-10-20 | 2023-03-28 | Denso Corporation | Object detection apparatus based on scoring reliability and increasing relative range rate |
Also Published As
Publication number | Publication date |
---|---|
JP5067091B2 (ja) | 2012-11-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8610620B2 (en) | Object detecting apparatus and object detecting method | |
CN107490794B (zh) | 物体辨识处理装置、物体辨识处理方法及自动驾驶*** | |
US9889858B2 (en) | Confidence estimation for predictive driver assistance systems based on plausibility rules | |
US10967857B2 (en) | Driving support device and driving support method | |
US11069241B2 (en) | Driving support device and driving support method | |
JP4906398B2 (ja) | 車載道路形状識別装置、車載システム、道路形状識別方法及び周辺監視方法 | |
CN110194162B (zh) | 用于基于可用空间信号来检测靠近切入车辆的***和方法 | |
EP2045623A1 (en) | Vehicle detection apparatus | |
EP2787496B1 (en) | Object detection device | |
US20170039865A1 (en) | Route prediction device | |
EP2865576A1 (en) | Composite confidence estimation for predictive driver assistant systems | |
US9102329B2 (en) | Tracking control apparatus | |
EP2784762A1 (en) | Vehicle identification device | |
JP5067091B2 (ja) | 衝突判定装置 | |
JP6432423B2 (ja) | 物体検知装置、及び物体検知方法 | |
JP2007310741A (ja) | 立体物認識装置 | |
JP2008195293A (ja) | 衝突予測装置 | |
JP6169146B2 (ja) | 物体認識統合装置および物体認識統合方法 | |
JP6333437B1 (ja) | 物体認識処理装置、物体認識処理方法および車両制御システム | |
EP3364211A1 (en) | Method and device for detecting a possible collision, and vehicle | |
JP6834020B2 (ja) | 物体認識装置および物体認識方法 | |
JP7146433B2 (ja) | 衝突判定装置 | |
JP2008129871A (ja) | 走行環境推定装置 | |
JP6593682B2 (ja) | 衝突予測システム | |
JP4941210B2 (ja) | 物体検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100119 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110823 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20110824 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20111019 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20111206 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120717 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120730 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150824 Year of fee payment: 3 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 5067091 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150824 Year of fee payment: 3 |