JP2013242660A - 物体判定装置および衝突回避支援装置 - Google Patents
物体判定装置および衝突回避支援装置 Download PDFInfo
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- JP2013242660A JP2013242660A JP2012114795A JP2012114795A JP2013242660A JP 2013242660 A JP2013242660 A JP 2013242660A JP 2012114795 A JP2012114795 A JP 2012114795A JP 2012114795 A JP2012114795 A JP 2012114795A JP 2013242660 A JP2013242660 A JP 2013242660A
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- 238000001514 detection method Methods 0.000 claims abstract description 115
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 14
- 229910052742 iron Inorganic materials 0.000 abstract description 7
- 238000013459 approach Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- 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
- G01S2013/9318—Controlling the steering
-
- 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
- G01S2013/93185—Controlling the brakes
-
- 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
-
- 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
- G01S2013/93272—Sensor installation details in the back of the vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
【解決手段】物体判定装置は、車両に搭載され、検知波を送信して物体から反射される検知波を受信し、物体を検知する検知センサ10と、受信した検知波の反射強度の状態を検出する検出部22と、物体までの距離に応じて変化する反射強度のピークが設定閾値を超える場合に物体を他の車両であると判定する判定部23とを備える。反射強度のピークは、物体までの距離に応じて変動するが、他の車両のピークの方が路上構造物(ガードレール、鉄板など)のピークよりも高くなる傾向にある。よって、反射強度のピークを設定閾値と比較することにより、検知した物体が他の車両であるか否かを判定できる。
【選択図】図2
Description
Claims (4)
- 車両に搭載され、検知波を送信して物体から反射される前記検知波を受信し、前記物体を検知する検知部と、
受信した前記検知波の反射強度の状態を検出する検出部と、
前記物体までの距離に応じて変化する前記反射強度のピークが設定閾値を超える場合に前記物体を他の車両であると判定する判定部と、
を備える物体判定装置。 - 前記判定部は、前記物体までの距離に応じて変化する前記反射強度のピークの変化傾向に基づいて、前記物体が他の車両であるか否かを判定する、請求項1に記載の物体判定装置。
- 前記判定部は、前記物体までの距離に応じて変化する前記反射強度の振幅の大きさに基づいて、前記物体が他の車両であるか否かを判定する、請求項1または2に記載の物体判定装置。
- 請求項1〜3のいずれか一項に記載の物体判定装置により前記物体が他の車両であると判定された場合には、前記物体が他の車両でないと判定された場合よりも、衝突回避制御を行うか否かを判定するために用いる検知領域を拡大する衝突回避支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012114795A JP6035862B2 (ja) | 2012-05-18 | 2012-05-18 | 物体判定装置および衝突回避支援装置 |
DE102013209081A DE102013209081A1 (de) | 2012-05-18 | 2013-05-16 | Objektbestimmungsvorrichtung und kollisionsvermeidungsunterstützungsvorrichtung |
CN2013101834627A CN103424740A (zh) | 2012-05-18 | 2013-05-17 | 物体判定设备、防撞辅助设备及物体判定方法 |
US13/896,554 US9202377B2 (en) | 2012-05-18 | 2013-05-17 | Object determination apparatus and collision avoidance assistance apparatus |
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JP2012114795A JP6035862B2 (ja) | 2012-05-18 | 2012-05-18 | 物体判定装置および衝突回避支援装置 |
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JP2013242660A true JP2013242660A (ja) | 2013-12-05 |
JP6035862B2 JP6035862B2 (ja) | 2016-11-30 |
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JP2012114795A Active JP6035862B2 (ja) | 2012-05-18 | 2012-05-18 | 物体判定装置および衝突回避支援装置 |
Country Status (4)
Country | Link |
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US (1) | US9202377B2 (ja) |
JP (1) | JP6035862B2 (ja) |
CN (1) | CN103424740A (ja) |
DE (1) | DE102013209081A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016063529A1 (ja) * | 2014-10-22 | 2016-04-28 | 株式会社デンソー | 物体検知装置 |
CN110775071A (zh) * | 2018-07-26 | 2020-02-11 | 卡特彼勒路面机械公司 | 自主车辆预留工作区的管理 |
CN114175124A (zh) * | 2019-08-20 | 2022-03-11 | 欧姆龙株式会社 | 自主行驶车辆的避撞装置、避撞方法、避撞程序 |
Families Citing this family (16)
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JP5953716B2 (ja) * | 2011-11-28 | 2016-07-20 | トヨタ自動車株式会社 | 車両用制御装置、特定物体判別装置、特定物体判別方法、特定物体判別プログラム |
US8510200B2 (en) | 2011-12-02 | 2013-08-13 | Spireon, Inc. | Geospatial data based assessment of driver behavior |
US10169822B2 (en) | 2011-12-02 | 2019-01-01 | Spireon, Inc. | Insurance rate optimization through driver behavior monitoring |
US20140095061A1 (en) * | 2012-10-03 | 2014-04-03 | Richard Franklin HYDE | Safety distance monitoring of adjacent vehicles |
US9779379B2 (en) | 2012-11-05 | 2017-10-03 | Spireon, Inc. | Container verification through an electrical receptacle and plug associated with a container and a transport vehicle of an intermodal freight transport system |
US8933802B2 (en) | 2012-11-05 | 2015-01-13 | Spireon, Inc. | Switch and actuator coupling in a chassis of a container associated with an intermodal freight transport system |
US9779449B2 (en) | 2013-08-30 | 2017-10-03 | Spireon, Inc. | Veracity determination through comparison of a geospatial location of a vehicle with a provided data |
US20150186991A1 (en) | 2013-12-31 | 2015-07-02 | David M. Meyer | Creditor alert when a vehicle enters an impound lot |
JP2016084049A (ja) * | 2014-10-27 | 2016-05-19 | トヨタ自動車株式会社 | 車両走行制御装置 |
US9551788B2 (en) | 2015-03-24 | 2017-01-24 | Jim Epler | Fleet pan to provide measurement and location of a stored transport item while maximizing space in an interior cavity of a trailer |
DE102016200687A1 (de) * | 2016-01-20 | 2017-07-20 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Erkennung eines metallischen Gegenstands |
JP6599835B2 (ja) * | 2016-09-23 | 2019-10-30 | 日立建機株式会社 | 鉱山用作業機械、障害物判別装置、及び障害物判別方法 |
CN107180502B (zh) * | 2016-10-11 | 2020-10-09 | 深圳市沃特沃德股份有限公司 | 一种宠物穿戴设备的防损坏方法、装置及*** |
CN112119329A (zh) * | 2019-06-28 | 2020-12-22 | 深圳市大疆创新科技有限公司 | 一种物体识别方法、毫米波雷达及车辆 |
JP2021099331A (ja) * | 2019-12-20 | 2021-07-01 | 株式会社デンソー | レーダ装置 |
CN114537425B (zh) * | 2022-02-28 | 2024-05-24 | 重庆长安汽车股份有限公司 | 行车时对前方减速带及沟坎的检测预警方法、装置、车辆 |
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2012
- 2012-05-18 JP JP2012114795A patent/JP6035862B2/ja active Active
-
2013
- 2013-05-16 DE DE102013209081A patent/DE102013209081A1/de active Pending
- 2013-05-17 US US13/896,554 patent/US9202377B2/en active Active
- 2013-05-17 CN CN2013101834627A patent/CN103424740A/zh active Pending
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CN114175124A (zh) * | 2019-08-20 | 2022-03-11 | 欧姆龙株式会社 | 自主行驶车辆的避撞装置、避撞方法、避撞程序 |
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US20130311077A1 (en) | 2013-11-21 |
CN103424740A (zh) | 2013-12-04 |
DE102013209081A1 (de) | 2013-11-21 |
JP6035862B2 (ja) | 2016-11-30 |
US9202377B2 (en) | 2015-12-01 |
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