JP2016066179A - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/86—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves with means for eliminating undesired waves, e.g. disturbing noises
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G—PHYSICS
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- 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
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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
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- 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
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- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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- 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
- B60W2554/00—Input parameters relating to objects
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- 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
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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
- G01S2013/93185—Controlling the brakes
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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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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Abstract
Description
[本実施形態の構成]
本発明が適用された衝突軽減装置1は、乗用車等の車両に搭載された装置であって、レーダおよびカメラ画像を用いて物標(他車両や歩行者等の物体)を検出し、この物標と衝突する虞がある場合に、衝突を回避または衝突する際の衝撃を軽減するために、自車両を制動する等の制御を行う機能を有する。特に、本実施形態の衝突軽減装置1においては、レーダの軸ずれ(ミリ波センサ2の取り付け角度(中心軸の方位)が予め決められた角度(路面に平行であり、自車両の前面の中央と背面の中央とを通る直線のうちの前方方向である正面方向)に対して水平方向或いは垂直方向にずれる現象)が生じている場合に、異なる物標を1つの物標(同一物標)であると誤認識しにくくするための機能を備えている。
衝突軽減ECU7は、衝突軽減装置1を統括制御する電子制御装置であって、CPU、ROM、RAMなどを備える。衝突軽減ECU7は、CPUのマスタクロックに基づく一定時間ごとに、ミリ波レーダ2からのレーダ信号および単眼カメラ3からの画像信号を取り入れる。
次に、衝突軽減装置1による物標検出方法について説明する。衝突軽減ECU7には、衝突軽減装置1による物標検出を実現するためのプログラムである物標検出プログラムが記憶されている。以下、物標検出プログラムに従い衝突軽減ECU7が実行する衝突軽減処理について、図2のフローチャートを用いて説明する。なお、図2に示す処理は、所定サイクルで繰り返し実行される。
軸ずれ時補正処理は、図4に示すように、まず、軸ずれ量を演算する(S210)。この処理では、レーダと撮像画像と間の位置関係(レーダによる座標系と撮像画像による座標系との誤差)を推定するための演算を行う。この処理では、例えば、ミリ波レーダ2によってガードレール等の路側物の配置とその移動方向を検出し、自車両の進行方向に対する路側物の配置の傾きや移動方向の相違量を求めることによってどの程度の軸ずれが生じているかを認識する。
以上のように詳述した衝突軽減装置1において衝突軽減ECU7は、ミリ波レーダ2の基準方位と単眼カメラ3の軸の基準方位に対するずれを表す軸ずれの有無を取得し、軸ずれがある場合に第1領域のサイズを変更する。さらに、XY平面において、第1領域と第2領域とに重複部が存在することを条件として、第1の物標と第2の物標とが同一の物標であると判定する。
また、衝突軽減装置1において衝突軽減ECU7は、軸ずれが生じた際に、単眼カメラ3の基準方位がミリ波レーダ2の基準方位に対して左右の何れの方向にずれているかについての情報も取得し、軸ずれがある場合に、第1領域のうちの軸ずれが生じた方向における領域を狭くする。
本発明は、上記の実施形態によって何ら限定して解釈されない。また、上記の実施形態の説明で用いる符号を特許請求の範囲にも適宜使用しているが、各請求項に係る発明の理解を容易にする目的で使用しており、各請求項に係る発明の技術的範囲を限定する意図ではない。上記実施形態における1つの構成要素が有する機能を複数の構成要素として分散させたり、複数の構成要素が有する機能を1つの構成要素に統合させたりしてもよい。また、上記実施形態の構成の少なくとも一部を、同様の機能を有する公知の構成に置き換えてもよい。また、上記実施形態の構成の一部を省略してもよい。また、上記実施形態の構成の少なくとも一部を、他の上記実施形態の構成に対して付加又は置換してもよい。なお、特許請求の範囲に記載した文言のみによって特定される技術思想に含まれるあらゆる態様が本発明の実施形態である。
上記実施形態において衝突軽減ECU7は本発明でいう物標検出装置に相当する。また、衝突軽減ECUが実施する処理のうちのS110〜S120の処理は本発明でいう第1特定手段に相当し、上記実施形態におけるS130〜S140の処理は本発明でいう第2特定手段に相当する。
Claims (5)
- 車両に搭載される物標検出装置(7)であって、
レーダ(2)による検出情報に基づいて検出された第1の物標について、前記車両を基準として、前記車両の車幅方向をX軸、前記車両の車長方向をY軸、としたXY平面における基準点に対する前記第1の物標の相対位置を表す検出点である第1の検出点を含む第1領域を特定する第1特定手段(S110〜S120)と、
単眼カメラ(3)による撮像画像に基づいて検出された第2の物標について、前記XY平面における前記基準点に対する前記第2の物標の相対位置を表す検出点である第2の検出点を含む第2領域を特定する第2特定手段(S130〜S140)と、
前記レーダの軸の基準方位に対するずれを表す軸ずれの有無を取得する軸ずれ有無取得手段(S210)と、
前記軸ずれがある場合に前記第1領域のサイズを変更する領域サイズ変更手段(S230〜S330)と、
前記XY平面において、前記第1領域と前記第2領域とに重複部が存在することを条件として、前記第1の物標と前記第2の物標とが同一の物標であると判定する判定手段(S160〜S170)と、
を備えたことを特徴とする物標検出装置。 - 請求項1に記載の物標検出装置において、
前記領域サイズ変更手段は、前記軸ずれがある場合に前記第1領域をより狭くすること
を特徴とする物標検出装置。 - 請求項2に記載の物標検出装置において、
前記軸ずれ有無取得手段は、前記軸ずれが生じた際に、前記単眼カメラの基準方位が前記レーダの基準方位に対して左右の何れの方向にずれているかについての情報も取得し、
前記領域サイズ変更手段は、前記軸ずれがある場合に、前記第1領域のうちの軸ずれが生じた方向における領域を狭くすること
を特徴とする物標検出装置。 - 請求項2または請求項3に記載の物標検出装置において、
前記第1の物標または前記第2の物標の速度に対する前記車両の速度の差分を相対速度として取得する相対速度取得手段(S225)、を備え、
前記領域サイズ変更手段は、前記相対速度が負の値である際に、前記相対速度が正の値である際と比較して前記第1領域をより狭くすること
を特徴とする物標検出装置。 - 請求項1〜請求項4の何れか1項に記載の物標検出装置において、
前記第1特定手段は、前記第1の物標の前記基準点に対する方位を含むある角度範囲内の領域を前記第1領域の幅として設定し、
前記領域サイズ変更手段は、前記第1領域のサイズを変更する際に、前記第1領域の幅だけを変更すること
を特徴とする物標検出装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014193889A JP6394227B2 (ja) | 2014-09-24 | 2014-09-24 | 物体検出装置 |
US15/513,522 US9945927B2 (en) | 2014-09-24 | 2015-09-10 | Object detection apparatus |
PCT/JP2015/075746 WO2016047457A1 (ja) | 2014-09-24 | 2015-09-10 | 物標検出装置 |
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JP2020176921A (ja) * | 2019-04-18 | 2020-10-29 | トヨタ自動車株式会社 | 運転支援装置及びその運転支援装置の調整方法 |
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JP6493196B2 (ja) * | 2015-12-17 | 2019-04-03 | 株式会社デンソー | 制御装置、制御方法 |
CN108831189A (zh) * | 2018-06-07 | 2018-11-16 | 合肥中科自动控制***有限公司 | 一种基于毫米波雷达防撞的智能预警方法 |
US11982736B2 (en) * | 2018-10-01 | 2024-05-14 | Kpit Technologies Limited | Perception sensors based fusion system for vehicle control and method thereof |
KR20200040391A (ko) * | 2018-10-10 | 2020-04-20 | 주식회사 만도 | 차량용 레이더의 보완 장치 및 방법 |
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US11557061B2 (en) * | 2019-06-28 | 2023-01-17 | GM Cruise Holdings LLC. | Extrinsic calibration of multiple vehicle sensors using combined target detectable by multiple vehicle sensors |
CN112799055B (zh) * | 2020-12-28 | 2024-07-09 | 深圳承泰科技有限公司 | 一种探测被测车辆的方法、装置以及电子设备 |
JP2022150929A (ja) * | 2021-03-26 | 2022-10-07 | 本田技研工業株式会社 | 軸ずれ推定装置 |
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