JP2019007934A5 - - Google Patents
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- JP2019007934A5 JP2019007934A5 JP2017126827A JP2017126827A JP2019007934A5 JP 2019007934 A5 JP2019007934 A5 JP 2019007934A5 JP 2017126827 A JP2017126827 A JP 2017126827A JP 2017126827 A JP2017126827 A JP 2017126827A JP 2019007934 A5 JP2019007934 A5 JP 2019007934A5
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Claims (11)
反射波を用いて対象物を表す複数の検出点を検出する3以上の検出器(21〜23)と、
前記3以上の検出器のうち、前記複数の検出点の少なくとも一部が重複するように車両に配置されている2つの検出器から入力される前記複数の検出点を対応付けて、前記2つの検出器の組み合わせの全てについて水平方向における相対的な軸ずれ量を算出し、算出した前記相対的な軸ずれ量の組み合わせを用いて水平軸がずれている検出器を特定する、検出器特定部(101、P1)と、を備える、車両用の対象物検出装置。 An object detection device (10) for a vehicle, wherein
Three or more detectors (21 to 23 ) for detecting a plurality of detection points representing an object using a reflected wave;
Among the three or more detectors, the plurality of detection points input from two detectors arranged in the vehicle such that at least a part of the plurality of detection points overlap, are associated with one another, A detector identification unit that calculates relative axial deviation in the horizontal direction for all combinations of detectors, and identifies a detector whose horizontal axis is offset using the calculated combination of relative axial deviations An object detection device for a vehicle, comprising: (101, P1).
反射波を用いて対象物を表す複数の検出点を検出する2つの検出器であって、前記複数の検出点の少なくとも一部が重複するように車両に配置されている2つの検出器と、
前記2つの検出器から入力される前記複数の検出点を対応付けて、前記2つの検出器の水平方向における相対的な軸ずれ量を算出し、算出した前記相対的な軸ずれ量と、各前記検出器から入力される前記検出点を用いて算出される絶対軸ずれ量とを用いて水平軸がずれている検出器を特定する検出器特定部(101、P1)と、を備える、車両用の対象物検出装置。 An object detection device (10) for a vehicle, wherein
Two detectors for detecting a plurality of detection points representing an object using a reflected wave, wherein the two detectors are disposed on the vehicle such that at least a part of the plurality of detection points overlap.
The plurality of detection points input from the two detectors are associated with each other to calculate the relative amount of axial deviation of the two detectors in the horizontal direction, and the calculated relative amount of axial deviation, A detector identification unit (101, P1) for identifying a detector whose horizontal axis is offset using the absolute axis offset amount calculated using the detection point input from the detector Object detection device for
前記検出器特定部は、前記車両が旋回中に検出された検出点を用いない、車両用の対象物検出装置。 The object detection device for a vehicle according to claim 1 or 2
The object detection device for a vehicle, wherein the detector specifying unit does not use a detection point detected while the vehicle is turning.
前記検出器特定部は、前記車両が静止中に検出された検出点を用いない、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to any one of claims 1 to 3 .
The object detection device for a vehicle, wherein the detector specifying unit does not use a detection point detected while the vehicle is stationary.
前記算出された相対的な軸ずれ量を用いて、前記特定された検出器からの検出信号を補正することによって前記特定された検出器の水平軸ずれを補正する補正部(101、P2)を備える、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to any one of claims 1 to 4 , further comprising:
A correction unit (101, P2) for correcting the horizontal axis deviation of the specified detector by correcting the detection signal from the specified detector using the calculated relative axis deviation amount An object detection device for a vehicle, comprising:
前記複数の検出器は駆動部を備え、水平方向に回転可能であり、
前記車両用の対象物検出装置はさらに、前記算出された相対的な軸ずれ量を用いて、前記駆動部を駆動させて前記特定された検出器の水平軸ずれを補正する補正部を備える、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to any one of claims 1 to 4 .
The plurality of detectors may include a drive and may be horizontally rotatable.
The object detection device for a vehicle further includes a correction unit that drives the drive unit to correct the horizontal axis deviation of the specified detector using the calculated relative axis deviation amount. Object detection device for vehicles.
前記補正部は、前記算出された相対的な軸ずれ量が予め定められた第1補正基準値以上の場合に補正を行う、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to claim 5 or 6 ,
The said correction | amendment part is a target object detection apparatus for vehicles which correct | amends when the calculated relative axis shift amount is more than a predetermined 1st correction | amendment reference value.
前記補正部は、前記算出された相対的な軸ずれ量と、前記検出点を用いて各前記検出器について算出される絶対軸ずれ量との差が予め定められた第2補正基準値以下の場合に補正を行う、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to claim 5 or 6 ,
The correction unit is configured such that a difference between the calculated relative axis deviation amount and an absolute axis deviation amount calculated for each of the detectors using the detection point is equal to or less than a predetermined second correction reference value. An object detection device for a vehicle that makes corrections in the case.
前記補正部は、前記算出された相対的な軸ずれ量に応じて補正量を決定する、車両用の対象物検出装置。 The object detection apparatus for a vehicle according to any one of claims 5 to 8 ,
The said correction | amendment part determines the correction amount according to the calculated relative axis shift amount, The target object detection apparatus for vehicles.
反射波を用いて対象物を表す複数の検出点を検出する3以上の検出器のうち、前記複数の検出点の少なくとも一部が重複するように車両に配置されている2つの検出器から入力される前記検出点を対応付けて、前記2つの検出器の組み合わせの全てについて水平方向における相対的な軸ずれ量を算出し、
算出した前記相対的な軸ずれ量の組み合わせを用いて水平軸がずれている検出器を特定する、ことを備える、水平方向の軸ずれ量判定方法。 A method of determining an axis deviation in a horizontal direction in an object detection device for a vehicle, comprising:
Among the three or more detectors that detect a plurality of detection points representing an object using a reflected wave, an input is made from two detectors arranged on the vehicle such that at least a part of the plurality of detection points overlap. Calculating the relative amount of axial deviation in the horizontal direction for all the combinations of the two detectors by associating the detected points with each other;
A method for determining the amount of off-axis misalignment in the horizontal direction, comprising: identifying a detector whose off-axis is deviated using the calculated combination of the relative off-axis deviation amounts.
反射波を用いて対象物を表す複数の検出点を検出する2つの検出器であって、前記複数の検出点の少なくとも一部が重複するように車両に配置されている2つの検出器から入力される前記複数の検出点を対応付けて、前記2つの検出器の水平方向における相対的な軸ずれ量を算出し、 Two detectors for detecting a plurality of detection points representing an object using a reflected wave, wherein two detectors are arranged on the vehicle such that at least a part of the plurality of detection points overlap. Calculating a relative amount of axis deviation in the horizontal direction of the two detectors by associating the plurality of detected points
算出した前記相対的な軸ずれ量と、各前記検出器から入力される前記検出点を用いて算出される絶対軸ずれ量とを用いて水平軸がずれている検出器を特定する、ことを備える、水平方向の軸ずれ量判定方法。 Identifying a detector whose horizontal axis is deviated using the calculated relative axis deviation amount and an absolute axis deviation amount calculated using the detection points inputted from each of the detectors A method for determining the amount of axis misalignment in the horizontal direction.
Priority Applications (2)
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JP2017126827A JP6848725B2 (en) | 2017-06-29 | 2017-06-29 | Horizontal axis deviation determination method in the object detection device for vehicles and the object detection device for vehicles |
PCT/JP2018/017403 WO2019003631A1 (en) | 2017-06-29 | 2018-05-01 | Object detection device for vehicle and method for determining horizontal axial deviation of object detection device for vehicle |
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JP2017126827A JP6848725B2 (en) | 2017-06-29 | 2017-06-29 | Horizontal axis deviation determination method in the object detection device for vehicles and the object detection device for vehicles |
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JP2019007934A JP2019007934A (en) | 2019-01-17 |
JP2019007934A5 true JP2019007934A5 (en) | 2019-05-30 |
JP6848725B2 JP6848725B2 (en) | 2021-03-24 |
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JP2017126827A Active JP6848725B2 (en) | 2017-06-29 | 2017-06-29 | Horizontal axis deviation determination method in the object detection device for vehicles and the object detection device for vehicles |
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JP (1) | JP6848725B2 (en) |
WO (1) | WO2019003631A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2020189685A1 (en) * | 2019-03-19 | 2020-09-24 | 株式会社小糸製作所 | Sensing system for vehicle, vehicle system, lamp for vehicle, and vehicle |
JP7134361B2 (en) * | 2019-08-02 | 2022-09-09 | 三菱電機株式会社 | In-vehicle object detection device |
US20220342068A1 (en) * | 2019-10-10 | 2022-10-27 | Kyocera Corporation | Electronic device, method for controlling electronic device, and program for controlling electronic device |
CN113447899B (en) * | 2021-06-29 | 2024-02-02 | 上海为彪汽配制造有限公司 | Method and system for mounting and testing vehicle-mounted millimeter wave radar |
Family Cites Families (10)
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JP2001166051A (en) * | 1999-12-10 | 2001-06-22 | Fujitsu Ten Ltd | Axis deviation detection device for vehicular radar device |
JP3484496B2 (en) * | 2001-05-24 | 2004-01-06 | 防衛庁技術研究本部長 | Radar antenna adjustment error correction method |
DE10357148A1 (en) * | 2003-12-06 | 2005-07-07 | Robert Bosch Gmbh | radar sensor |
JP2005257510A (en) * | 2004-03-12 | 2005-09-22 | Alpine Electronics Inc | Another car detection device and method |
JP2009281862A (en) * | 2008-05-22 | 2009-12-03 | Toyota Motor Corp | Axis adjusting method of radar device and axis adjusting device |
DE102009024064A1 (en) * | 2009-06-05 | 2010-12-09 | Valeo Schalter Und Sensoren Gmbh | Driver assistance means for determining a target angle of a device external object and method for correcting a target angle parameter characteristic |
JP6168784B2 (en) * | 2013-02-08 | 2017-07-26 | 古河電気工業株式会社 | Perimeter monitoring system and axis deviation detection method for perimeter monitoring system |
JP6291781B2 (en) * | 2013-10-17 | 2018-03-14 | 株式会社デンソー | Perimeter monitoring device and perimeter monitoring system |
JP5976027B2 (en) * | 2014-03-27 | 2016-08-23 | 三菱電機株式会社 | Sensor axis deviation detection device and sensor axis deviation detection method |
JP2016053748A (en) * | 2014-09-02 | 2016-04-14 | 株式会社デンソー | Driving support device and driving support method |
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