JP4021401B2 - 車両用物体検知装置 - Google Patents
車両用物体検知装置 Download PDFInfo
- Publication number
- JP4021401B2 JP4021401B2 JP2003378856A JP2003378856A JP4021401B2 JP 4021401 B2 JP4021401 B2 JP 4021401B2 JP 2003378856 A JP2003378856 A JP 2003378856A JP 2003378856 A JP2003378856 A JP 2003378856A JP 4021401 B2 JP4021401 B2 JP 4021401B2
- Authority
- JP
- Japan
- Prior art keywords
- determination
- detection
- vehicle
- detected
- object detection
- 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.)
- Expired - Fee Related
Links
Images
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
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Description
M1 検知状態判定手段
M2 計時手段
M3 不検知判定手段
M4 報知手段
M5 走行距離算出手段
Sa レーダー装置(物体検知手段)
Sb 車速センサ
Claims (6)
- 車両に搭載されて自車進行方向前方に存在する物体を検知する物体検知手段(Sa)と、
物体検知手段(Sa)により物体が検知されているか否かを判定する検知状態判定手段(M1)と、
検知状態判定手段(M1)により物体が検知されていないと判定されている時間を測定する計時手段(M2)と、
複数の判定閾値を備え、計時手段(M2)により測定された時間が判定閾値以上となったか否かを判定する不検知判定手段(M3)と、
不検知判定手段(M3)の判定結果に基づいて前記複数の判定閾値のうち判定に用いられた判定閾値を乗員に報知する報知手段(M4)と、
を備えたことを特徴とする車両用物体検知装置。 - 車両に搭載されて自車進行方向前方に存在する物体を検知する物体検知手段(Sa)と、
物体検知手段(Sa)により物体が検知されているか否かを判定する検知状態判定手段(M1)と、
検知状態判定手段(M1)により物体が検知されていないと判定されている間の自車走行距離を算出する走行距離算出手段(M5)と、
複数の判定閾値を備え、走行距離算出手段(M5)により算出された自車走行距離が判定閾値以上となったか否かを判定する不検知判定手段(M3)と、
不検知判定手段(M3)の判定結果に基づいて前記複数の判定閾値のうち判定に用いられた判定閾値を乗員に報知する報知手段(M4)と、
を備えたことを特徴とする車両用物体検知装置。 - 車両に搭載されて自車進行方向前方に存在する物体を検知する物体検知手段(Sa)と、
物体検知手段(Sa)により物体が検知されているか否かを判定する検知状態判定手段(M1)と、
検知状態判定手段(M1)により物体が検知されていないと判定されている時間を測定する計時手段(M2)と、
複数の判定閾値を備え、計時手段(M2)により測定された時間が判定閾値以上となったか否かを判定する不検知判定手段(M3)と、
不検知判定手段(M3)の判定結果に基づいて前記複数の判定閾値のうち判定に用いられた判定閾値に応じてディスプレイ(D)上の予め定められた複数の領域の色を変化させることで物体が所定時間以上検知されていないことを乗員に報知する報知手段(M4)と、
を備えたことを特徴とする車両用物体検知装置。 - 車両に搭載されて自車進行方向前方に存在する物体を検知する物体検知手段(Sa)と、
物体検知手段(Sa)により物体が検知されているか否かを判定する検知状態判定手段(M1)と、
検知状態判定手段(M1)により物体が検知されていないと判定されている間の自車走行距離を算出する走行距離算出手段(M5)と、
複数の判定閾値を備え、走行距離算出手段(M5)により算出された自車走行距離が判定閾値以上となったか否かを判定する不検知判定手段(M3)と、
不検知判定手段(M3)の判定結果に基づいて前記複数の判定閾値のうち判定に用いられた判定閾値に応じてディスプレイ(D)上の予め定められた複数の領域の色を変化させることで物体が所定走行距離以上検知されていないことを乗員に報知する報知手段(M4)と、
を備えたことを特徴とする車両用物体検知装置。 - 前記複数の領域は、複数の矩形領域または複数の円形領域により構成されていることを特徴とする、請求項3または請求項4に記載の車両用物体検知装置。
- 前記複数の領域は、円形領域を等分割した複数の扇形領域により構成されていることを特徴とする、請求項3または請求項4に記載の車両用物体検知装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003378856A JP4021401B2 (ja) | 2003-11-07 | 2003-11-07 | 車両用物体検知装置 |
US10/975,837 US7218208B2 (en) | 2003-11-07 | 2004-10-27 | Object detecting system for vehicle |
DE102004052619A DE102004052619B4 (de) | 2003-11-07 | 2004-10-29 | Objekterkennungssystem für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003378856A JP4021401B2 (ja) | 2003-11-07 | 2003-11-07 | 車両用物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005140696A JP2005140696A (ja) | 2005-06-02 |
JP4021401B2 true JP4021401B2 (ja) | 2007-12-12 |
Family
ID=34587232
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003378856A Expired - Fee Related JP4021401B2 (ja) | 2003-11-07 | 2003-11-07 | 車両用物体検知装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7218208B2 (ja) |
JP (1) | JP4021401B2 (ja) |
DE (1) | DE102004052619B4 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005056800A1 (de) * | 2005-11-29 | 2007-05-31 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Radarsystems und Radarsystem |
JP4899599B2 (ja) * | 2006-04-07 | 2012-03-21 | マツダ株式会社 | 車両の障害物検知装置 |
GB0713096D0 (en) * | 2007-02-02 | 2007-08-15 | Duong Henri | Detectable anti-collision automatic braking device for vehicle |
DE102007025613A1 (de) * | 2007-06-01 | 2008-12-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Zustandserkennung eines an einem Kraftfahrzeug angeordneten Abstandssensors |
JP4564041B2 (ja) * | 2007-11-27 | 2010-10-20 | 本田技研工業株式会社 | 車両の走行制御装置 |
JP4589974B2 (ja) | 2008-02-15 | 2010-12-01 | 株式会社デンソー | 汚れ判定装置 |
EP2260322A1 (en) * | 2008-03-31 | 2010-12-15 | Valeo Radar Systems, Inc. | Automotive radar sensor blockage detection apparatus and method |
JP4877364B2 (ja) | 2009-07-10 | 2012-02-15 | トヨタ自動車株式会社 | 物体検出装置 |
US8525657B2 (en) | 2010-02-25 | 2013-09-03 | Ford Global Technologies, Llc | Methods and systems for determining a tire pressure status |
JP5737396B2 (ja) * | 2011-06-09 | 2015-06-17 | トヨタ自動車株式会社 | 他車両検出装置及び他車両検出方法 |
JP5861072B2 (ja) * | 2014-03-06 | 2016-02-16 | パナソニックIpマネジメント株式会社 | 表示制御装置、表示装置および表示制御プログラム |
JP6315584B2 (ja) * | 2014-09-05 | 2018-04-25 | オムロンオートモーティブエレクトロニクス株式会社 | 物体検出システム |
DE102014017912B3 (de) * | 2014-12-04 | 2016-02-18 | Audi Ag | Verfahren zur Eigendiagnose eines Umgebungssensors eines Kraftfahrzeugs und Kraftfahrzeug |
US10054672B2 (en) | 2015-08-31 | 2018-08-21 | Veoneer Us, Inc. | Apparatus and method for detecting and correcting for blockage of an automotive radar sensor |
JP6684244B2 (ja) * | 2017-04-04 | 2020-04-22 | 日立建機株式会社 | 障害物検出センサの汚れ判定装置および汚れ判定方法 |
US10794992B2 (en) | 2017-07-18 | 2020-10-06 | Veoneer Us, Inc. | Apparatus and method for detecting and correcting for blockage of an automotive radar sensor |
JP7172475B2 (ja) * | 2018-11-12 | 2022-11-16 | 住友電気工業株式会社 | 移動体センサ、異常判定方法およびコンピュータプログラム |
US11204417B2 (en) * | 2019-05-08 | 2021-12-21 | GM Global Technology Operations LLC | Selective attention mechanism for improved perception sensor performance in vehicular applications |
US11436876B2 (en) * | 2019-11-01 | 2022-09-06 | GM Global Technology Operations LLC | Systems and methods for diagnosing perception systems of vehicles based on temporal continuity of sensor data |
JP7477324B2 (ja) * | 2020-03-06 | 2024-05-01 | 本田技研工業株式会社 | 車両用情報処理装置 |
US11662449B2 (en) * | 2020-06-22 | 2023-05-30 | Honeywell International Inc. | Methods and systems for improving target detection performance of an indoor radar sensor |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3569926B2 (ja) * | 1993-03-03 | 2004-09-29 | 株式会社デンソー | 車両走行制御装置 |
US6087975A (en) * | 1997-06-25 | 2000-07-11 | Honda Giken Kogyo Kabushiki Kaisha | Object detecting system for vehicle |
JP3314006B2 (ja) * | 1997-06-25 | 2002-08-12 | 本田技研工業株式会社 | 車両の障害物検知装置 |
JPH11301383A (ja) * | 1998-04-20 | 1999-11-02 | Matsushita Electric Works Ltd | 車載用障害物検知システム |
JP3428009B2 (ja) * | 1998-07-03 | 2003-07-22 | トヨタ自動車株式会社 | 車両用レーダ装置 |
JP4045041B2 (ja) * | 1999-02-05 | 2008-02-13 | 本田技研工業株式会社 | レーダ装置及びレーダ装置の異常検出方法 |
JP3454767B2 (ja) * | 1999-12-24 | 2003-10-06 | 株式会社日立製作所 | 車載用レーダ装置 |
JP3788240B2 (ja) * | 2001-01-18 | 2006-06-21 | 日産自動車株式会社 | 車両用追従走行制御装置 |
DE10211475A1 (de) * | 2002-03-15 | 2003-09-25 | Bosch Gmbh Robert | Verfahren zur Wahl des Betriebszustands eines Geschwindigkeitsregelsystems für Kraftfahrzeuge |
US6757611B1 (en) * | 2002-12-13 | 2004-06-29 | Ford Motor Company | Adaptive safety system for a bumper-bag equipped vehicle |
JP4239689B2 (ja) * | 2003-05-30 | 2009-03-18 | スズキ株式会社 | 車両用警報システム及び車両用警報発生方法 |
-
2003
- 2003-11-07 JP JP2003378856A patent/JP4021401B2/ja not_active Expired - Fee Related
-
2004
- 2004-10-27 US US10/975,837 patent/US7218208B2/en not_active Expired - Fee Related
- 2004-10-29 DE DE102004052619A patent/DE102004052619B4/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20050174222A1 (en) | 2005-08-11 |
DE102004052619A1 (de) | 2005-06-16 |
DE102004052619B4 (de) | 2008-09-18 |
JP2005140696A (ja) | 2005-06-02 |
US7218208B2 (en) | 2007-05-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4021401B2 (ja) | 車両用物体検知装置 | |
US10363944B1 (en) | Method and apparatus for evaluating pedestrian collision risks and determining driver warning levels | |
JP5322937B2 (ja) | 運動する対象物を検出する装置 | |
US8040253B2 (en) | Lane-change assistant for motor vehicles | |
CN101327796B (zh) | 用于避免后路***通碰撞的方法和设备 | |
KR102005253B1 (ko) | 극도로 빠르게 접근하는 차량들에 응답하는 차선 보조 시스템 | |
US11410556B2 (en) | Vehicle front blind spot detection and warning system | |
JP4814928B2 (ja) | 車両用衝突回避装置 | |
CN107438546B (zh) | 控制***和控制方法 | |
US20130057397A1 (en) | Method of operating a vehicle safety system | |
GB2485873A (en) | A method of evading an approaching motor vehicle in same lane | |
JP4604691B2 (ja) | 車両用警報装置、車両周囲状況の警報方法 | |
KR102050526B1 (ko) | 이웃하는 적어도 두 개의 차로가 있는 도로에서 선행 차량을 주행하는 중의 차로 변경의 위험성을 평가하는 방법 및 시스템 | |
US20140071282A1 (en) | Alert systems and methods using real-time lane information | |
CN114845273A (zh) | 车辆与基础设施通信中不当行为的检测和报告 | |
KR20190085718A (ko) | 차선 이탈 경보 시스템 | |
JP2009243963A (ja) | 物体検出装置 | |
JP3672914B2 (ja) | 車両用警報装置 | |
KR101997817B1 (ko) | 이웃하는 적어도 두 개의 차로가 있는 도로에서 선행 차량을 주행하는 중의 차로 변경의 위험성을 평가하는 방법 및 시스템 | |
JP6548147B2 (ja) | 車両用制御装置 | |
CN114312771A (zh) | 车辆接触减轻的检测、警告和准备动作 | |
JP3352157B2 (ja) | 自動車の安全装置 | |
JP3441342B2 (ja) | 車両用距離測定装置 | |
JP3905496B2 (ja) | 後側方警報装置 | |
KR102347423B1 (ko) | 차량 후측방 경보 장치 및 그 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20051202 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070606 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070801 |
|
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: 20070919 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20070926 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20101005 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20101005 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111005 Year of fee payment: 4 |
|
LAPS | Cancellation because of no payment of annual fees |