JP6533040B2 - レーダセンサ使用による対象物特定方法 - Google Patents
レーダセンサ使用による対象物特定方法 Download PDFInfo
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- JP6533040B2 JP6533040B2 JP2014155621A JP2014155621A JP6533040B2 JP 6533040 B2 JP6533040 B2 JP 6533040B2 JP 2014155621 A JP2014155621 A JP 2014155621A JP 2014155621 A JP2014155621 A JP 2014155621A JP 6533040 B2 JP6533040 B2 JP 6533040B2
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- 238000000034 method Methods 0.000 title claims description 27
- 230000007704 transition Effects 0.000 claims description 19
- 238000000926 separation method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 5
- 229920000742 Cotton Polymers 0.000 claims 1
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 21
- 238000001514 detection method Methods 0.000 description 7
- 230000010354 integration Effects 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000007619 statistical method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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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
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/18—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein range gates are used
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
105 自動車
110 装置
115 レーダセンサ
120 処理装置
125 メモリ
130 自動車の周囲
135 縦軸
140〜160 遠隔領域内の対象物
170 遠隔領域
175 近接領域
180 近接領域内の対象物
200 対象物を特定する方法
205 遠隔領域を走査するステップ
210 遠隔領域を走査するステップ
215 対象物を検知するステップ
220 対象物を評価するステップ
245 近接領域内の対象物を特定するステップ
Claims (10)
- 自動車(105)の周囲にある対象物を特定する方法(200)であって、
− レーダセンサ(115)から所定の最小離隔距離以上離れた遠隔領域(170)を走査すべく、前記レーダセンサ(115)を使って前記遠隔領域(170)を走査するステップ(205、210)、
− 前記レーダセンサ(115)から発出されたレーダ信号の反射に基づき前記遠隔領域(170)内の対象物(140〜160)を検知するステップ(215)、
− 前記遠隔領域(170)内で検知可能な前記対象物(140〜160)の数の時間的推移に係る値と所定の閾値との比較結果に応じて、前記レーダセンサ(115)から前記最小離隔距離内にある近接領域(175)内の交差する対象物(180)を特定するステップ(245)
を包含する方法(200)。 - 前記自動車(105)にとって関連ありと評価される(220)前記遠隔領域(170)内の対象物(140〜160)だけを検知する請求項1に記載の方法(200)。
- 前記時間的推移に係る値は、前記遠隔領域(170)内で検知可能な前記対象物(140〜160)の数の変化速度(315)である、請求項1又は2に記載の方法(200)。
- 前記時間的推移に係る値は、前記遠隔領域(170)内で検知可能な前記対象物(140〜160)の数の相対割合(320)である請求項1から3のいずれか1項に記載の方法(200)。
- 前記時間的推移に係る値は、行われた所定の回数の走査(T0〜T9)全体にわたる前記対象物(140〜160)の数の総和(310)である、請求項1から4のいずれか1項に記載の方法(200)。
- 前記自動車(105)の走行状況を特定し(240)、この走行状況に則して前記近接領域(175)内の対象物(180)を特定する(245)請求項1から5のいずれか1項に記載の方法(200)。
- 請求項1から6のいずれか1項に記載の方法(200)を実行するためのプログラムコード手段を備えたコンピュータプログラムであって、これが処理装置(120)上で進行するか、コンピュータ読み取り可能なデータキャリヤに記憶されている時、前記方法(200)を実行するコンピュータプログラム。
- 自動車(105)の周囲にある対象物を特定する装置(110)であって、
− レーダセンサ(115)から所定の最小離隔距離以上離れた遠隔領域(170)を走査するレーダセンサ(115)、及び、
− 前記レーダセンサ(115)から発出されたレーダ信号の反射に基づき前記遠隔領域(170)内の対象物(140〜160)を検知する処理装置(120)
を包含し、
− ここで、前記処理装置(120)が、前記遠隔領域(170)内で検知可能な前記対象物(140〜160)の数の時間的推移に係る値と所定の閾値との比較結果に応じて、前記レーダセンサ(115)から前記最小離隔距離内にある近接領域(175)内の交差する対象物(180)を特定すべく装備されている
装置(110)。 - 前記レーダセンサ(115)が周波数変調連続波レーダを包含する請求項8に記載の装置(110)。
- 前記レーダセンサ(115)が、該レーダセンサ(115)から約4mの最小離隔距離の位置から始まる前記遠隔領域(170)内の対象物(140〜160)を走査すべく装備されている請求項8又は9に記載の装置(110)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102013215117.9 | 2013-08-01 | ||
DE102013215117.9A DE102013215117A1 (de) | 2013-08-01 | 2013-08-01 | Objektbestimmung mittels Radarsensor |
Publications (2)
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JP2015031693A JP2015031693A (ja) | 2015-02-16 |
JP6533040B2 true JP6533040B2 (ja) | 2019-06-19 |
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JP2014155621A Active JP6533040B2 (ja) | 2013-08-01 | 2014-07-31 | レーダセンサ使用による対象物特定方法 |
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US (1) | US9880278B2 (ja) |
JP (1) | JP6533040B2 (ja) |
DE (1) | DE102013215117A1 (ja) |
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JP2015031693A (ja) | 2015-02-16 |
US9880278B2 (en) | 2018-01-30 |
US20150035694A1 (en) | 2015-02-05 |
DE102013215117A1 (de) | 2015-02-05 |
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