JP6694067B2 - 物体検知装置及びそれを備えた車両制御システム - Google Patents
物体検知装置及びそれを備えた車両制御システム Download PDFInfo
- Publication number
- JP6694067B2 JP6694067B2 JP2018532903A JP2018532903A JP6694067B2 JP 6694067 B2 JP6694067 B2 JP 6694067B2 JP 2018532903 A JP2018532903 A JP 2018532903A JP 2018532903 A JP2018532903 A JP 2018532903A JP 6694067 B2 JP6694067 B2 JP 6694067B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- detection
- area
- detected
- target
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims description 330
- 238000000034 method Methods 0.000 description 56
- 238000012545 processing Methods 0.000 description 52
- 238000013507 mapping Methods 0.000 description 25
- 238000010586 diagram Methods 0.000 description 18
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000004927 fusion Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
-
- 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
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Geometry (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
まず、図1〜図5を参照して、本発明に係る物体検知装置の第1実施形態について説明する。
本実施形態の物体検知装置は、道路を走行する自車両に搭載されて、自車両周辺の検知車両(他車両)等の物体に対する存在領域(物体存在領域)を精度良く特定もしくは推定するためのものである。
次に、図6〜図15を参照して、本発明に係る物体検知装置の第2実施形態について説明する。
(1)前後のエッジ部(端点)情報を含み、不連続の物標、すなわち検知ターゲット車両の前後のエッジ部(端点)間に未検知箇所がある場合。
(2)前後どちらか片側のエッジ部(端点)のみの情報を持つ物標に関して、外界情報取得部2で構成される、複数のセンサ(カメラ4、電波レーダ5等)による各検知領域間(不検知領域)に、検知ターゲット車両のもう片側のエッジ部(端点)が存在する場合。
(3)外界情報取得部2で構成される、複数のセンサ(カメラ4、電波レーダ5等)による各検知領域に、ターゲット車両が存在しない(検知されない)場合。つまり、各検知領域間の不検知領域にターゲット車両が存在するか、各検知領域にも不検知領域にもターゲット車両が存在しない場合。
図10及び図11は、異なる検知領域の間に不検知領域を挟んで、ターゲット車両を検知する場合の処理パターン、特に、異なる検知領域の各々でターゲット車両(同一車両とは限らない)を検知した場合の処理パターンを概念的に示したものである。
図12及び図13は、異なる検知領域の間に不検知領域を挟んで、ターゲット車両を検知する場合の処理パターン、特に、一方の検知領域のみでターゲット車両を検知した場合の処理パターンを概念的に示したものである。
図14及び図15は、異なる検知領域の間に不検知領域を挟んで、ターゲット車両を検知する場合の処理パターン、特に、間に未検知領域を挟んだ隣接検知領域(隣り合う検知領域)にて、検知物標(物体存在領域)が存在しない(言い換えれば、いずれの検知領域でも検知物が存在しない)場合の処理パターンを概念的に示したものである。
次に、図16及び図17を参照して、前述の物体検知装置を利用した、本発明に係る車両制御システムの一実施形態について概説する。
Claims (8)
- 自車両周囲の異なる検知領域に関する外界情報を取得する外界情報取得部と、
前記外界情報取得部による前記異なる検知領域での検知結果を関連付けて、自車両周囲で物体が存在する又は物体が存在する可能性のある物体存在領域を特定もしくは推定する物体存在領域設定部と、を備え、
前記物体存在領域設定部は、少なくとも一つの検知領域で前記物体を検知した場合、その検知領域の物体を含む領域を前記物体存在領域として特定もしくは推定するとともに、一つもしくは複数の前記物体の端部が、間に不検知領域を挟んで複数の検知領域に跨って検知される場合、前記端部が検知された各検知領域の物体存在領域とその間に存在する不検知領域とをグルーピングした領域を前記物体存在領域として特定もしくは推定することを特徴とする、物体検知装置。 - 自車両周囲の異なる検知領域に関する外界情報を取得する外界情報取得部と、
前記外界情報取得部による前記異なる検知領域での検知結果を関連付けて、自車両周囲で物体が存在する又は物体が存在する可能性のある物体存在領域を特定もしくは推定する物体存在領域設定部と、を備え、
前記物体存在領域設定部は、少なくとも一つの検知領域で前記物体を検知した場合、その検知領域の物体を含む領域を前記物体存在領域として特定もしくは推定するとともに、前記物体の一端部が検知領域で検知され、前記物体の他端部が検知領域で検知されない場合、前記一端部が検知された検知領域の物体存在領域とその物体存在領域に隣接する不検知領域とをグルーピングした領域を前記物体存在領域として特定もしくは推定することを特徴とする、物体検知装置。 - 前記物体存在領域設定部は、前記物体の全体が複数の検知領域に跨って検知される場合、その複数の検知領域の各検知領域の物体存在領域をグルーピングした領域を前記物体存在領域として特定もしくは推定することを特徴とする、請求項1又は2に記載の物体検知装置。
- 自車両周囲の異なる検知領域に関する外界情報を取得する外界情報取得部と、
前記外界情報取得部による前記異なる検知領域での検知結果を関連付けて、自車両周囲で物体が存在する又は物体が存在する可能性のある物体存在領域を特定もしくは推定する物体存在領域設定部と、を備え、
隣り合う検知領域の間に不検知領域が存在する場合、前記物体存在領域設定部は、前記不検知領域を前記物体が存在する可能性のある前記物体存在領域として設定することを特徴とする、物体検知装置。 - 前記物体存在領域設定部は、前記物体存在領域の所定方向における長さを自車両周囲の他車両の長さとして判断することを特徴とする、請求項1から4のいずれか一項に記載の物体検知装置。
- 前記物体存在領域設定部は、前記物体存在領域の端部情報から自車両周囲の他車両の長さを算定することを特徴とする、請求項1から4のいずれか一項に記載の物体検知装置。
- 請求項1から6のいずれか一項に記載の物体検知装置と、
前記物体検知装置によって特定もしくは推定された物体存在領域に基づいて、前記自車両の走行状態を制御する走行制御装置と、を備えることを特徴とする車両制御システム。 - 前記走行制御装置は、前記自車両の走行中に前記物体存在領域の前方もしくは後方に前記自車両を誘導するように前記自車両の走行状態を制御することを特徴とする、請求項7に記載の車両制御システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016155811 | 2016-08-08 | ||
JP2016155811 | 2016-08-08 | ||
PCT/JP2017/026235 WO2018030102A1 (ja) | 2016-08-08 | 2017-07-20 | 物体検知装置及びそれを備えた車両制御システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018030102A1 JPWO2018030102A1 (ja) | 2019-03-28 |
JP6694067B2 true JP6694067B2 (ja) | 2020-05-13 |
Family
ID=61162129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018532903A Active JP6694067B2 (ja) | 2016-08-08 | 2017-07-20 | 物体検知装置及びそれを備えた車両制御システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190225266A1 (ja) |
EP (1) | EP3499483A4 (ja) |
JP (1) | JP6694067B2 (ja) |
WO (1) | WO2018030102A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10836376B2 (en) | 2016-09-06 | 2020-11-17 | Magna Electronics Inc. | Vehicle sensing system with enhanced detection of vehicle angle |
WO2019065411A1 (ja) * | 2017-09-29 | 2019-04-04 | 日立オートモティブシステムズ株式会社 | 車両検知システム |
DE102017223486A1 (de) * | 2017-12-21 | 2019-06-27 | Continental Teves Ag & Co. Ohg | Verfahren und System zum Vermeiden von lateralen Kollisionen |
WO2020082363A1 (zh) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | 一种环境感知***及移动平台 |
CN109624972B (zh) * | 2018-12-06 | 2020-06-09 | 北京百度网讯科技有限公司 | 车辆防止碰撞的方法、装置、设备及可读存储介质 |
CN111399492A (zh) * | 2018-12-28 | 2020-07-10 | 深圳市优必选科技有限公司 | 一种机器人及其障碍物感知方法和装置 |
JP7307170B2 (ja) * | 2019-07-10 | 2023-07-11 | 日立Astemo株式会社 | 外界認識センサのセンシング性能評価診断システム、および、センシング性能評価診断方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3985748B2 (ja) * | 2003-07-08 | 2007-10-03 | 日産自動車株式会社 | 車載用障害物検出装置 |
JP4850531B2 (ja) | 2006-02-13 | 2012-01-11 | アルパイン株式会社 | 車載レーダ装置 |
JP5293253B2 (ja) * | 2009-02-19 | 2013-09-18 | 日産自動車株式会社 | 周囲物体検出装置及び周囲物体検出方法 |
-
2017
- 2017-07-20 WO PCT/JP2017/026235 patent/WO2018030102A1/ja unknown
- 2017-07-20 JP JP2018532903A patent/JP6694067B2/ja active Active
- 2017-07-20 EP EP17839175.1A patent/EP3499483A4/en active Pending
- 2017-07-20 US US16/313,084 patent/US20190225266A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
JPWO2018030102A1 (ja) | 2019-03-28 |
EP3499483A4 (en) | 2020-04-08 |
EP3499483A1 (en) | 2019-06-19 |
WO2018030102A1 (ja) | 2018-02-15 |
US20190225266A1 (en) | 2019-07-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6694067B2 (ja) | 物体検知装置及びそれを備えた車両制御システム | |
JP5786941B2 (ja) | 車両用自律走行制御システム | |
US10345443B2 (en) | Vehicle cruise control apparatus and vehicle cruise control method | |
US7889116B2 (en) | Object detecting apparatus | |
JP6369390B2 (ja) | 車線合流判定装置 | |
US20180211536A1 (en) | Driving support system | |
JP6363516B2 (ja) | 車両の走行制御装置 | |
JP6654923B2 (ja) | 地図情報出力装置 | |
WO2016117602A1 (ja) | 車両制御装置及び車両制御方法 | |
US10611240B2 (en) | Vehicle cruise control apparatus and cruise control method | |
JP5785578B2 (ja) | 車両周辺監視装置 | |
US20150219761A1 (en) | Collision determination device and collision determination method | |
JPWO2011070650A1 (ja) | 物体検出装置及び物体検出方法 | |
JP6717240B2 (ja) | 物標検出装置 | |
CN112046481B (zh) | 自动驾驶装置和方法 | |
JP6442225B2 (ja) | 物体検知装置 | |
US10796167B2 (en) | Periphery recognition device | |
KR20180039900A (ko) | 진행경로 시나리오에 따라 충돌가능성을 판단하고 차량을 제어하는 장치 및 방법 | |
JP4864450B2 (ja) | 車両の運転支援装置 | |
JP7476563B2 (ja) | 物体追跡装置、物体追跡方法、及び物体追跡プログラム | |
JP2015031607A (ja) | 物体認識装置 | |
JP6834020B2 (ja) | 物体認識装置および物体認識方法 | |
EP2720211B1 (en) | Other-vehicle detection device and other-vehicle detection method | |
JP7401273B2 (ja) | 移動体の制御装置及び方法 | |
JP2020077180A (ja) | 車載制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181127 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20191001 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191125 |
|
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: 20200407 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200416 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6694067 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |