JP6704455B2 - 自動車で使用するためのlidar式走査装置 - Google Patents
自動車で使用するためのlidar式走査装置 Download PDFInfo
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- JP6704455B2 JP6704455B2 JP2018532726A JP2018532726A JP6704455B2 JP 6704455 B2 JP6704455 B2 JP 6704455B2 JP 2018532726 A JP2018532726 A JP 2018532726A JP 2018532726 A JP2018532726 A JP 2018532726A JP 6704455 B2 JP6704455 B2 JP 6704455B2
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- 238000000034 method Methods 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000001816 cooling Methods 0.000 description 3
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- 239000006096 absorbing agent Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000001419 dependent effect Effects 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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S7/4972—Alignment of sensor
-
- 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
- G01S17/88—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
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- G01S2013/9327—Sensor installation details
- G01S2013/93273—Sensor installation details on the top of the 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the 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
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Mechanical Optical Scanning Systems (AREA)
Description
特に上記LIDAR式走査装置を制御するためにこの方法を使用することができる。
Claims (7)
- 自動車(100)で使用するためのLIDAR式走査装置(110)において、
所定の走査範囲(115)を備えるLIDARセンサ(110)であって、前記走査範囲(115)内の物体(145)との間隔を決定するように構成されたLIDARセンサ(110)と、
自動車(100)の走行状況に依存して前記LIDARセンサ(110)の前記走査範囲(115)の方位(120)を変更するための旋回装置(125)と、
を含む自動車(100)で使用するためのLIDAR式走査装置(110)において、
前記走査範囲(115)が前記自動車(100)の横軸線(210)を中心として変更され、
前記走査範囲(115)が、走行速度が低い場合には地面の方向に変更され、走行速度が高い場合には水平線の方向に変更される、
LIDAR式走査装置(110)。 - 請求項1に記載のLIDAR式走査装置(110)において、
前記旋回装置(125)が軸線を中心として前記LIDARセンサ(110)を旋回するように構成されている、
LIDAR式走査装置(110)。 - 請求項1または2に記載のLIDAR式走査装置(110)において、
前記旋回装置(125)が、前記LIDARセンサ(110)の光路において軸線を中心として反射素子または屈折素子を旋回するように構成されている、
LIDAR式走査装置(110)。 - 請求項1〜3のいずれか一項に記載のLIDAR式走査装置(110)において、
前記自動車(100)の走行速度に依存して前記走査範囲(115)の前記方位(120)が変更される、
LIDAR式走査装置(110)。 - 請求項1〜4のいずれか一項に記載のLIDAR式走査装置(110)において、
該LIDAR式走査装置(110)が前記自動車(100)のサイドミラーケーシング(320)に取り付けられている、
LIDAR式走査装置(110)。 - 自動車(100)の走行状況を決定するステップ(505)と、
決定された走行状況に基づいて、前記自動車(100)に取り付けられたLIDAR式走査装置(110)のLIDARセンサ(110)の走査範囲(115)の方位(120)を変更するステップ(510)と、
前記LIDAR式走査装置(110)によって前記自動車(100)の周辺を走査するステップ(515)と、
前記走査範囲(115)内の物体(145)との間隔を決定するステップ(515)と、
を含む方法(500)において、
前記走査範囲(115)が前記自動車(100)の横軸線(210)を中心として変更され、
前記走査範囲(115)が、走行速度が低い場合には地面の方向に変更され、走行速度が高い場合には水平線の方向に変更される、
方法(500)。 - 請求項6に記載の方法(500)において、
所定の間隔に依存して自動車(100)を制御するステップ(520)を、
含む方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015226502.1A DE102015226502A1 (de) | 2015-12-22 | 2015-12-22 | Lidar-Abtasteinrichtung an einem Kraftfahrzeug |
DE102015226502.1 | 2015-12-22 | ||
PCT/EP2016/076834 WO2017108247A1 (de) | 2015-12-22 | 2016-11-07 | Lidar-abtasteinrichtung an einem kraftfahrzeug |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019507326A JP2019507326A (ja) | 2019-03-14 |
JP6704455B2 true JP6704455B2 (ja) | 2020-06-03 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018532726A Active JP6704455B2 (ja) | 2015-12-22 | 2016-11-07 | 自動車で使用するためのlidar式走査装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11016181B2 (ja) |
EP (1) | EP3394638B1 (ja) |
JP (1) | JP6704455B2 (ja) |
KR (1) | KR102564882B1 (ja) |
CN (1) | CN108474851B (ja) |
DE (1) | DE102015226502A1 (ja) |
WO (1) | WO2017108247A1 (ja) |
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US11300958B2 (en) * | 2017-07-13 | 2022-04-12 | Waymo Llc | Sensor adjustment based on vehicle motion |
DE102017118160A1 (de) * | 2017-08-09 | 2019-02-14 | Valeo Schalter Und Sensoren Gmbh | Ermitteln der maximalen Reichweite eines LIDAR-Sensors |
DE102018118007A1 (de) * | 2018-07-25 | 2020-01-30 | Deutsche Post Ag | Lüfter mit integriertem Sensor |
DE112019003459T5 (de) * | 2018-09-03 | 2021-04-01 | Hitachi Automotive Systems, Ltd. | Fahrzeugmontiertes radarsystem |
DE102018216699A1 (de) * | 2018-09-28 | 2020-04-02 | Ibeo Automotive Systems GmbH | Feststellvorrichtung und LIDAR-Messsystem mit Feststellvorrichtung |
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2015
- 2015-12-22 DE DE102015226502.1A patent/DE102015226502A1/de active Pending
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2016
- 2016-11-07 CN CN201680075120.5A patent/CN108474851B/zh active Active
- 2016-11-07 US US16/063,912 patent/US11016181B2/en active Active
- 2016-11-07 KR KR1020187020473A patent/KR102564882B1/ko active IP Right Grant
- 2016-11-07 JP JP2018532726A patent/JP6704455B2/ja active Active
- 2016-11-07 EP EP16795269.6A patent/EP3394638B1/de active Active
- 2016-11-07 WO PCT/EP2016/076834 patent/WO2017108247A1/de active Application Filing
Also Published As
Publication number | Publication date |
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WO2017108247A1 (de) | 2017-06-29 |
EP3394638A1 (de) | 2018-10-31 |
KR20180095660A (ko) | 2018-08-27 |
JP2019507326A (ja) | 2019-03-14 |
US20190011538A1 (en) | 2019-01-10 |
EP3394638B1 (de) | 2024-02-14 |
US11016181B2 (en) | 2021-05-25 |
KR102564882B1 (ko) | 2023-08-09 |
DE102015226502A1 (de) | 2017-06-22 |
CN108474851B (zh) | 2023-08-25 |
CN108474851A (zh) | 2018-08-31 |
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