JP7169873B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP7169873B2 JP7169873B2 JP2018245839A JP2018245839A JP7169873B2 JP 7169873 B2 JP7169873 B2 JP 7169873B2 JP 2018245839 A JP2018245839 A JP 2018245839A JP 2018245839 A JP2018245839 A JP 2018245839A JP 7169873 B2 JP7169873 B2 JP 7169873B2
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- vehicle
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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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling 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
- G01S17/88—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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- 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
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
- G01S2013/464—Indirect determination of position data using multipath signals using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
-
- 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
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
図1に示すように、実施形態に係る運転支援システム10は、レーダ装置11と、車速センサ12と、ECU20と、警報装置30とを備えている。
Claims (2)
- 探査波の反射波を用いて、自車の後方の物体を検知し、前記自車に接近する物体を接近物として認識する物体検知部(22)と、
前記自車の速度と、前記物体検知部が検知した物体の前記自車に対する相対速度および方位を取得する取得部(21)と、
前記接近物が、実際には存在しないゴースト物標であることを判定するゴースト判定部(40)と、
前記ゴースト判定部により前記ゴースト物標であると判定された前記接近物を、前記自車の危険回避のための運転支援を実行する対象物から除外する支援判定部(23)と、を備え、
前記ゴースト判定部は、
前記接近物の前記自車に対する相対速度と、前記自車の速度および前記自車と前記接近物との間の後続物の前記自車に対する相対速度に基づいて算出した前記接近物の前記自車に対する相対速度の算出値との速度差を算出し、
前記後続物の方位と、前記接近物の方位とに基づいて、前記後続物と前記接近物との方位差を算出し、
前記速度差が、所定の速度差閾値未満であることを判定する速度判定部(41)と、
前記方位差が、所定の方位差閾値未満であることを判定する方位判定部(42)と、を備え、前記速度判定部により肯定判定され、かつ、前記方位判定部により肯定判定された場合に、前記接近物が前記ゴースト物標であると判定し、
前記方位判定部は、前記自車の速度が所定の自車速閾値未満である場合に、前記方位差閾値を所定の固定値に設定し、前記自車の速度が所定の自車速閾値以上である場合に、前記自車と前記後続物との距離に応じて前記方位差閾値を前記固定値よりも大きい範囲で変更する、運転支援装置(10)。 - 前記方位判定部は、前記自車の速度が所定の自車速閾値以上である場合に、前記自車と前記後続物との距離が大きいほど前記方位差閾値を小さくする請求項1に記載の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018245839A JP7169873B2 (ja) | 2018-12-27 | 2018-12-27 | 運転支援装置 |
PCT/JP2019/049629 WO2020137747A1 (ja) | 2018-12-27 | 2019-12-18 | 運転支援装置 |
DE112019006516.5T DE112019006516T5 (de) | 2018-12-27 | 2019-12-18 | Fahrassistenzvorrichtung |
CN201980086618.5A CN113228133B (zh) | 2018-12-27 | 2019-12-18 | 驾驶辅助装置 |
US17/357,742 US11798417B2 (en) | 2018-12-27 | 2021-06-24 | Driving assistance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018245839A JP7169873B2 (ja) | 2018-12-27 | 2018-12-27 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020107115A JP2020107115A (ja) | 2020-07-09 |
JP7169873B2 true JP7169873B2 (ja) | 2022-11-11 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018245839A Active JP7169873B2 (ja) | 2018-12-27 | 2018-12-27 | 運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11798417B2 (ja) |
JP (1) | JP7169873B2 (ja) |
CN (1) | CN113228133B (ja) |
DE (1) | DE112019006516T5 (ja) |
WO (1) | WO2020137747A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7472879B2 (ja) * | 2021-08-31 | 2024-04-23 | 株式会社デンソー | 車両用レーダ装置 |
WO2023228668A1 (ja) * | 2022-05-25 | 2023-11-30 | 株式会社デンソー | 周辺監視装置及びプログラム |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000147115A (ja) | 1998-11-04 | 2000-05-26 | Toyota Motor Corp | 車載用レーダ装置 |
JP2007148618A (ja) | 2005-11-25 | 2007-06-14 | Fujitsu Ten Ltd | 車両周辺監視システム及び方法 |
WO2015194371A1 (ja) | 2014-06-19 | 2015-12-23 | 日立オートモティブシステムズ株式会社 | 物体認識装置及びそれを用いた車両走行制御装置 |
WO2018230344A1 (ja) | 2017-06-15 | 2018-12-20 | ヴィオニア スウェーデン エービー | 運転支援装置、運転支援方法及びコンピュータプログラム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4736677B2 (ja) | 2005-09-29 | 2011-07-27 | トヨタ自動車株式会社 | 障害物検出装置 |
JP2009037562A (ja) * | 2007-08-03 | 2009-02-19 | Toyota Motor Corp | 走行状態判定装置 |
JP4837755B2 (ja) * | 2009-02-24 | 2011-12-14 | 本田技研工業株式会社 | 物体検知装置 |
JP2013213761A (ja) * | 2012-04-03 | 2013-10-17 | Honda Elesys Co Ltd | レーダ装置、車載レーダシステム、及びプログラム |
JP2014071012A (ja) | 2012-09-28 | 2014-04-21 | Daimler Ag | 制御対象検出装置及び緊急自動制動装置 |
JP2014110285A (ja) * | 2012-11-30 | 2014-06-12 | Oki Data Corp | 表示装置 |
JP2014119285A (ja) * | 2012-12-13 | 2014-06-30 | Toyota Motor Corp | 物体検出装置 |
JP2014235662A (ja) * | 2013-06-04 | 2014-12-15 | 日本電産エレシス株式会社 | 車両用障害物検出装置、及び車両用障害物検出プログラム |
US10565468B2 (en) * | 2016-01-19 | 2020-02-18 | Aptiv Technologies Limited | Object tracking system with radar/vision fusion for automated vehicles |
JP6277531B2 (ja) * | 2016-02-15 | 2018-02-14 | パナソニックIpマネジメント株式会社 | 無線装置 |
JP6643215B2 (ja) | 2016-09-29 | 2020-02-12 | 株式会社デンソー | 他車線監視装置 |
JP6597590B2 (ja) * | 2016-12-21 | 2019-10-30 | トヨタ自動車株式会社 | 運転支援装置 |
-
2018
- 2018-12-27 JP JP2018245839A patent/JP7169873B2/ja active Active
-
2019
- 2019-12-18 WO PCT/JP2019/049629 patent/WO2020137747A1/ja active Application Filing
- 2019-12-18 DE DE112019006516.5T patent/DE112019006516T5/de active Pending
- 2019-12-18 CN CN201980086618.5A patent/CN113228133B/zh active Active
-
2021
- 2021-06-24 US US17/357,742 patent/US11798417B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000147115A (ja) | 1998-11-04 | 2000-05-26 | Toyota Motor Corp | 車載用レーダ装置 |
JP2007148618A (ja) | 2005-11-25 | 2007-06-14 | Fujitsu Ten Ltd | 車両周辺監視システム及び方法 |
WO2015194371A1 (ja) | 2014-06-19 | 2015-12-23 | 日立オートモティブシステムズ株式会社 | 物体認識装置及びそれを用いた車両走行制御装置 |
WO2018230344A1 (ja) | 2017-06-15 | 2018-12-20 | ヴィオニア スウェーデン エービー | 運転支援装置、運転支援方法及びコンピュータプログラム |
Also Published As
Publication number | Publication date |
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US20210327274A1 (en) | 2021-10-21 |
US11798417B2 (en) | 2023-10-24 |
CN113228133B (zh) | 2023-02-17 |
DE112019006516T5 (de) | 2021-11-04 |
CN113228133A (zh) | 2021-08-06 |
JP2020107115A (ja) | 2020-07-09 |
WO2020137747A1 (ja) | 2020-07-02 |
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