JPH10142321A - Millimetric wave radar-loaded vehicle - Google Patents
Millimetric wave radar-loaded vehicleInfo
- Publication number
- JPH10142321A JPH10142321A JP8302962A JP30296296A JPH10142321A JP H10142321 A JPH10142321 A JP H10142321A JP 8302962 A JP8302962 A JP 8302962A JP 30296296 A JP30296296 A JP 30296296A JP H10142321 A JPH10142321 A JP H10142321A
- Authority
- JP
- Japan
- Prior art keywords
- wave radar
- vehicle
- dump truck
- millimeter
- wave
- 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.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Shovels (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車両から探知物体
までの距離や相対速度を探知するミリ波レーダを搭載し
たダンプトラックや土砂移送車両などのミリ波レーダ搭
載車両に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle equipped with a millimeter-wave radar, such as a dump truck or a sediment transport vehicle, equipped with a millimeter-wave radar for detecting a distance or a relative speed from a vehicle to an object to be detected.
【０００２】[0002]
【従来の技術】近時、高速道路上での運転者の不注意や
判断ミスによる衝突事故防止策として、車両に超音波セ
ンサ、レーザレーダ、赤外線レーダ、画像センサ、電波
レーダ等の対物検知装置を搭載する試みがなされてい
る。ところが超音波センサはノイズ音の影響を受け、レ
ーザや赤外線レーダは天候（雨、霧、雪）や粉塵の影響
を受け、画像センサは天候（雨、霧、雪）や粉塵の影響
を受ける他、処理技術が複雑である等の欠点があるため
実用性に乏しい。2. Description of the Related Art Recently, as a measure for preventing a collision accident due to a carelessness of a driver on a highway or a determination error, an object detecting device such as an ultrasonic sensor, a laser radar, an infrared radar, an image sensor, a radio wave radar, etc. Attempts have been made to mount them. However, ultrasonic sensors are affected by noise noise, laser and infrared radar are affected by weather (rain, fog, snow) and dust, and image sensors are affected by weather (rain, fog, snow) and dust. However, it is not practical because of its disadvantages such as complicated processing technology.
【０００３】これに対し電波レーダは、天候の影響を受
けないため船舶や航空機で多用されている。ところがこ
の電波レーダを車両に搭載すると、路面や環境物からの
クラッタを受けるため満足なものがなかなか得られない
のが実情である。On the other hand, radio radars are frequently used in ships and aircraft because they are not affected by the weather. However, when the radio wave radar is mounted on a vehicle, it is difficult to obtain satisfactory radio wave clutter from the road surface and environmental objects.
【０００４】ただし、ミリ波レーダはマイクロ波レーダ
等と較べて波長がより短いため、送受信アンテナをより
小さくでき（即ち、車載が容易となる）、アンテナビー
ム幅θ（図１参照）をより狭くでき（即ち、路面や環境
物からクラッタを受け難くなる）、またドップラ周波数
による探知物体との相対速度をより高精度で探知できる
等の利点がある。However, since the millimeter-wave radar has a shorter wavelength than a microwave radar or the like, the transmitting and receiving antenna can be made smaller (that is, the vehicle can be easily mounted), and the antenna beam width θ (see FIG. 1) becomes narrower. (That is, the clutter is less likely to be received from the road surface or the environment), and the relative speed with respect to the detection object based on the Doppler frequency can be detected with higher accuracy.
【０００５】即ち図１に示すように、車両１に搭載した
ミリ波レーダの送受信アンテナ２の送信アンテナ２ａか
ら送信波３ａを発射し、受信アンテナ２ｂによって探知
物体４からの反射波３ｂを受信し、これにより探知物体
４との距離Ｌや相対速度Ｖ（車両速度Ｖ1 −探知物体速
度Ｖ2 ）を探知する。なお、探知のためのミリ波レーダ
での送受信波３ａ，３ｂに対する処理として、パルス方
式、２周波数ＣＷ方式、ＦＭ−ＣＷ方式等が知られ、ま
た複数の探知物体４に対して夫々を同時に探知するフィ
ルタバンクや、ＦＦＴ（高速フーリエ変換）等の周波数
解析法が採用される。That is, as shown in FIG. 1, a transmitting wave 3a is emitted from a transmitting antenna 2a of a transmitting / receiving antenna 2 of a millimeter-wave radar mounted on a vehicle 1, and a reflected wave 3b from a detection object 4 is received by a receiving antenna 2b. Thus, the distance L to the detection object 4 and the relative speed V (vehicle speed V 1 −detection object speed V 2 ) are detected. In addition, a pulse method, a two-frequency CW method, an FM-CW method, or the like is known as a process for the transmission / reception waves 3a and 3b in the millimeter wave radar for detection, and a plurality of detection objects 4 are simultaneously detected. A filter bank to be used or a frequency analysis method such as FFT (Fast Fourier Transform) is employed.
【０００６】[0006]
【発明が解決しようとする課題】本発明者等は、前述の
ミリ波レーダをダンプトラック、バケットやブレードを
備えた土砂移送車両に搭載して採石現場において実際に
稼動しながら種々の実験を行った。The present inventors have carried out various experiments while mounting the above-mentioned millimeter-wave radar on a sediment transport vehicle equipped with a dump truck, bucket and blades and actually operating it at a quarry site. Was.
【０００７】この結果、周波数解析法によって周波数解
析したにもかかわらず交差点での双方探知を確実に行え
なかった。As a result, despite the frequency analysis by the frequency analysis method, it was not possible to reliably detect both sides at the intersection.
【０００８】そこで、本発明は前述の課題を解決できる
ようにしたミリ波レーダ搭載車両を提供することを目的
とする。Accordingly, an object of the present invention is to provide a vehicle equipped with a millimeter-wave radar capable of solving the above-mentioned problems.
【０００９】[0009]
【課題を解決するための手段及び作用・効果】本発明者
等は、前述の事由について鋭意研究、実験した結果、前
述のダンプトラックや土砂移送車両は外観形状が複雑の
ためにミリ波の反射方向が安定せずに対向した一方の車
両のミリ波レーダの反射強度が不安定となるので対向し
た他方の車両を確実の探知できないことを見出した。Means for Solving the Problems and Functions / Effects The inventors of the present invention have conducted intensive studies and experiments on the above-mentioned reasons. It has been found that the reflection intensity of the millimeter-wave radar of one of the vehicles on the opposite side is not stable and the other vehicle on the opposite side cannot be reliably detected.
【００１０】このことに着目して更に研究、実験した結
果、本発明に至った。[0010] Focusing on this, further research and experiments have led to the present invention.
【００１１】第１の発明は、左右いずれか一方が運転席
１０であり、他方がベッセル１１の前面板１２と対向す
る空間１３であるダンプトラック１４において、ミリ波
を反射するリフレクタ１５を前記空間部１３に設けたこ
とを特徴とするミリ波レーダ搭載車両である。According to a first aspect of the present invention, in a dump truck 14 in which one of right and left is a driver's seat 10 and the other is a space 13 facing a front plate 12 of a vessel 11, a reflector 15 for reflecting millimeter waves is provided in the space. A vehicle equipped with a millimeter-wave radar, which is provided in a unit 13.
【００１２】第２の発明は、車体２０の前面２１や後面
２２にバケット２３やブレードを備えた土砂移送車両２
４において、ミリ波を反射するリフレクタ２５を前記車
体２０の前面２１や後面２２及び／又はバケット２３や
ブレードの周辺に設けたことを特徴とするミリ波レーダ
搭載車両である。A second invention relates to a sediment transport vehicle 2 having a bucket 23 and blades on a front surface 21 and a rear surface 22 of a vehicle body 20.
4, wherein a reflector 25 for reflecting a millimeter wave is provided on the front surface 21 and the rear surface 22 of the vehicle body 20 and / or around the bucket 23 and blades.
【００１３】第１の発明及び第２の発明によれば、反射
強度［ｄＢ］が得られにくい形状の特定車両（ダンプト
ラック、土砂移送車両）において、反射強度［ｄＢ］が
得られにくい部位を特定してその部位（空間部１３、前
面２１、後面２２、バケット２３の周囲、ブレードの周
囲）にリフレクタ１５，２５を設けることとしたので、
例えば交差点での双方探知を確実に行える。According to the first and second aspects of the present invention, in a specific vehicle (dump truck, earth and sand transfer vehicle) having a shape in which the reflection intensity [dB] is difficult to obtain, a portion in which the reflection intensity [dB] is difficult to obtain is defined. Since the reflectors 15 and 25 are provided at the specified portions (the space 13, the front surface 21, the rear surface 22, the periphery of the bucket 23, and the periphery of the blade),
For example, both detections at an intersection can be reliably performed.
【００１４】[0014]
【発明の実施の形態及び実施例】事例説明に先立ち、理
解を早めるために、事例の車両に装着したミリ波レーダ
例の仕様を先ず述べておく。DESCRIPTION OF THE PREFERRED EMBODIMENTS Prior to the description of the case, the specifications of an example of a millimeter-wave radar mounted on a vehicle of the case will be described first to facilitate understanding.
【００１５】ミリ波は、波長λが１〜１０ｍｍ（即ち、
３００〜３０ＧＨｚ）の電磁波であるが、本例では周波
数５９．５ＧＨｚ（即ち、λはほぼ５ｍｍ）を用い、Ｆ
Ｍ−ＣＷ方式のもと、ＦＦＴによる周波数解析を行って
いる、ＦＭ−ＣＷ方式は、図２に示すように、ミリ波
（搬送波）を信号波（本例では三角波）によって変調
し、変調された送信波３ａと受信波３ｂとをミキシング
してビート周波数ｆｂ１，ｆｂ２を得た後、次の一般式
（１），（２）によって車両と探知物体との距離Ｌ及び
相対速度Ｖを算出している。The millimeter wave has a wavelength λ of 1 to 10 mm (ie,
In this example, a frequency of 59.5 GHz (that is, λ is approximately 5 mm) is used.
In the FM-CW method, which performs frequency analysis by FFT based on the M-CW method, as shown in FIG. 2, a millimeter wave (carrier) is modulated by a signal wave (a triangular wave in this example) and modulated. After mixing the transmitted wave 3a and the received wave 3b to obtain beat frequencies fb1 and fb2, a distance L and a relative speed V between the vehicle and the detected object are calculated by the following general formulas (1) and (2). ing.
【００１６】 Ｌ＝Ｃ（ｆｂ２＋ｆｂ１）／（８△Ｆ・ｆｍ）…（１） Ｖ＝Ｃ（ｆｂ２−ｆｂ１）／（４ｆｏ）…………（２）L = C (fb2 + fb1) / (8 △ F · fm) (1) V = C (fb2-fb1) / (4fo) (2)
【００１７】なお、Ｃは光速、ｆｂ１は同図２で示した
「増加側のビート周波数」、ｆｂ２は同図２で示した
「減少側のビート周波数」、△Ｆは周辺周波数（本例で
は７５ＭＨｚ）、ｆｍは前記三角波の周波数（本例では
７８１．２５ｋＨｚ）、ｆｏは中心周波数であって前記
ミリ波の周波数（５９．５ＧＨｚ）である。C is the speed of light, fb1 is the "beat frequency on the increasing side" shown in FIG. 2, fb2 is the "beat frequency on the decreasing side" shown in FIG. 2, and ΔF is the peripheral frequency (in this example, 75 MHz), fm is the frequency of the triangular wave (781.25 kHz in this example), and fo is the center frequency, which is the frequency of the millimeter wave (59.5 GHz).
【００１８】ところで図２は探知物体が単一の場合の説
明図であるが、複数の探知物体を夫々同時に探知するた
めに本例ではＦＦＴを採用している。即ち受信波３ｂは
探知物体との距離Ｌ、探知物体への方向（送受信アンテ
ナから見たアンテナビーム中心ｃ（図１参照）と探知物
体との方向とのずれ角、探知物体の有効反射面積等によ
り、その受信強度［ｄＢ］が異なる。FIG. 2 is an explanatory diagram in the case of a single detection object. In this embodiment, FFT is employed to simultaneously detect a plurality of detection objects simultaneously. That is, the received wave 3b is at a distance L from the detection object, a direction toward the detection object (a deviation angle between the antenna beam center c (see FIG. 1) viewed from the transmitting / receiving antenna and the detection object), an effective reflection area of the detection object, and the like. , The reception intensity [dB] differs.
【００１９】そこでＦＦＴでは前記受信強度［ｄＢ］の
違いに着目し、受信強度［ｄＢ］に所定の閾値を設け、
この閾値よりも大きな受信強度［ｄＢ］のビート周波数
を得ている。そしてこのように閾値よりも大きな受信強
度［ｄＢ］のビート周波数を得ている。そしてこのよう
に閾値を設定すると、複数の探知物体に相当する複数の
受信強度［ｄＢ］が得られる。即ち探知物体が単一なら
ば、略パスル的なピーク値が得られ、一方探知物体が例
えば上り坂のような連続体ならば、この連続体も一種の
複数の探知物体の集合としての連続ピーク値が得られ
る。Therefore, the FFT focuses on the difference in the reception intensity [dB], and sets a predetermined threshold value in the reception intensity [dB].
A beat frequency having a reception intensity [dB] larger than this threshold is obtained. Thus, a beat frequency having a reception intensity [dB] larger than the threshold value is obtained. When the threshold is set in this way, a plurality of reception intensities [dB] corresponding to a plurality of detection objects are obtained. That is, if the detection object is a single object, an almost pulse-like peak value is obtained, while if the detection object is a continuum such as an uphill, the continuum is also a continuous peak as a set of a plurality of detection objects. Value is obtained.
【００２０】前記「従来の技術」の欄で説明したアンテ
ナビーム幅θは次の一般式（３）で表される。The antenna beam width θ described in the section of “Prior Art” is represented by the following general formula (3).
【００２１】θはほぼ７０・λ／Ｄ………（３）Θ is approximately 70 · λ / D (3)
【００２２】このアンテナビーム幅θはアンテナ利得が
最大であるアンテナビーム中心ｃでの前記最大アンテナ
利得の半値（１／２）までの角度であって電波レーダで
の有効電波の広がりを示す。The antenna beam width θ is an angle up to a half (１ ／) of the maximum antenna gain at the antenna beam center c where the antenna gain is the maximum, and indicates the spread of the effective radio wave in the radio wave radar.
【００２３】詳細を後述する本例の送受信アンテナは、
図３を示すように、アンテナ有効長さＤが夫々縦横約８
５ｍｍの平面形の送信アンテナ２ａと受信アンテナ２ｂ
とを隣接配置した例である。このため本例の送受信アン
テナ２のアンテナビーム幅θは、上記一般式（３）によ
り、θはほぼ４°（即ち、上下左右へ各２°）となる。
なお、電波レーダでの探知物体に対する探知距離分解性
能△Ｌは、次の一般式（４）で与えられ、本例では△Ｌ
＝２ｍ（即ち、前後±１ｍの精度）となる。The transmitting / receiving antenna of this embodiment, which will be described in detail later,
As shown in FIG. 3, the antenna effective length D is about 8
5 mm flat transmitting antenna 2a and receiving antenna 2b
Are arranged adjacent to each other. For this reason, the antenna beam width θ of the transmitting / receiving antenna 2 of this example is approximately 4 ° (that is, 2 ° for each of up, down, left, and right) according to the general formula (3).
Note that the detection distance resolution performance △ L of a detection object in a radio wave radar is given by the following general formula (4). In this example, △ L
= 2 m (ie, ± 1 m accuracy before and after).
【００２４】△Ｌ＝Ｃ／（２△Ｆ）………（４） 以下、事例を詳説する。図１に示すように、上記仕様の
ミリ波レーダを車載した車両１は、前面に、かつ地表か
ら１〜２ｍの位置にアンテナビーム中心ｃを水平とする
送受信アンテナ２を装着している。上記仕様のアンテナ
２をこのように装着すると、詳細説明は省略するが、実
験成績によれば最大有効探知幅が前方で約４〜４．５
ｍ、かつ最遠有効探知が１００ｍ程度となり、しかもグ
ランドクラッタを殆ど受けない。△ L = C / (2 △ F) (4) An example will be described below in detail. As shown in FIG. 1, a vehicle 1 on which a millimeter-wave radar of the above specification is mounted has a transmitting / receiving antenna 2 having a horizontal antenna beam center c at the front and at a position of 1 to 2 m from the ground. When the antenna 2 having the above specifications is mounted in this manner, detailed description is omitted, but according to experimental results, the maximum effective detection width is about 4 to 4.5 in front.
m and the farthest effective detection is about 100 m, and there is almost no ground clutter.
【００２５】ところで上記のように車両の各部にミリ波
を反射するリフレクタを設けることについて、本発明者
等は各種実験を行った。その結果、リフレクタを装着し
ない状態のトラック、自動車、自転車等を探知物体とし
て、前後左右方向（Ｆ，Ｂ，Ｒ，Ｌ）及び斜め方向から
対物探知したときの、各方向における受信波３ｂの受信
強度［ｄＢ］は図４に示すようになった。By the way, the present inventors conducted various experiments on the provision of the reflector for reflecting the millimeter wave in each part of the vehicle as described above. As a result, reception of the reception wave 3b in each direction when the object is detected from the front, rear, left, and right directions (F, B, R, L) and the oblique direction using a truck, a car, a bicycle, and the like without the reflector as the detection object. The intensity [dB] was as shown in FIG.
【００２６】同図４から明らかなように、前後左右での
受信強度［ｄＢ］は高いが、斜め方向での受信強度［ｄ
Ｂ］は該して高くないが、区別可能である。As is apparent from FIG. 4, the reception intensity [dB] in the front, rear, left and right directions is high, but the reception intensity [d] in the oblique direction is high.
B] is not particularly high, but is distinguishable.
【００２７】ところが図５に示すように、左右いずれか
一方が運転席１０であり、他方がベッセル１１の前面板
１２と対向した空間１３であるダンプトラック１４にお
いては、図６の破線に示すように、前での及び反運転席
１０側の斜めでの受信強度［ｄＢ］が極めて低い。更に
同図６で従来使用されていたレーザレーダの値を一点鎖
線で記入している。However, as shown in FIG. 5, in a dump truck 14 in which one of right and left is a driver's seat 10 and the other is a space 13 facing the front plate 12 of the vessel 11, as shown by a broken line in FIG. In addition, the reception intensity [dB] in front and obliquely on the side opposite to the driver's seat 10 is extremely low. Further, in FIG. 6, the value of the laser radar conventionally used is indicated by a one-dot chain line.
【００２８】このことからレーザレーダの受信強度は全
体に極めて低く探知が難しいが、方向による強度変化は
小さい。また、ミリ波レーダはレーザレーダよりも受信
強度の方向依存性が高いことが明らかである。From this, the reception intensity of the laser radar is extremely low as a whole and it is difficult to detect, but the intensity change depending on the direction is small. Also, it is clear that the millimeter wave radar has higher direction dependency of the reception intensity than the laser radar.
【００２９】また図７に示すように、車体２０の前面２
１や後面２２にバケット２３やブレードを備えた土砂移
送車両２４においても、図８の破線で示すように、前で
の受信強度［ｄＢ］が極めて低い。Further, as shown in FIG.
Also in the earth and sand transfer vehicle 24 provided with the bucket 23 and the blade on the rear surface 1 and the rear surface 22, the reception intensity [dB] in front is extremely low as shown by the broken line in FIG.
【００３０】同８図にも同様にレーザレーダの受信強度
が一点鎖線で記入してある。これからレーザレーダより
もミリ波レーダの方向依存性が高いことが明らかであ
る。In FIG. 8, similarly, the reception intensity of the laser radar is indicated by a dashed line. It is clear from this that the direction dependency of the millimeter wave radar is higher than that of the laser radar.
【００３１】以上のことから、従来の探知センサである
レーザレーダでは考慮する必要がなかった方向依存性に
ついてミリ波レーダでは考慮する必要があることが判明
した。これは探知対象の表面の凹凸と電磁波の波長の関
係から決まる原因によるものと推察される。From the above, it has been found that the direction dependency, which need not be considered in the conventional laser radar as a detection sensor, needs to be considered in the millimeter wave radar. This is presumed to be due to the cause determined by the relationship between the irregularities on the surface of the detection target and the wavelength of the electromagnetic wave.
【００３２】そして、前述のミリ波レーダの方向依存性
のために、例えば交差点では、正面から又は側面から他
の車両によって検知される必要があるにも係わらず、探
知不能又は探知困難の状態に陥ることになることが判明
した。Because of the above-described direction dependency of the millimeter wave radar, for example, at an intersection, the vehicle cannot be detected or is difficult to detect even though it needs to be detected from the front or side by another vehicle. It turned out to fall.
【００３３】そこで、前述の図５に示すダンプトラック
の場合に、同５図に示すように前記空間部１３にミリ波
を反射するリフレクタ１５を取付けた。Therefore, in the case of the above-described dump truck shown in FIG. 5, a reflector 15 for reflecting a millimeter wave was attached to the space 13 as shown in FIG.
【００３４】この結果、相手車両のミリ波レーダの受信
強度は図６の実線で示すように、反運転席１０側の斜め
での受信強度［ｄＢ］は高くなる。As a result, as shown by the solid line in FIG. 6, the reception intensity [dB] of the receiving vehicle at the side opposite to the driver's seat 10 becomes higher as indicated by the solid line in FIG.
【００３５】一方、図７の土砂移送車両２４では、同図
７に示すように、前記車体２０の前面２１にリフレクタ
２５を取付けた。このようにすると、図８の実線に示す
ように、前での受信強度［ｄＢ］は高くなる。なお、リ
フレクタ２５は後面２２及び又はバケット２３やブレー
ドの周囲に取付けても良い。On the other hand, in the earth and sand transfer vehicle 24 shown in FIG. 7, a reflector 25 is mounted on the front surface 21 of the vehicle body 20, as shown in FIG. In this way, as shown by the solid line in FIG. 8, the previous reception intensity [dB] increases. The reflector 25 may be mounted on the rear surface 22 and / or around the bucket 23 or the blade.
【図１】従来のミリ波レーダを搭載したダンプトラック
の正面図である。FIG. 1 is a front view of a dump truck equipped with a conventional millimeter-wave radar.
【図２】ＦＭ−ＣＷを説明するグラフである。FIG. 2 is a graph illustrating FM-CW.
【図３】本発明の実施の形態に使用した送受信アンテナ
の斜視図である。FIG. 3 is a perspective view of a transmitting / receiving antenna used in the embodiment of the present invention.
【図４】一般車両の周囲での受信強度の特性図である。FIG. 4 is a characteristic diagram of reception intensity around a general vehicle.
【図５】本発明の実施の形態を示すダンプトラックの斜
視図である。FIG. 5 is a perspective view of the dump truck showing the embodiment of the present invention.
【図６】図５のダンプトラックの周囲での受信強度の特
性図である。FIG. 6 is a characteristic diagram of reception intensity around the dump truck of FIG. 5;
【図７】本発明の実施の形態を示す土砂移送機械の斜視
図である。FIG. 7 is a perspective view of the earth and sand transfer machine showing the embodiment of the present invention.
【図８】図７のダンプトラックの周囲での受信強度の特
性図である。FIG. 8 is a characteristic diagram of reception intensity around the dump truck of FIG. 7;
１…車両 ２…送受信アンテナ ２ａ…送信アンテナ ２ｂ…受信アンテナ ３ａ…送信波 ３ｂ…反射波 ４…探知物体 １０…運転室 １１…ベッセル １２…前面板 １３…空間部 １４…ダンプトラック １５…リフレクタ ２０…車体 ２１…前面 ２２…後面 ２３…バケット ２４…土砂搬送車両 ２５…リフレクタ DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Transmission / reception antenna 2a ... Transmission antenna 2b ... Receiving antenna 3a ... Transmission wave 3b ... Reflection wave 4 ... Detected object 10 ... Driver cab 11 ... Vessel 12 ... Front plate 13 ... Space part 14 ... Dump truck 15 ... Reflector 20 … Body 21… front 22… rear 23… bucket 24… sediment transport vehicle 25… reflector
Claims (2)
他方がベッセル１１の前面板１２と対向する空間１３で
あるダンプトラック１４において、 ミリ波を反射するリフレクタ１５を前記空間部１３に設
けたことを特徴とするミリ波レーダ搭載車両。1. A driver's seat 10 on one of the left and right sides,
A vehicle equipped with a millimeter wave radar, wherein a reflector 15 for reflecting a millimeter wave is provided in the space 13 in a dump truck 14 which is a space 13 facing the front plate 12 of the vessel 11.
ト２３やブレードを備えた土砂移送車両２４において、 ミリ波を反射するリフレクタ２５を前記車体２０の前面
２１や後面２２及び／又はバケット２３やブレードの周
辺に設けたことを特徴とするミリ波レーダ搭載車両。2. A sediment transporting vehicle 24 having a bucket 23 and blades on a front surface 21 and a rear surface 22 of a vehicle body 20, wherein a reflector 25 reflecting millimeter waves is mounted on the front surface 21, the rear surface 22 and / or the bucket 23 of the vehicle body 20. A vehicle equipped with a millimeter-wave radar, which is provided around a blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8302962A JPH10142321A (en) | 1996-11-14 | 1996-11-14 | Millimetric wave radar-loaded vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8302962A JPH10142321A (en) | 1996-11-14 | 1996-11-14 | Millimetric wave radar-loaded vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10142321A true JPH10142321A (en) | 1998-05-29 |
Family
ID=17915256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8302962A Pending JPH10142321A (en) | 1996-11-14 | 1996-11-14 | Millimetric wave radar-loaded vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10142321A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2400712A (en) * | 2003-02-28 | 2004-10-20 | Mervyn George Edward Brodie | A radar safety system for detecting workmen within a danger area |
| DE102006026950B4 (en) * | 2005-06-14 | 2016-08-18 | Honda Motor Co., Ltd. | Motorcycle having a reflector device |
| DE102019200411A1 (en) | 2019-01-16 | 2020-07-16 | Zf Friedrichshafen Ag | Transport vehicle |
-
1996
- 1996-11-14 JP JP8302962A patent/JPH10142321A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2400712A (en) * | 2003-02-28 | 2004-10-20 | Mervyn George Edward Brodie | A radar safety system for detecting workmen within a danger area |
| DE102006026950B4 (en) * | 2005-06-14 | 2016-08-18 | Honda Motor Co., Ltd. | Motorcycle having a reflector device |
| DE102019200411A1 (en) | 2019-01-16 | 2020-07-16 | Zf Friedrichshafen Ag | Transport vehicle |
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