JPWO2018079297A1 - 故障検知装置 - Google Patents
故障検知装置 Download PDFInfo
- Publication number
- JPWO2018079297A1 JPWO2018079297A1 JP2018547556A JP2018547556A JPWO2018079297A1 JP WO2018079297 A1 JPWO2018079297 A1 JP WO2018079297A1 JP 2018547556 A JP2018547556 A JP 2018547556A JP 2018547556 A JP2018547556 A JP 2018547556A JP WO2018079297 A1 JPWO2018079297 A1 JP WO2018079297A1
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- reference information
- measurement
- sensors
- information
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 238000005259 measurement Methods 0.000 claims abstract description 75
- 238000004891 communication Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 abstract description 36
- 230000005856 abnormality Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000002950 deficient Effects 0.000 description 36
- 238000012545 processing Methods 0.000 description 33
- 238000000034 method Methods 0.000 description 32
- 230000007547 defect Effects 0.000 description 24
- 230000010365 information processing Effects 0.000 description 12
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000002349 favourable effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S13/86—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
- G01S13/867—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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- 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
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
-
- 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
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S2013/93272—Sensor installation details in the back 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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
図1Aと図1Bは、本発明の各センサの測定良好/不良判定の処理手順の実施の形態を示すフローチャート、図2は、本発明に係る故障検知装置の構成を示すブロック図、図3は、実施例1に係る本発明を自動車に適用した場合における基準情報12の取得の実施の形態を示すセンサ構成図の一例である。
ステップS101:判定対象有無判定(二重化範囲付近のセンサ出力の有無を判定) 複数のセンサ11に含まれる1つのあるセンサ(以下、センサAとする)が出力した周辺物体の位置のうち、別のセンサ(以下、センサBとする)と検知範囲が重複しているエリア(図3に例示したセンサ構成の場合、センサAの検知範囲31(右後方扇形)とセンサBの検知範囲(中央楕円)32の重複したハッチングで示されるエリア310)に含まれる、または、周辺物体の位置と重複エリア310との離間距離が所定値以内かを判定し、YESの場合は、センサA及びセンサBの測定良好と測定不良の判定を行うべく、ステップS102へ移行し、NOの場合は、ステップS107に移行し、センサAの測定良好/不良判定結果を「保留」とする(判定結果は次周期に持ち越し)。
上記センサBの出力した周辺物体の位置321や速度のうち、上記ステップS101の条件を満たしたセンサAの出力した位置331や速度の差が各所定値以内の出力であるかを判定する。すなわち、センサAとセンサBの出力の差が所定値以内か否かを判定する。
そして、YESの場合は、後述する基準情報の測定良好/不良判定処理(ステップS105)へ移行し、NOの場合は、ステップS103へ移行する。なお、以降の処理で判定対象とする情報(状態量)は、周辺物体の位置と速度のいずれか一方でもよいし、双方でもよい。
上記基準情報12に含まれる位置や速度のうち、上記ステップS101の条件を満たしたセンサAの出力と、位置や速度の差が各所定値以内の出力であるかを判定する。すなわち、センサAの出力と基準情報との差が所定値以内か判定する。そして、YESの場合は、ステップS104へ移行し、NOの場合は、センサAの測定良好/不良判定結果を「不良」とする。ここで、「不良」と判定された結果は、例えば、センサ情報処理部133へ通知し、センサ情報処理部133で行われるセンサフュージョンなどの処理でセンサAの測定結果を使用しないようにしてもよい。なお、実施例1における基準情報12の取得方法については、後述する。
上記センサBの出力した位置や速度のうち、上記ステップS103の条件を満たした基準情報12の出力と、位置や速度の差が各所定値以内の出力であるかを判定し、NOの場合は、ステップS109に移行し、センサAの測定良好/不良判定結果を「良好」、センサBの測定良好/不良判定結果を「不良」とし、YESの場合は、センサAの測定良好/不良判定結果、およびセンサBの測定良好/不良判定結果をそれぞれ「良好」とする。
ステップS105:
上記基準情報12に含まれる位置や速度の測定良好/不良判定が必要か否かを判定する。判定基準としては、例えば、前回の基準情報12に含まれる位置や速度の測定良好/不良判定を行った時刻を記憶しておき、現在時刻との差が所定の処理周期時間よりも大きいときのみ、YESとしてもよい。ステップS105の実行契機は任意であり、例えば前回判定から所定時間以上経過していたら実行する処理としてもよい。
上記基準情報12に含まれる位置や速度のうち、上記ステップS102の条件を満たしたセンサAの出力、および上記ステップS102の条件を満たしたセンサBの出力との位置や速度の差が、いずれも各所定値以内の出力であるかを判定する。ここでは、例えば位置や速度の基準情報のうち、上記ステップS102のセンサAの出力との位置や速度との差、及び、上記ステップS102のセンサBの出力との位置や速度の差が、いずれも各所定値以内であるか否かが判定される。そして、YESの場合は、基準情報12の測定良好/不良判定結果、およびセンサAの測定良好/不良判定結果、およびセンサBの測定良好/不良判定結果を「良好」とし、NOの場合は、基準情報12の測定良好/不良判定結果を「不良」、センサAの測定良好/不良判定結果、およびセンサBの測定良好/不良判定結果を「良好」とする。これにより、基準情報12の正確性を、2つのセンサA、Bで検知した周辺物体の状態量が所定の許容誤差範囲内であることに基づいて確認する。
上記センサAと上記センサBの検知範囲重複エリア310における測定良好/不良判定に用いる、実施例1に係る基準情報12は、上記センサAおよび上記センサBとは異なる第三のセンサ(以下、センサCとする)の出力した位置や速度の過去の値からの推定で取得する。基準情報12を取得するタイミングとしては、センサAとセンサBで周辺物体を検出するごとでもよく、また、ステップS102でセンサAの状態量とセンサBの状態量との差が所定値よりも大きいと判定された場合、すなわち、センサAとセンサBの異常を検知したら取得する構成としてもよい。
本実施例は、基準情報12の取得方法を、外部との通信で取得する方法とするものである。
本実施例は、基準情報12の取得方法を、検知範囲が可変のセンサで取得する方法とするものである。
11… センサ
12… 基準情報
13… 外界情報処理部
131… センサの測定良好/不良判定処理部
132… 基準情報の測定良好/不良判定処理部
133… センサ情報処理部
Claims (6)
- 2つのセンサで物体を検知し、該検知した物体の状態量の間に所定値よりも大きな差が生じた場合に、前記物体の状態量の基準情報を用いて、前記2つのセンサのどちらが測定不良かを判定することを特徴とする故障検知装置。
- 前記2つのセンサとは別の第三のセンサで前記物体を検知し、該検知した前記物体の状態量に基づいて前記物体の状態量を推定し、該推定した状態量を前記基準情報とすることを特徴とする請求項1に記載の故障検知装置。
- 他車両との間の車車間通信または交通インフラと間の路車間通信によって前記物体の状態量を取得し、該取得した状態量を前記基準情報とすることを特徴とする請求項1に記載の故障検知装置。
- 前記第三のセンサの検知範囲を変化させて、前記2つのセンサの検知範囲において前記物体の状態量を検知し、該検知した状態量を前記基準情報として取得することを特徴とする請求項2に記載の故障検知装置。
- 前記基準情報の正確性を、前記2つのセンサで検知した前記物体の状態量が所定の許容誤差範囲内であることに基づいて確認することを特徴とする請求項1に記載の故障検知装置。
- 前記所定値よりも大きな差に基づいて、前記測定不良と判定されたセンサの出力を補正することを特徴とする請求項1に記載の故障検知装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016211011 | 2016-10-27 | ||
JP2016211011 | 2016-10-27 | ||
PCT/JP2017/037121 WO2018079297A1 (ja) | 2016-10-27 | 2017-10-13 | 故障検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018079297A1 true JPWO2018079297A1 (ja) | 2019-07-04 |
JP6838717B2 JP6838717B2 (ja) | 2021-03-03 |
Family
ID=62023400
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018547556A Active JP6838717B2 (ja) | 2016-10-27 | 2017-10-13 | 故障検知装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11119188B2 (ja) |
EP (1) | EP3534174B1 (ja) |
JP (1) | JP6838717B2 (ja) |
WO (1) | WO2018079297A1 (ja) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3471075A1 (en) * | 2017-10-16 | 2019-04-17 | Volkswagen Aktiengesellschaft | Method for collision avoidance between a vulnerable road user vehicle and a surrounding vehicle, vulnerable road user vehicle, further vehicle and computer program |
US11220272B2 (en) * | 2017-11-13 | 2022-01-11 | Mitsubishi Electric Corporation | Failure detection apparatus, failure detection method, and computer readable medium |
EP3569460B1 (en) | 2018-04-11 | 2024-03-20 | Hyundai Motor Company | Apparatus and method for controlling driving in vehicle |
US11077854B2 (en) | 2018-04-11 | 2021-08-03 | Hyundai Motor Company | Apparatus for controlling lane change of vehicle, system having the same and method thereof |
US11334067B2 (en) | 2018-04-11 | 2022-05-17 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
EP3552902A1 (en) | 2018-04-11 | 2019-10-16 | Hyundai Motor Company | Apparatus and method for providing a driving path to a vehicle |
US11084491B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US11351989B2 (en) | 2018-04-11 | 2022-06-07 | Hyundai Motor Company | Vehicle driving controller, system including the same, and method thereof |
US11084490B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for controlling drive of vehicle |
ES2889930T3 (es) | 2018-04-11 | 2022-01-14 | Hyundai Motor Co Ltd | Aparato y método para el control para habilitar un sistema autónomo en un vehículo |
US11548509B2 (en) | 2018-04-11 | 2023-01-10 | Hyundai Motor Company | Apparatus and method for controlling lane change in vehicle |
US11597403B2 (en) | 2018-04-11 | 2023-03-07 | Hyundai Motor Company | Apparatus for displaying driving state of vehicle, system including the same and method thereof |
EP3552901A3 (en) | 2018-04-11 | 2020-04-29 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US10843710B2 (en) | 2018-04-11 | 2020-11-24 | Hyundai Motor Company | Apparatus and method for providing notification of control authority transition in vehicle |
US11173910B2 (en) | 2018-04-11 | 2021-11-16 | Hyundai Motor Company | Lane change controller for vehicle system including the same, and method thereof |
CN110660269B (zh) * | 2018-06-29 | 2022-07-15 | 比亚迪股份有限公司 | 车辆、云端服务器、降低交通事故的方法和装置 |
DE112019003459T5 (de) * | 2018-09-03 | 2021-04-01 | Hitachi Automotive Systems, Ltd. | Fahrzeugmontiertes radarsystem |
KR20200040391A (ko) * | 2018-10-10 | 2020-04-20 | 주식회사 만도 | 차량용 레이더의 보완 장치 및 방법 |
JP7302985B2 (ja) * | 2019-02-25 | 2023-07-04 | 株式会社デンソーテン | レーダ装置、レーダシステムおよび感度低下判定方法 |
JP7382791B2 (ja) * | 2019-10-30 | 2023-11-17 | 株式会社日立製作所 | 異常判定装置、車両支援システム |
JP7429111B2 (ja) | 2019-11-19 | 2024-02-07 | 株式会社アイシン | 管制装置および車両制御装置 |
JP7279659B2 (ja) * | 2020-02-12 | 2023-05-23 | トヨタ自動車株式会社 | 自動バレー駐車システム及びサービス提供方法 |
JP7386091B2 (ja) | 2020-02-14 | 2023-11-24 | 株式会社日立製作所 | 物体監視装置及び車両制御システム |
JP7477324B2 (ja) | 2020-03-06 | 2024-05-01 | 本田技研工業株式会社 | 車両用情報処理装置 |
JP2022185369A (ja) * | 2021-06-02 | 2022-12-14 | 日立Astemo株式会社 | 電子制御装置及び制御方法 |
CN116552559A (zh) * | 2022-01-29 | 2023-08-08 | 通用汽车环球科技运作有限责任公司 | 在自动驾驶***基于融合数据检测异常行为的***和方法 |
WO2023210397A1 (ja) * | 2022-04-26 | 2023-11-02 | 京セラ株式会社 | 観察装置及び観察方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000321350A (ja) * | 1999-05-13 | 2000-11-24 | Tokyu Car Corp | レーダ故障診断機能付き自動走行車 |
JP2005505074A (ja) * | 2001-10-05 | 2005-02-17 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 対象検出装置 |
JP2008225786A (ja) * | 2007-03-12 | 2008-09-25 | Toyota Motor Corp | 道路状況検出システム |
JP2015078925A (ja) * | 2013-10-17 | 2015-04-23 | 株式会社デンソー | 周辺監視装置及び周辺監視システム |
US20160187479A1 (en) * | 2014-12-24 | 2016-06-30 | Panasonic Intellectual Property Management Co., Ltd. | Radar system including first radar device and second radar device |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3794661B2 (ja) | 1997-08-01 | 2006-07-05 | 富士通テン株式会社 | 前方測距装置の異常検出方法 |
JP4348330B2 (ja) * | 2005-11-11 | 2009-10-21 | 本田技研工業株式会社 | 情報配信システム、このシステムを構成する車両及びメッセージ出力方法 |
JP4726621B2 (ja) * | 2005-12-13 | 2011-07-20 | アルパイン株式会社 | 車載センサの補正装置 |
JP2009281862A (ja) | 2008-05-22 | 2009-12-03 | Toyota Motor Corp | レーダー装置の軸調整方法および軸調整装置 |
DE102010018088B4 (de) * | 2010-04-24 | 2020-10-29 | Audi Ag | Verfahren zum Überprüfen einer Kalibrierung sowie Kraftfahrzeug |
JP6290009B2 (ja) | 2014-06-06 | 2018-03-07 | 日立オートモティブシステムズ株式会社 | 障害物情報管理装置 |
US10239526B2 (en) * | 2015-03-30 | 2019-03-26 | GM Global Technology Operations LLC | Adaptive cruise control system |
DE102015206605A1 (de) * | 2015-04-14 | 2016-10-20 | Continental Teves Ag & Co. Ohg | Kalibrierung und Überwachung von Umfeldsensoren mit Hilfe hochgenauer Karten |
-
2017
- 2017-10-13 US US16/336,159 patent/US11119188B2/en active Active
- 2017-10-13 JP JP2018547556A patent/JP6838717B2/ja active Active
- 2017-10-13 EP EP17865855.5A patent/EP3534174B1/en active Active
- 2017-10-13 WO PCT/JP2017/037121 patent/WO2018079297A1/ja unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000321350A (ja) * | 1999-05-13 | 2000-11-24 | Tokyu Car Corp | レーダ故障診断機能付き自動走行車 |
JP2005505074A (ja) * | 2001-10-05 | 2005-02-17 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 対象検出装置 |
JP2008225786A (ja) * | 2007-03-12 | 2008-09-25 | Toyota Motor Corp | 道路状況検出システム |
JP2015078925A (ja) * | 2013-10-17 | 2015-04-23 | 株式会社デンソー | 周辺監視装置及び周辺監視システム |
US20160187479A1 (en) * | 2014-12-24 | 2016-06-30 | Panasonic Intellectual Property Management Co., Ltd. | Radar system including first radar device and second radar device |
JP2016121986A (ja) * | 2014-12-24 | 2016-07-07 | パナソニックIpマネジメント株式会社 | レーダシステム |
Also Published As
Publication number | Publication date |
---|---|
WO2018079297A1 (ja) | 2018-05-03 |
EP3534174A1 (en) | 2019-09-04 |
US20190285726A1 (en) | 2019-09-19 |
EP3534174B1 (en) | 2022-09-28 |
JP6838717B2 (ja) | 2021-03-03 |
US11119188B2 (en) | 2021-09-14 |
EP3534174A4 (en) | 2020-03-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPWO2018079297A1 (ja) | 故障検知装置 | |
CN107179530B (zh) | 用于求取固定在车辆上的探测设备的失调的装置 | |
JP6793883B2 (ja) | 車両走行制御装置、車両走行制御方法、制御回路および記憶媒体 | |
JP7265587B2 (ja) | 自動車用の運転者支援システムを作動させるための方法 | |
EP3712556A1 (en) | Sensor verification | |
KR20160056129A (ko) | 주변차량의 위치정보 보정 시스템 및 방법 | |
KR101915363B1 (ko) | Gps 음영 지역에서 차량을 측위하는 장치 및 그 방법 | |
WO2018061425A1 (ja) | センサ故障検出装置およびそのための制御方法 | |
US11479267B2 (en) | Autonomous driving apparatus and method | |
US11654939B2 (en) | Autonomous driving apparatus and method that outputs different warnings based on driving risk | |
JP6407447B1 (ja) | 走行路認識装置及び走行路認識方法 | |
US11892536B2 (en) | Object-detecting device | |
US11577736B2 (en) | Method and device for ascertaining a highly accurate estimated value of a yaw rate for controlling a vehicle | |
KR20210061875A (ko) | 포인트 클라우드 데이터를 이용한 3d lidar 센서 결함 검출 방법 | |
CN113743709A (zh) | 用于自主和半自主车辆的在线感知性能评估 | |
WO2021024711A1 (ja) | エイミング装置、運転制御システム、及びセンサデータの補正量の計算方法 | |
CN116148821A (zh) | 激光雷达的外参修正方法和装置、电子设备和存储介质 | |
CN112835029A (zh) | 面向无人驾驶的多传感器障碍物探测数据融合方法及*** | |
JP2019219180A (ja) | 車両用物体検知装置 | |
US20210389417A1 (en) | Method for determining the validity of radar measured values in order to determine an occupancy state of a parking space | |
US20210341574A1 (en) | Method for determining an occupancy state of a parking space | |
JP7482440B2 (ja) | 情報処理装置、情報処理方法及びプログラム | |
US11520038B2 (en) | Method and device for checking a calibration of environment sensors | |
JP7412254B2 (ja) | 物体認識装置および物体認識方法 | |
JP2017223483A (ja) | 自車位置推定装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190320 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200414 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200612 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20201104 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201207 |
|
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: 20210105 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210127 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6838717 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |