KR970071032A - 차량의 주변 감시장치 - Google Patents

차량의 주변 감시장치 Download PDF

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Publication number
KR970071032A
KR970071032A KR1019960041822A KR19960041822A KR970071032A KR 970071032 A KR970071032 A KR 970071032A KR 1019960041822 A KR1019960041822 A KR 1019960041822A KR 19960041822 A KR19960041822 A KR 19960041822A KR 970071032 A KR970071032 A KR 970071032A
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KR
South Korea
Prior art keywords
coordinate
vehicle
detecting
vehicle speed
still
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KR1019960041822A
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English (en)
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KR0183383B1 (ko
Inventor
고이치 가이
마사히라 아카스
Original Assignee
기타오카 다카시
미쓰비시 덴키 가부시키가이샤
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Publication of KR970071032A publication Critical patent/KR970071032A/ko
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Publication of KR0183383B1 publication Critical patent/KR0183383B1/ko

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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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • 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
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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

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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)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

본 발명은 목적은 감시수단인 광축의 벗어남을 검출할 수 있는 차량의 주변 감시장치를 제공하는 것으로서, 차량의 주변에 존재하는 물체를 검출하여 소정의 검출좌표계에서 상기 물체의 위치를 출력하는 감시수단과, 감시수단의 위치를 원점으로 차량의 진행방향을 제1좌표축으로 함과함께 제1좌표축과 직행하는 축을 제2좌표축으로 하는 연산좌표계를 가지며, 물체의 위치를 연산 좌표계의 위치로 변환하는 좌표 변환수단과, 차량의 차속을 검출하는 차속 검출수단과, 차속에 근거하여 물체중 정지물을 추출하는 정지물 추출수단과, 차속과 정지물 추출수단에서 추출된 복수의 정지물의 제1좌표성분 및 소정시간에 있어서의 정지물의 제2좌표성분의 변화량에 근거하여 감시수단의 광축의 벗어남을 검출하는 오차 검출수단을 구비하였다.

Description

차량의 주변 감시장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1a도 내지 제1c도는 레이저 레이더에서 검출한 정지물의 움직임을 나타내는 설명도, 제4도는 실시예1의 구성을 나타내는 블록도.

Claims (1)

  1. 차량의 주변에 존재하는 물체를 검출하여 소정의 검출좌표계에서 상기 물체의 위치를 출력하는 감시수단과, 감시수단의 위치를 원점으로 차량의 진행방향을 제1좌표축으로 함과함께, 제1좌표축과 직행하는 축을 제2좌표축으로 하는 연산좌표계를 구비하며, 상기 물체의 위치를 상기 연산 좌표계의 위치로 변환하는 좌표 변환수단과, 상기 차량의 차속을 검출하는 차속 검출수단과, 차속에 근거하여 상기 물체중 정지물을 추출하는 정지물 추출수단과, 상기 차속과 상기 정지물 추출수단에서 추출된 복수의 정지물인 상기 제1좌표성분 및 소정시간에서 상기 복수 정지물인 상기 제2좌표성분의 변화량에 근거하여 상기 감시수단의 광축의 벗어남을 검출하는 오차 검출수단을 구비한 것을 특징으로 하는 차량의 주변 감시장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019960041822A 1996-04-12 1996-09-24 차량의 주변 감시 장치 KR0183383B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP96-91185 1996-04-12
JP08091185A JP3140961B2 (ja) 1996-04-12 1996-04-12 車両の周辺監視装置

Publications (2)

Publication Number Publication Date
KR970071032A true KR970071032A (ko) 1997-11-07
KR0183383B1 KR0183383B1 (ko) 1999-04-15

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KR1019960041822A KR0183383B1 (ko) 1996-04-12 1996-09-24 차량의 주변 감시 장치

Country Status (4)

Country Link
US (1) US5832407A (ko)
JP (1) JP3140961B2 (ko)
KR (1) KR0183383B1 (ko)
DE (1) DE19633704B4 (ko)

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KR100808397B1 (ko) * 1999-05-11 2008-02-29 로베르트 보쉬 게엠베하 차량 주변 물체 검출용 장치

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JP5926208B2 (ja) * 2013-02-12 2016-05-25 株式会社デンソー 車載レーダ装置
JP6180354B2 (ja) * 2014-03-31 2017-08-16 株式会社デンソーアイティーラボラトリ 衝突判定装置、衝突判定方法及びプログラム
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JP6493196B2 (ja) 2015-12-17 2019-04-03 株式会社デンソー 制御装置、制御方法
JP6622167B2 (ja) * 2016-09-26 2019-12-18 株式会社デンソー 軸ずれ推定装置
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Publication number Priority date Publication date Assignee Title
KR100808397B1 (ko) * 1999-05-11 2008-02-29 로베르트 보쉬 게엠베하 차량 주변 물체 검출용 장치

Also Published As

Publication number Publication date
DE19633704A1 (de) 1997-10-16
JPH09281239A (ja) 1997-10-31
US5832407A (en) 1998-11-03
JP3140961B2 (ja) 2001-03-05
DE19633704B4 (de) 2010-05-12
KR0183383B1 (ko) 1999-04-15

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