WO2011013284A1 - 車両用物体検知装置及び車両用物体検知方法 - Google Patents
車両用物体検知装置及び車両用物体検知方法 Download PDFInfo
- Publication number
- WO2011013284A1 WO2011013284A1 PCT/JP2010/003502 JP2010003502W WO2011013284A1 WO 2011013284 A1 WO2011013284 A1 WO 2011013284A1 JP 2010003502 W JP2010003502 W JP 2010003502W WO 2011013284 A1 WO2011013284 A1 WO 2011013284A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- end point
- vehicle
- detection
- unit
- point
- Prior art date
Links
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
- 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
-
- 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
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
- G01S2013/9318—Controlling the steering
-
- 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
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/9319—Controlling the accelerator
-
- 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
Definitions
- the present invention relates to a vehicle object detection device and a vehicle object detection method.
- This application claims priority based on Japanese Patent Application No. 2009-179288 filed in Japan on July 31, 2009, the contents of which are incorporated herein by reference.
- a travel control device that detects an obstacle around the host vehicle with a radar device and performs control so as to avoid a collision with the obstacle is known (see, for example, Patent Document 1).
- the travel control device when another object is present in front of the obstacle that is the detection target when viewed from the host vehicle, a part of the obstacle is shielded by the other object. In some cases, the entire obstacle cannot be detected. At this time, when the movement state of the obstacle is detected based on the movement of the end point or the center of gravity of the obstacle detected by the radar device, it is erroneously detected that the obstacle that is actually stationary is moving. Problems arise. In other words, even when the obstacle is stationary, the size and shape of the detected obstacle changes in accordance with the change in the relative position between the vehicle and another object existing in front of the obstacle. However, the end point or the center of gravity of the obstacle detected by the radar apparatus changes.
- the present invention has been made in view of the above circumstances, and provides a vehicle object detection device and a vehicle object detection method capable of accurately detecting the stationary and moving states of an object existing outside the host vehicle. Objective.
- An object detection device for a vehicle includes an emission / reception unit that transmits an electromagnetic wave and receives a reflected wave generated by the reflection of the electromagnetic wave by an object around the vehicle; a signal from the transmission / reception unit; A reflection point calculation unit for calculating a position of the reflection point of the electromagnetic wave on the object based on the calculation of a distance from the host vehicle to the object based on the position of the reflection point calculated by the reflection point calculation unit; A distance calculation unit that detects at least one of a right end point and a left end point of the object based on the position of the reflection point calculated by the reflection point calculation unit; and the distance calculation unit
- the end point of the object is shielded by another object when viewed from the host vehicle based on the calculation result of the above and the detection result of the end point detection unit.
- the determining whether or not shielding judgment unit has comprises; a terminal point moving velocity calculation unit for calculating a lateral speed of movement of the end points of the object that has been determined not to be shielded by the shielding judgment unit.
- the shielding determination unit is positioned such that the end point of the object detected by the end point detection unit is closer to the distance of the object calculated by the distance calculation unit when viewed from the host vehicle. A configuration may be adopted in which it is determined whether or not the other object is overlapping.
- the end point moving speed calculation unit may determine that the lateral moving speed of the end point is zero when the blocking determination unit determines that the right end point and the left end point of the object are blocked. You may employ
- the end point moving speed calculation unit is configured such that one of the right end point and the left end point of the object detected by the end point detection unit is a boundary end of the transmission range of the transmission / reception unit or the transmission
- the lateral movement speed of the end point is calculated to be zero.
- a configuration may be adopted.
- the object is a stationary object in which at least a part of the object is shielded from the own vehicle.
- a configuration that further includes an object determination unit that determines the above may be adopted.
- the apparatus further includes a sensor unit that detects the state of the host vehicle; the object determination unit collides with the host vehicle based on the calculation result of the end point moving speed calculation unit and the detection result of the sensor unit.
- a configuration for determining the presence or absence of may be adopted.
- a configuration further including a vehicle control unit that controls the host vehicle based on the determination result of the object determination unit may be adopted.
- the vehicle object detection method includes a reflected wave generating step of transmitting an electromagnetic wave and generating a reflected wave generated by reflecting the electromagnetic wave by an object around the own vehicle; and the received reflected wave
- a reflection point calculating step of calculating a position of the reflection point of the electromagnetic wave on the object based on the calculation of a distance from the host vehicle to the object based on the position of the reflection point calculated by the reflection point calculating step
- a distance calculating step that detects at least one of a right end point and a left end point of the object based on the position of the reflection point calculated by the reflection point calculation step; and the distance calculation step
- An occlusion determination step of determining whether the end point of the object is occluded by another object, as viewed from the host vehicle, on the basis of the calculation result and the detection result of the end point detection step; It comprises; serial and endpoint moving velocity calculation step of calculating a lateral speed of movement of the end point of the object is determined not to be shielded by the shielding determination step.
- the shielding determination step does the end point of the object detected by the end point detection step overlap the other object positioned closer to the distance of the object calculated by the distance calculation step?
- a configuration for determining whether or not may be adopted. (10) When the lateral moving speed of the end point of the object calculated in the end point moving speed calculating step is zero, the object is a stationary object in which at least a part of the object is shielded from the own vehicle. It is also possible to adopt a configuration further including an object determination step for determining that
- the vehicle object detection device of the present invention even when a part of the detection object is shielded by the comparison object when viewed from the own vehicle, the detection object is stationary, laterally moved, or the like. Can be detected with high accuracy.
- the vehicle object detection device 10 includes a processing unit 11 including a CPU (central processing unit) that controls the vehicle object detection device 10, and a radar device 12 (transmission and reception). Unit), a sensor unit (vehicle state sensor) 13, a throttle actuator 14, a brake actuator 15, a steering actuator 16, and a notification device 17.
- the radar apparatus 12 divides a predetermined area (radar detection area ⁇ ) set outside the host vehicle into a plurality of angle areas, and transmits an electromagnetic wave transmission signal so as to scan each angle area.
- Each transmission signal from the radar device 12 is reflected by an object outside the host vehicle (for example, another vehicle or a structure) to generate a reflected signal, and the radar device 12 receives the reflected signal.
- the radar apparatus 12 generates a detection signal regarding the position of the reflection point of the transmission signal, the distance from the radar apparatus 12 to an external object, and the like, and outputs the detection signal to the processing unit 11.
- the sensor unit 13 includes, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, an acceleration sensor that detects acceleration acting on the vehicle body, a gyro sensor that detects the posture and traveling direction of the vehicle body, and a yaw rate (vehicle center of gravity). And a positioning signal receiver that receives positioning signals such as a GPS (Global Positioning System) signal for measuring the position of the host vehicle using an artificial satellite, for example.
- GPS Global Positioning System
- each sensor for detecting a driving operation by the driver can be provided, and signals of detection results relating to various vehicle information of the host vehicle can be output.
- the driving operation by the driver includes, for example, an accelerator pedal depression amount, a brake pedal depression amount, a steering wheel steering angle, a shift position, and the like.
- the processing unit 11 of the vehicle object detection device 10 includes, for example, a reflection point calculation unit 21, a distance calculation unit 22, an end point detection unit 23, an overlap determination unit 24, an end point movement speed calculation unit 25, and a storage unit. 26, a collision determination unit 27, and a vehicle control unit 28.
- the reflection point calculation unit 21 determines the position of the reflection point of the electromagnetic wave transmitted from the radar device 12 and reflected by an object (the surface of the object) existing outside the host vehicle. calculate.
- the distance calculation unit 22 calculates the distance from the host vehicle to the object based on the position of the reflection point calculated by the reflection point calculation unit 21. It is preferable to calculate the distance based on the positions of a plurality of reflection points.
- the end point detection unit 23 detects at least the right end point or the left end point of the object based on the position of the reflection point calculated by the reflection point calculation unit 21. It is preferable to detect the right end point or the left end point based on the positions of the plurality of reflection points.
- the overlap determination unit (shielding determination unit) 24 is based on the distance from the host vehicle to the object calculated by the distance calculation unit 22 and at least the right or left end point of the object detected by the end point detection unit 23. It is determined whether or not the end point of the detection object overlaps the comparison object when viewed from the host vehicle, and a signal indicating the determination result is output.
- the overlap determination unit (shielding determination unit) 24 is based on the calculation result (distance) of the distance calculation unit 22 and the detection result (end point) of the end point detection unit 23, as viewed from the own vehicle. It is determined whether or not is blocked by a comparison object that is another object.
- the signal of the determination result is, for example, a flag value signal of an overlap flag indicating that the end point of the detection target overlaps the comparison target as viewed from the host vehicle.
- the end point of the detection object overlaps the comparison object when viewed from the own vehicle, for example, that the line of sight from the own vehicle to the end point of the detection object is blocked by the comparison object.
- the end point of the detection object that overlaps the comparison object when viewed from the host vehicle is defined as the overlap end point (shielding end point), and the end point of the detection object that does not overlap the comparison object when viewed from the host vehicle is
- the non-overlapping endpoint non-shielding endpoint
- the objects M1, M2, M3, M4, and M5 for example, when the detection target object is the object M1 and the object M2, the lower right end point of the object M1 as the detection target object is the object M3 as the comparison target object. It is determined that they overlap. Further, it is determined that the lower left and lower right end points of the object M2 as the detection target overlap with the object M3 as the comparison target.
- the lower right end point of the object M1 and the lower left end point and lower right end point of the object M2 are determined as overlapping end points (shielding end points).
- the left end point of the object M1 that does not overlap the object M3 when viewed from the host vehicle is a non-overlapping end point (non-shielding end point).
- the end point moving speed calculation unit 25 calculates a lateral moving speed (relative speed in the vehicle width direction (Y direction in FIG. 3)) Vy of the end point of the detection target that is determined not to overlap by the overlap determination unit 24. That is, the end point movement speed calculation unit 25 calculates the lateral movement speed Vy of the non-overlapping end point determined by the overlap determination unit 24.
- a comparison object object M3 that moves between the stationary detection object (object M1) and the host vehicle P, and the end point of the detection object (for example, the object M1) Detection point detected by the radar apparatus 12 with a change in time (for example, a change from time t0 to time t1) when the comparison object is viewed from the host vehicle.
- the size of the object (object M1) changes (for example, the horizontal width changes from the width W (t0) to the width W (t1)).
- the end point of the detection target on the side overlapping the comparison target for example, the lower right end of the object M1 is detected to move. That is, as the time changes, the end point (for example, the lower right end point) of the detection target detected by the end point detection unit 23 moves from the end point RE1 shown in FIG. 3 to the end point RE2.
- the horizontal movement speed (relative speed in the vehicle width direction) Vy of the end point of the detection target object that does not overlap the comparison target object (for example, the left end point LE of the object M1) is calculated, so that the object is stationary.
- the lateral movement speed Vy of the end point of the detection target (object M1) becomes zero. That is, when the detection object is stationary, the lateral movement speed Vy of the non-overlapping end point is zero.
- the end point moving speed calculation unit 25 determines that the end point of the detection target object when the overlap determination unit 24 determines that the left and right end points of the detection target overlap the comparison target when viewed from the host vehicle.
- the lateral movement speed (relative speed in the vehicle width direction) Vy is calculated to be zero. That is, when the overlap determination unit 24 determines that the left and right end points of the detection target are overlap end points, the lateral movement speed Vy of the detection target end point is calculated to be zero.
- the end point moving speed calculation unit 25 is configured such that one of the right and left end points of the detection target is on the left and right boundary ends (radar detection end) of a predetermined transmission range of the electromagnetic wave transmitted from the radar device 12, or If it exists outside the transmission range and the other end point on the right side and the left side is determined to overlap the comparison object when viewed from the own vehicle by the overlap determination unit 24, the end point of the detection object
- the lateral movement speed (relative speed in the vehicle width direction) Vy is calculated to be zero.
- the overlap determination unit 24 determines that the end point on one side of the detection target is located outside the range of the radar detection region ⁇ (including the boundary end), and the end point on the other side of the detection target is the overlap end point. In this case, the lateral movement speed Vy of the end point of the detection target is calculated to be zero.
- the storage unit 26 stores past data of the position of the end point (non-overlapping end point) of the detection target object that is determined not to overlap the comparison target object by the overlap determination unit 24. That is, the memory
- the collision determination unit 27 for example, based on the detection result signal related to various vehicle information of the host vehicle output from the sensor unit 13 and the lateral movement speed Vy calculated by the end point movement speed calculation unit 25, It is determined whether or not there is a possibility of collision with the detection object. For example, when the lateral movement speed (relative speed in the vehicle width direction) Vy of the end point of the detection target object calculated by the end point movement speed calculation unit 25 is zero, the collision determination unit 27 selects the detection target object.
- the vehicle is determined to be a stationary object in the left-right direction (that is, the vehicle width direction) that is at least partially shielded by the object to be compared, and it is determined that there is no possibility of a collision with the vehicle.
- the vehicle control unit 28 outputs a control signal for controlling the traveling state of the host vehicle according to the determination result by the collision determination unit 27.
- the vehicle control unit 28 can also output a control signal for controlling the notification device 17 when notifying various passengers of the host vehicle.
- the vehicle object detection method includes a reflected wave generation step, a reflection point calculation step, a distance calculation step, an end point detection step, an overlap determination step (shielding determination step), and an end point movement speed calculation step.
- a reflected wave generation step an electromagnetic wave is transmitted to the periphery of the own vehicle, and the electromagnetic wave is reflected by an object around the own vehicle to generate a reflected wave.
- the reflection point calculation step the position of the reflection point of the electromagnetic wave in the object is calculated based on the received reflected wave (for example, a reflected wave signal).
- the distance calculation step a distance from the host vehicle to the object is calculated based on the position of the reflection point calculated in the reflection point calculation step.
- the end point detection step at least a right end point or a left end point of the object is detected based on the position of the reflection point calculated in the reflection point calculation step.
- the overlap determination step based on the calculation result of the distance calculation step and the detection result of the end point detection step, the end point of the object that is the detection target is determined by another object that is the comparison target when viewed from the host vehicle. It is determined whether or not it is shielded.
- the end point moving speed calculating step the lateral moving speed of the end point of the object determined not to be shielded by the overlap determining step is calculated.
- the overlap determination step is a comparison target in which the end point of the object detected by the end point detection step is located at a distance closer to the distance of the object that is the detection target calculated by the distance calculation step. It is determined whether or not it overlaps with another object.
- the vehicle object detection method according to the present embodiment further includes an object determination step. In this object determination step, when the lateral movement speed of the end point of the object calculated by the end point movement speed calculation step is zero, at least a part of the object is shielded from the own vehicle. It is determined that the object is stationary. Furthermore, the vehicle object detection method according to the present embodiment can further include a storage step of storing end point data that is not shielded.
- the vehicle object detection method can further include a collision determination step.
- the host vehicle and the detection target object It is possible to determine whether or not there is a possibility of collision.
- the collision determination step for example, when the lateral movement speed Vy of the end point of the detection target calculated in the end point movement speed calculation step is zero, the detection target is at least compared with the subject vehicle by the comparison target. It is possible to determine that there is no possibility of a collision with the host vehicle by determining that the object is partially blocked and is a stationary object in the left-right direction.
- the vehicle object detection method according to the present embodiment can further include a control step of controlling the traveling state of the host vehicle according to the determination result of the collision determination step. Moreover, this control process can also control the alerting
- the vehicle object detection device and method According to the vehicle object detection device and method according to the present embodiment, even when a part of the detection object is shielded by the comparison object when viewed from the host vehicle, the left and right end points of the detection object are detected. By calculating the lateral movement speed of the end point that does not overlap the comparison object as viewed from the host vehicle, the lateral movement speed of the moving detection object can be accurately detected.
- the detection that there is no possibility of a collision with the host vehicle is made by setting the lateral movement speed of the detection object whose left and right end points overlap the comparison object to zero. It is possible to prevent a collision determination process for determining whether or not there is a possibility of a collision with the host vehicle from being performed wastefully. In addition, since the left and right end points overlap with the comparison object, it is possible to prevent a collision determination with a low accuracy or an erroneous collision determination from being performed on a detection object having many uncertain elements.
- the collision with the host vehicle is performed by setting the lateral movement speed to zero. It is possible to prevent a collision determination process for determining whether or not there is a possibility of a collision with the own vehicle from being performed unnecessarily on a detection target that has no possibility.
- the left and right end points overlap with the comparison object, it is possible to prevent a collision determination with a low accuracy or an erroneous collision determination from being performed on a detection object having many uncertain elements.
- the detection target even when a part of the detection target is shielded by the comparison target when viewed from the host vehicle, the detection target is stationary and laterally moved. The state can be detected with high accuracy.
- detection result signals regarding various vehicle states for example, position, vehicle speed, yaw rate, etc.
- various vehicle states for example, position, vehicle speed, yaw rate, etc.
- detection results related to the vehicle state of the host vehicle include detection values such as a vehicle speed, a yaw rate, a driver's operation amount, and a GPS measurement value related to the position of the host vehicle.
- the detection result relating to the vehicle state of the host vehicle is not limited to the above detection value, and includes raw data from each sensor, image data, and the like.
- step S02 a process of determining the lateral movement speed of the end point of the detection target, which will be described later, is executed.
- step S03 it is determined whether or not there is an object to be detected in which the flag value of the overlap flag is “1” among the objects detected by the radar device 12. If the determination result in step S03 is “NO”, the process proceeds to step S04, and in this step S04, the lateral movement speed of the detection object is calculated based on the change in the coordinates of the center of gravity of the detection object, and the process proceeds to the end. On the other hand, if the determination result of step S03 is “YES”, the process proceeds to step S05.
- step S05 the lateral movement speed of the detection object is set as the lateral movement speed Vy (described later) of the end point of the detection object calculated in the determination process in step S02, and the process proceeds to the end.
- Vy the lateral movement speed of the end point of the detection target
- step S11 the number n for identifying the detection target, and the number n is initialized.
- step S12 "1" is set to the number k for identifying the comparison object, and the number k is initialized.
- step S13 “0” is set to the flag value of the overlap flag.
- step S14 among the objects detected by the radar device 12 and sequentially set with numbers from "1", the distance of the object having the number n for identifying the detection target (distance from the own vehicle) X (n) Is shorter than the distance (distance from the host vehicle) X (k) of the object having the number k for identifying the comparison object. If the determination result of step S14 is “YES”, the process proceeds to step S21 described later. On the other hand, if the determination result of step S14 is “NO”, the process proceeds to step S15.
- step S15 at least one of the left and right end points of the detection object (that is, an object having the number n that identifies the detection object) is a comparison object (that is, a number k that identifies the comparison object as viewed from the host vehicle). It is determined whether or not the object overlaps with the object having the. If the determination result of step S15 is “NO”, the process proceeds to step S21 described later. On the other hand, if the determination result of step S15 is “YES”, the process proceeds to step S16.
- step S16 “1” is set to the flag value of the overlap flag.
- step S17 the left and right end points of the detection object overlap the comparison object as viewed from the own vehicle, or one of the left and right end points of the detection object overlaps the comparison object as viewed from the own vehicle and the other Is present on the left and right boundary ends (radar detection ends) of the predetermined transmission range of the electromagnetic wave transmitted from the radar device 12 or outside the predetermined transmission range. If the determination result in step S17 is “YES”, the process proceeds to step S18. In step S18, the lateral movement speed Vy of the end point of the detection target is set to zero, and the process proceeds to step S20.
- step S19 the lateral movement speed Vy of the left and right end points of the detection object not overlapping the comparison object when viewed from the host vehicle is calculated based on, for example, the previous value and the current value of the position of this end point.
- the lateral movement speed Vy of the end point of the object is set as the lateral movement speed of the detection object.
- step S20 the flag value of the overlap flag set at this time and the lateral movement speed Vy of the detection target are stored.
- step S21 a value (k + 1) obtained by adding “1” to the number k for identifying the comparison object is newly set as the number k.
- step S22 it is determined whether or not the number k is equal to or smaller than the total number of objects detected by the radar apparatus 12. If the determination result of step S22 is “YES”, the process returns to step S13 described above. On the other hand, if the determination result of step S22 is “NO”, the process proceeds to step S23.
- step S23 a value (n + 1) obtained by adding “1” to the number n for identifying the detection target is newly set as the number n.
- step S24 it is determined whether or not the number n is equal to or smaller than the total number of objects detected by the radar apparatus 12. If the determination result of step S23 is “YES”, the process returns to step S12 described above. On the other hand, when the determination result of step S23 is “NO”, the process proceeds to END.
- the detection target The stationary state can be detected with high accuracy.
- the lateral movement speed of the moving detection object can be accurately detected by calculating the lateral movement speed Vy of the end point that does not overlap the comparison object when viewed from the host vehicle among the left and right end points of the detection object. Can do.
- the detection object having no possibility of collision with the host vehicle is set by setting the lateral movement speed to zero.
- the collision determination process for determining whether or not there is a possibility of a collision with the host vehicle from being performed wastefully.
- the left and right end points overlap the comparison object, it is possible to prevent a collision determination with a low accuracy or an erroneous collision determination from being performed on a detection object having many uncertain elements.
- the vehicle object detection apparatus and method according to the present invention can accurately detect the stationary and moving states of an object existing outside the host vehicle, and can be widely applied to the field of external object detection. It is.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
本願は、2009年07月31日に、日本に出願された特願2009-179288号に基づき優先権を主張し、その内容をここに援用する。
(1)本発明に係る車両用物体検知装置は、電磁波を発信し、且つ前記電磁波が自車両周辺の物体により反射されて生じる反射波を受信する発受信ユニットと;前記発受信ユニットからの信号に基づき、前記物体における前記電磁波の反射点の位置を算出する反射点算出ユニットと;前記反射点算出ユニットにより算出された前記反射点の位置に基づき、前記自車両から前記物体までの距離を算出する距離算出ユニットと;前記反射点算出ユニットにより算出された前記反射点の位置に基づき、少なくとも前記物体の右側の端点及び左側の端点のうちの一方を検出する端点検出ユニットと;前記距離算出ユニットの算出結果及び前記端点検出ユニットの検出結果に基づき、前記自車両から見て、前記物体の前記端点が、他の物体により遮蔽されているか否かを判定する遮蔽判定ユニットと;前記遮蔽判定ユニットにより遮蔽されていないと判定された前記物体の前記端点の横移動速度を算出する端点移動速度算出ユニットと;を備える。
(2)前記遮蔽判定ユニットは、前記自車両から見て、前記端点検出ユニットにより検出された前記物体の前記端点が、前記距離算出ユニットにより算出された前記物体の前記距離より近い距離に位置している前記他の物体に重なっているか否かを判定する構成を採用しても良い。
(3)前記端点移動速度算出ユニットは、前記物体の前記右側の端点及び前記左側の端点が遮蔽されていると前記遮蔽判定ユニットにより判定された場合、前記端点の横移動速度がゼロであると算出する構成を採用しても良い。
(4)前記端点移動速度算出ユニットは、前記端点検出ユニットにより検出された前記物体の前記右側の端点及び前記左側の端点のうちの一方が、前記発受信ユニットの発信範囲の境界端又は前記発信範囲外に存在し、かつ、前記右側の端点及び前記左側の端点の他方が前記遮蔽判定ユニットにより遮蔽されていると判定された場合には、前記端点の横移動速度がゼロであると算出する構成を採用しても良い。
(5)前記端点移動速度算出ユニットにより算出された前記端点の前記横移動速度がゼロである場合、前記物体を、前記自車両に対して少なくとも前記物体の一部が遮蔽された静止物であると判定する物体判定ユニットをさらに備える構成を採用しても良い。
(6)前記自車両の状態を検出するセンサーユニットを更に備え;前記物体判定ユニットは、前記端点移動速度算出ユニットの算出結果及び前記センサーユニットの検出結果に基づき、前記自車両に対する前記物体の衝突の有無を判定する構成を採用しても良い。
(7)前記物体判定ユニットの判定結果に基づき、前記自車両を制御する車両制御ユニットをさらに備えている構成を採用しても良い。
(8)本発明に係る車両用物体検知方法は、電磁波を発信して、前記電磁波が自車両周辺の物体により反射されて生じる反射波を生成する反射波生成工程と;受信された前記反射波に基づき、前記物体における前記電磁波の反射点の位置を算出する反射点算出工程と;前記反射点算出工程により算出された前記反射点の位置に基づき、前記自車両から前記物体までの距離を算出する距離算出工程と;前記反射点算出工程により算出された前記反射点の位置に基づき、少なくとも前記物体の右側の端点及び左側の端点のうちの一方を検出する端点検出工程と;前記距離算出工程の算出結果及び前記端点検出工程の検出結果に基づき、前記自車両から見て、前記物体の前記端点が他の物体により遮蔽されているか否かを判定する遮蔽判定工程と;前記遮蔽判定工程により遮蔽されていないと判定された前記物体の端点の横移動速度を算出する端点移動速度算出工程と;を備える。
前記遮蔽判定工程は、前記端点検出工程により検出された前記物体の前記端点が、前記距離算出工程により算出された前記物体の前記距離より近い距離に位置している前記他の物体に重なっているか否かを判定する構成を採用しても良い。
(10)前記端点移動速度算出工程により算出された前記物体の前記端点の横移動速度がゼロである場合、前記物体を、前記自車両に対して少なくとも前記物体の一部が遮蔽された静止物であると判定する物体判定工程を更に備える構成を採用しても良い。
本実施形態に係る車両用物体検知装置10は、例えば図1に示すように、車両用物体検知装置10を制御するCPU(中央演算装置)を備えた処理ユニット11と、レーダ装置12(発受信ユニット)と、センサーユニット(車両状態センサー)13と、スロットルアクチュエータ14と、ブレーキアクチュエータ15と、ステアリングアクチュエータ16と、報知装置17とを備えている。
距離算出部22は、反射点算出部21により算出された反射点の位置に基づき、自車両から物体までの距離を算出する。複数の反射点の位置に基づいて距離を算出することが好ましい。
端点検出部23は、反射点算出部21により算出された反射点の位置に基づき物体の少なくとも右側の端点又は左側の端点を検出する。複数の反射点の位置に基づいて、右側の端点又は左側の端点を検出することが好ましい。
例えば図3に示すように、静止している検知対象物(物体M1)と自車両Pとの間に移動する比較対象物(物体M3)が存在し、検知対象物の端点(例えば、物体M1の右下側の端点)が自車両から見て比較対象物に重なっている場合には、時刻の変化(例えば、時刻t0から時刻t1の変化)に伴い、レーダ装置12により検知される検知対象物(物体M1)の大きさが変化(例えば、横幅が幅W(t0)から幅W(t1)へと変化)する。これにより、比較対象物に重なっている側の検知対象物の端点(例えば、物体M1の右下側の端点)は移動するように検知される。すなわち、時刻の変化に伴って、端点検出部23により検出される検出対象物の端点(例えば右下側の端点)が、図3に示す端点RE1から端点RE2に移動する。しかしながら、比較対象物に重なっていない検知対象物の端点(例えば、物体M1の左側の端点LE)の横移動速度(自車幅方向における相対速度)Vyが算出されることで、静止している検知対象物(物体M1)の端点の横移動速度Vyがゼロとなる。すなわち、検知対象物が静止している場合、非重なり端点の横移動速度Vyはゼロである。
また、端点移動速度算出部25は、検知対象物の右側及び左側の一方の端点がレーダ装置12から発信される電磁波の所定の発信範囲の左右の境界端(レーダ検知端)上、又は所定の発信範囲外に存在する場合で、かつ、右側及び左側の他方の端点が重なり判定部24によって自車両から見て比較対象物に重なっていると判定された場合には、検知対象物の端点の横移動速度(自車幅方向における相対速度)Vyがゼロであると算出する。すなわち、重なり判定部24によって、検知対象物の一方側の端点がレーダ検知領域αの範囲外(境界端も含む)に位置し、検知対象物の他方側の端点が重なり端点であると判定された場合、この検知対象物の端点の横移動速度Vyはゼロであると算出する。
また、記憶部26は、重なり判定部24から出力される重なりフラグのフラグ値と、端点移動速度算出部25から出力される検知対象物の端点の横移動速度Vyとを記憶する。
衝突判定部27は、例えば、端点移動速度算出部25により算出された検知対象物の端点の横移動速度(自車幅方向における相対速度)Vyがゼロである場合には、この検知対象物を、自車両に対して比較対象物により少なくとも一部が遮蔽された、左右方向(つまり自車幅方向)における静止物であると判定し、自車両に対する衝突可能性が無いと判定する。
また、車両制御部28は、自車両の乗員に各種の情報を報知する場合に、報知装置17を制御する制御信号を出力することも可能である。
前記反射波生成工程において、自車両周辺に対して電磁波を発信して、前記電磁波が自車両周辺の物体により反射されて反射波を生じる。
前記反射点算出工程において、受信された前記反射波(例えば、反射波の信号)に基づき、前記物体における前記電磁波の反射点の位置を算出する。
前記距離算出工程において、前記反射点算出工程により算出された前記反射点の位置に基づき、前記自車両から前記物体までの距離を算出する。
前記端点検出工程において、前記反射点算出工程により算出された前記反射点の位置に基づき、少なくとも前記物体の右側又は左側の端点を検出する。
前記重なり判定工程において、前記距離算出工程の算出結果及び前記端点検出工程の検出結果に基づき、前記自車両から見て、検出対象物である物体の端点が、比較対象物である他の物体により遮蔽されているか否かを判定する。
前記端点移動速度算出工程において、前記重なり判定工程により遮蔽されていないと判定された前記物体の端点の横移動速度を算出する。
前記重なり判定工程は、前記端点検出工程により検出された前記物体の前記端点が、前記距離算出工程により算出された検出対象物である物体の距離より近い距離に位置している比較対象物である他の物体に重なっているか否かを判定する。
本実施形態に係る車両用物体検出方法には、さらに物体判定工程が含まれている。この物体判定工程において、端点移動速度算出工程により算出された前記物体の前記端点の横移動速度がゼロである場合、前記物体を、前記自車両に対して少なくとも前記物体の一部が遮蔽された静止物であると判定する。
さらに、本実施形態に係る車両用物体検出方法には、遮蔽されていない端点のデータを記憶する記憶工程をされに備えることが可能である。この記憶工程において、重なり判定工程によって比較対象物である他の物体に重なっていないと判定された検知対象物の端点(非重なり端点)の位置の過去のデータを記憶する。すなわち、記憶工程において、時刻の変化に伴う検知対象物の非重なり端点(非遮蔽端点)の位置を記憶する。
また、この記憶工程において、重なり判定工程で判定された判定結果と、端点移動速度算出工程で算出された検知対象物の端点の横移動速度Vyとを記憶することも可能である。
さらに、本実施形態に係る車両用物体検出方法には、衝突判定工程をされに備えることが可能である。この衝突判定工程において、例えば、センサーユニット13から出力される自車両の各種の車両情報に関する検出結果と、端点移動速度算出工程で算出された横移動速度Vyとに基づき、自車両と検知対象物との衝突可能性の有無を判定することが可能である。
衝突判定工程は、例えば、端点移動速度算出工程で算出された検知対象物の端点の横移動速度Vyがゼロである場合には、この検知対象物を、自車両に対して比較対象物により少なくとも一部が遮蔽された、左右方向における静止物であると判定し、自車両に対する衝突可能性が無いと判定することが可能である。
さらに、本実施形態に係る車両用物体検出方法には、衝突判定工程による判定結果に応じて、自車両の走行状態を制御する制御工程を更に備えることが可能である。また、この制御工程は、自車両の乗員に各種の情報を報知する報知装置を制御することも可能である。
次に、ステップS02において、後述する検出対象物の端点の横移動速度の判定の処理を実行する。
次に、ステップS03において、レーダ装置12により検知された物体のうち、重なりフラグのフラグ値が「1」である検知対象物が有るか否かを判定する。
ステップS03の判定結果が「NO」の場合には、ステップS04に進み、このステップS04において、検知対象物の横移動速度を検知対象物の重心の座標の変化に基づき算出し、エンドに進む。
一方、ステップS03の判定結果が「YES」の場合には、ステップS05に進む。
ステップS05において、検知対象物の横移動速度を、ステップS02の判定処理で算出した検出対象物の端点の横移動速度Vy(後述)とし、エンドに進む。なお、検出対象物の端点の横移動速度Vyがゼロである時、検知対象物を左右方向の静止物であると判定する。
先ず、例えば図5に示すステップS11において、検知対象物を識別する番号nに「1」を設定して、番号nの初期化を行なう。
ステップS12において、比較対象物を識別する番号kに「1」を設定して、番号kの初期化を行なう。
ステップS13において、重なりフラグのフラグ値に「0」を設定する。
ステップS14の判定結果が「YES」の場合には、後述するステップS21に進む。
一方、ステップS14の判定結果が「NO」の場合には、ステップS15に進む。
ステップS15の判定結果が「NO」の場合には、後述するステップS21に進む。
一方、ステップS15の判定結果が「YES」の場合には、ステップS16に進む。
ステップS17において、検知対象物の左右の両端点が自車両から見て比較対象物に重なっている、あるいは、検知対象物の左右の端点の一方が自車両から見て比較対象物に重なり且つ他方がレーダ装置12から発信される電磁波の所定の発信範囲の左右の境界端(レーダ検知端)上又は所定の発信範囲外に存在するか否かを判定する。
ステップS17の判定結果が「YES」の場合には、ステップS18に進み、このステップS18において、検知対象物の端点の横移動速度Vyにゼロを設定して、ステップS20に進む。
一方、ステップS17の判定結果が「NO」の場合には、ステップS19に進む。このステップS19において、自車両から見て比較対象物に重なっていない検知対象物の左右の端点の横移動速度Vyを、例えばこの端点の位置の前回値と今回値とに基づき算出し、この検出対象物の端点の横移動速度Vyを検知対象物の横移動速度として設定する。
ステップS21において、比較対象物を識別する番号kに「1」を加算して得た値(k+1)を、新たに番号kとして設定する。
ステップS22において、番号kがレーダ装置12により検知された物体の全物体数以下であるか否かを判定する。
ステップS22の判定結果が「YES」の場合には、上述したステップS13に戻る。
一方、ステップS22の判定結果が「NO」の場合には、ステップS23に進む。
そして、ステップS23において、検知対象物を識別する番号nに「1」を加算して得た値(n+1)を、新たに番号nとして設定する。
ステップS24において、番号nがレーダ装置12により検知された物体の全物体数以下であるか否かを判定する。
ステップS23の判定結果が「YES」の場合には、上述したステップS12に戻る。
一方、ステップS23の判定結果が「NO」の場合には、エンドに進む。
11 処理ユニット
12 レーダ装置(発受信ユニット)
13 センサーユニット
14 スロットルアクチュエータ
15 ブレーキアクチュエータ
16 ステアリングアクチュエータ
17 報知装置
21 反射点算出部(反射点算出ユニット)
22 距離算出部(距離算出ユニット)
23 端点検出部(端点検出ユニット)
24 重なり判定部(重なり判定ユニット)
25 端点移動速度算出部(端点移動速度算出ユニット)
26 記憶部
27 衝突判定部(物体判定ユニット)
28 車両制御部(車両制御ユニット)
P 自車両
M1、M2、M3、M4、M5 物体
Claims (10)
- 電磁波を発信し、且つ前記電磁波が自車両周辺の物体により反射されて生じる反射波を受信する発受信ユニットと;
前記発受信ユニットからの信号に基づき、前記物体における前記電磁波の反射点の位置を算出する反射点算出ユニットと;
前記反射点算出ユニットにより算出された前記反射点の位置に基づき、前記自車両から前記物体までの距離を算出する距離算出ユニットと;
前記反射点算出ユニットにより算出された前記反射点の位置に基づき、少なくとも前記物体の右側の端点及び左側の端点のうちの一方を検出する端点検出ユニットと;
前記距離算出ユニットの算出結果及び前記端点検出ユニットの検出結果に基づき、前記自車両から見て、前記物体の前記端点が、他の物体により遮蔽されているか否かを判定する遮蔽判定ユニットと;
前記遮蔽判定ユニットにより遮蔽されていないと判定された前記物体の前記端点の横移動速度を算出する端点移動速度算出ユニットと;
を備えることを特徴とする車両用物体検知装置。 - 前記遮蔽判定ユニットは、前記自車両から見て、前記端点検出ユニットにより検出された前記物体の前記端点が、前記距離算出ユニットにより算出された前記物体の前記距離より近い距離に位置している前記他の物体に重なっているか否かを判定することを特徴とする請求項1に記載の車両用物体検知装置。
- 前記端点移動速度算出ユニットは、前記物体の前記右側の端点及び前記左側の端点が遮蔽されていると前記遮蔽判定ユニットにより判定された場合、前記端点の横移動速度がゼロであると算出することを特徴とする請求項1又は請求項2に記載の車両用物体検知装置。
- 前記端点移動速度算出ユニットは、前記端点検出ユニットにより検出された前記右側の端点及び前記左側の端点のうちの一方が、前記発受信ユニットの発信範囲の境界端又は前記発信範囲外に存在し、かつ、前記右側の端点及び前記左側の端点のうちの他方が前記遮蔽判定ユニットにより遮蔽されていると判定された場合には、前記端点の横移動速度がゼロであると算出することを特徴とする請求項1又は請求項2に記載の車両用物体検知装置。
- 前記端点移動速度算出ユニットにより算出された前記端点の前記横移動速度がゼロである場合、前記物体を、前記自車両に対して少なくとも前記物体の一部が遮蔽された静止物であると判定する物体判定ユニットをさらに備えることを特徴とする請求項1から請求項4の何れか1つに記載の車両用物体検知装置。
- 前記自車両の状態を検出するセンサーユニットを更に備え;
前記物体判定ユニットは、前記端点移動速度算出ユニットの算出結果及び前記センサーユニットの検出結果に基づき、前記自車両に対する前記物体の衝突の有無を判定することを特徴とする請求項5に記載の車両用物体検知装置。 - 前記物体判定ユニットの判定結果に基づき、前記自車両を制御する車両制御ユニットをさらに備えていることを特徴とする請求項6に記載の車両用物体検知装置。
- 電磁波を発信して、前記電磁波が自車両周辺の物体により反射されて生じる反射波を生成する反射波生成工程と;
受信された前記反射波に基づき、前記物体における前記電磁波の反射点の位置を算出する反射点算出工程と;
前記反射点算出工程により算出された前記反射点の位置に基づき、前記自車両から前記物体までの距離を算出する距離算出工程と;
前記反射点算出工程により算出された前記反射点の位置に基づき、少なくとも前記物体の右側の端点及び左側の端点のうちの一方を検出する端点検出工程と;
前記距離算出工程の算出結果及び前記端点検出工程の検出結果に基づき、前記自車両から見て、前記物体の前記端点が他の物体により遮蔽されているか否かを判定する遮蔽判定工程と;
前記遮蔽判定工程により遮蔽されていないと判定された前記物体の端点の横移動速度を算出する端点移動速度算出工程と;
を備えることを特徴とする車両用物体検知方法。 - 前記遮蔽判定工程は、前記端点検出工程により検出された前記物体の前記端点が、前記距離算出工程により算出された前記物体の前記距離より近い距離に位置している前記他の物体に重なっているか否かを判定することを特徴とする請求項8に記載の車両用物体検知方法。
- 前記端点移動速度算出工程により算出された前記物体の前記端点の横移動速度がゼロである場合、前記物体を、前記自車両に対して少なくとも前記物体の一部が遮蔽された静止物であると判定する物体判定工程を更に備えることを特徴とする請求項8又は請求項9に記載の車両用物体検知方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011524623A JP5396475B2 (ja) | 2009-07-31 | 2010-05-26 | 車両用物体検知装置 |
CN201080026598.1A CN102472817B (zh) | 2009-07-31 | 2010-05-26 | 车用物体探测装置和车用物体探测方法 |
EP10804037.9A EP2461179B1 (en) | 2009-07-31 | 2010-05-26 | Object detection device for vehicle and object detection method for vehicle |
US13/387,961 US8717225B2 (en) | 2009-07-31 | 2010-05-26 | Object detection device for vehicle and object detection method for vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009179288 | 2009-07-31 | ||
JP2009-179288 | 2009-07-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011013284A1 true WO2011013284A1 (ja) | 2011-02-03 |
Family
ID=43528959
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/003502 WO2011013284A1 (ja) | 2009-07-31 | 2010-05-26 | 車両用物体検知装置及び車両用物体検知方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8717225B2 (ja) |
EP (1) | EP2461179B1 (ja) |
JP (1) | JP5396475B2 (ja) |
CN (1) | CN102472817B (ja) |
WO (1) | WO2011013284A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012237579A (ja) * | 2011-05-10 | 2012-12-06 | Honda Motor Co Ltd | 車両用物体検知装置 |
CN103503046A (zh) * | 2011-04-28 | 2014-01-08 | 本田技研工业株式会社 | 车用物体探测装置 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102472817B (zh) * | 2009-07-31 | 2014-02-26 | 本田技研工业株式会社 | 车用物体探测装置和车用物体探测方法 |
EP2929602A4 (en) | 2012-12-07 | 2016-12-21 | Foro Energy Inc | HIGH PERFORMANCE LASERS AND ENVIRONMENTS WITH WAVE LENGTH CONVERSIONS AND WAVELENGTH ADJUSTMENTS |
US9200904B2 (en) | 2013-03-15 | 2015-12-01 | Caterpillar | Traffic analysis system utilizing position based awareness |
US9255988B2 (en) * | 2014-01-16 | 2016-02-09 | GM Global Technology Operations LLC | Object fusion system of multiple radar imaging sensors |
US9937916B2 (en) * | 2015-07-21 | 2018-04-10 | Ford Global Technologies, Llc | Methods and system for reducing transmission shifting |
KR101778558B1 (ko) | 2015-08-28 | 2017-09-26 | 현대자동차주식회사 | 물체 인식 장치, 그를 가지는 차량 및 그 제어 방법 |
JP6531689B2 (ja) * | 2016-03-22 | 2019-06-19 | 株式会社デンソー | 移動軌跡検出装置、移動物体検出装置、移動軌跡検出方法 |
JP6535302B2 (ja) * | 2016-07-13 | 2019-06-26 | 株式会社Soken | 物体検知装置 |
KR102569539B1 (ko) * | 2016-11-07 | 2023-08-24 | 주식회사 에이치엘클레무브 | 차량용 물체감지시스템 및 차량용 물체감지방법 |
JP6970936B2 (ja) * | 2016-12-20 | 2021-11-24 | パナソニックIpマネジメント株式会社 | 物体検出装置、物体検出プログラム、および記録媒体 |
JP6813436B2 (ja) | 2017-06-16 | 2021-01-13 | 株式会社東芝 | 情報処理装置、移動体、情報処理方法、およびプログラム |
DE102017116658A1 (de) * | 2017-07-24 | 2019-01-24 | Vorwerk & Co. Interholding Gmbh | Selbsttätig im Außenbereich verfahrbares Gerät mit einem Überwachungsmodul |
DE102017116661A1 (de) | 2017-07-24 | 2019-01-24 | Vorwerk & Co. Interholding Gmbh | System zur Erfassung von dreidimensionalen Umgebungsdaten, insbesondere zur Pflanzenpflege sowie Sensormodul |
JP7328863B2 (ja) * | 2019-10-11 | 2023-08-17 | 株式会社デンソー | 制御装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10105891A (ja) * | 1996-09-30 | 1998-04-24 | Mazda Motor Corp | 車両用の動体認識装置 |
JP2002181936A (ja) * | 2000-12-11 | 2002-06-26 | Nissan Motor Co Ltd | 障害物位置計測方法および障害物位置計測装置 |
JP2005100232A (ja) | 2003-09-26 | 2005-04-14 | Toyota Motor Corp | 車輌の走行制御装置 |
JP2009179288A (ja) | 2008-02-01 | 2009-08-13 | Nippon Kayaku Co Ltd | ガス発生器 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5689264A (en) * | 1994-10-05 | 1997-11-18 | Mazda Motor Corporation | Obstacle detecting system for vehicles |
US7570793B2 (en) | 2001-06-15 | 2009-08-04 | Ibeo Automobile Sensor Gmbh | Correction method for data of a plurality of optoelectronic sensors |
DE10141055B4 (de) * | 2001-08-22 | 2013-09-05 | Ibeo Automobile Sensor Gmbh | Verfahren zur Bestimmung von Bewegungsinformationen |
DE10148060A1 (de) * | 2001-09-28 | 2003-04-10 | Ibeo Automobile Sensor Gmbh | Verfahren zur Erkennung und Verfolgung von Objekten |
JP3997837B2 (ja) * | 2002-05-27 | 2007-10-24 | 株式会社デンソー | 車載レーダ装置、プログラム |
US7266453B2 (en) * | 2003-08-22 | 2007-09-04 | Honda Motor Co., Ltd. | Vehicular object detection system, tracking control system, and vehicle control system |
JP2005156337A (ja) * | 2003-11-26 | 2005-06-16 | Hitachi Ltd | 車載用レーダ装置 |
DE102006057277A1 (de) | 2006-12-05 | 2008-06-12 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Radarsystems bei möglicher Zielobjektverdeckung sowie Radarsystem zur Durchführung des Verfahrens |
JP4969606B2 (ja) * | 2009-05-11 | 2012-07-04 | 本田技研工業株式会社 | 車両用物体検知装置 |
CN102472817B (zh) * | 2009-07-31 | 2014-02-26 | 本田技研工业株式会社 | 车用物体探测装置和车用物体探测方法 |
US8392068B2 (en) * | 2010-02-02 | 2013-03-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle behavior control device |
JP5718726B2 (ja) * | 2011-05-25 | 2015-05-13 | 本田技研工業株式会社 | 車両周辺監視装置 |
-
2010
- 2010-05-26 CN CN201080026598.1A patent/CN102472817B/zh active Active
- 2010-05-26 EP EP10804037.9A patent/EP2461179B1/en not_active Not-in-force
- 2010-05-26 JP JP2011524623A patent/JP5396475B2/ja not_active Expired - Fee Related
- 2010-05-26 WO PCT/JP2010/003502 patent/WO2011013284A1/ja active Application Filing
- 2010-05-26 US US13/387,961 patent/US8717225B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10105891A (ja) * | 1996-09-30 | 1998-04-24 | Mazda Motor Corp | 車両用の動体認識装置 |
JP2002181936A (ja) * | 2000-12-11 | 2002-06-26 | Nissan Motor Co Ltd | 障害物位置計測方法および障害物位置計測装置 |
JP2005100232A (ja) | 2003-09-26 | 2005-04-14 | Toyota Motor Corp | 車輌の走行制御装置 |
JP2009179288A (ja) | 2008-02-01 | 2009-08-13 | Nippon Kayaku Co Ltd | ガス発生器 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2461179A4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103503046A (zh) * | 2011-04-28 | 2014-01-08 | 本田技研工业株式会社 | 车用物体探测装置 |
JP2012237579A (ja) * | 2011-05-10 | 2012-12-06 | Honda Motor Co Ltd | 車両用物体検知装置 |
Also Published As
Publication number | Publication date |
---|---|
JP5396475B2 (ja) | 2014-01-22 |
EP2461179A4 (en) | 2012-06-06 |
EP2461179B1 (en) | 2016-12-07 |
JPWO2011013284A1 (ja) | 2013-01-07 |
US20120127017A1 (en) | 2012-05-24 |
CN102472817A (zh) | 2012-05-23 |
US8717225B2 (en) | 2014-05-06 |
CN102472817B (zh) | 2014-02-26 |
EP2461179A1 (en) | 2012-06-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5396475B2 (ja) | 車両用物体検知装置 | |
JP6430777B2 (ja) | 物体検知装置 | |
JP4969606B2 (ja) | 車両用物体検知装置 | |
JP6404679B2 (ja) | 物体検知装置 | |
JP6474228B2 (ja) | 物体検知装置 | |
CN109143240B (zh) | 预碰撞控制实施装置 | |
JP5012270B2 (ja) | 物体検出装置 | |
JP2016080641A (ja) | 物体検知装置 | |
WO2020039840A1 (ja) | レーダ処理装置 | |
US20200341111A1 (en) | Method and apparatus for radar detection confirmation | |
JP6442225B2 (ja) | 物体検知装置 | |
JP5075656B2 (ja) | 物体検知装置 | |
JP2010108168A (ja) | 衝突予測装置 | |
JP2009042088A (ja) | 車両用物体検知装置 | |
WO2021172535A1 (ja) | 物体検知装置 | |
US20050004719A1 (en) | Device and method for determining the position of objects in the surroundings of a motor vehicle | |
JP5698597B2 (ja) | 車両用物体検知装置 | |
JP2011086139A (ja) | 車両の衝突を回避するための装置 | |
JP2011018166A (ja) | 車両の走行安全装置 | |
JP5178652B2 (ja) | 車両の走行安全装置 | |
JP5604179B2 (ja) | 物体検知装置 | |
JP5613457B2 (ja) | 物体検知装置 | |
US20100019951A1 (en) | Method for determining a variable | |
US20240168156A1 (en) | Method for classifying at least one object in the surroundings of a vehicle by means of an ultrasonic sensor system, controller, ultrasonic sensor system, and vehicle | |
WO2019235528A1 (ja) | 位置検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080026598.1 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10804037 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011524623 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13387961 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REEP | Request for entry into the european phase |
Ref document number: 2010804037 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010804037 Country of ref document: EP |