CN105128836A - 自主紧急制动系统及其中识别行人的方法 - Google Patents
自主紧急制动系统及其中识别行人的方法 Download PDFInfo
- Publication number
- CN105128836A CN105128836A CN201510289364.0A CN201510289364A CN105128836A CN 105128836 A CN105128836 A CN 105128836A CN 201510289364 A CN201510289364 A CN 201510289364A CN 105128836 A CN105128836 A CN 105128836A
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- CN
- China
- Prior art keywords
- pedestrian
- detection signal
- vehicle
- preset reference
- radar sensor
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020140065774A KR102178433B1 (ko) | 2014-05-30 | 2014-05-30 | 긴급 제동 시스템 및 그의 보행자 인식 방법 |
KR10-2014-0065774 | 2014-05-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105128836A true CN105128836A (zh) | 2015-12-09 |
CN105128836B CN105128836B (zh) | 2019-04-19 |
Family
ID=54481731
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510289364.0A Active CN105128836B (zh) | 2014-05-30 | 2015-05-29 | 自主紧急制动系统及其中识别行人的方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9778356B2 (zh) |
KR (1) | KR102178433B1 (zh) |
CN (1) | CN105128836B (zh) |
DE (1) | DE102015209857B4 (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106864437A (zh) * | 2017-03-17 | 2017-06-20 | 奇瑞汽车股份有限公司 | 一种车辆紧急制动系统及其控制方法 |
CN107161100A (zh) * | 2017-05-04 | 2017-09-15 | 广东轻工职业技术学院 | 一种行人安全保护方法和系统 |
CN107180067A (zh) * | 2016-03-11 | 2017-09-19 | 松下电器(美国)知识产权公司 | 图像处理方法、图像处理装置及程序 |
CN107524735A (zh) * | 2016-06-17 | 2017-12-29 | 博格华纳公司 | 利用机械传动实现自动紧急制动 |
CN108263379A (zh) * | 2016-12-30 | 2018-07-10 | 现代自动车株式会社 | 基于姿势信息的行人检测和行人碰撞预防装置和方法 |
CN108780610A (zh) * | 2016-03-24 | 2018-11-09 | 本田技研工业株式会社 | 用于针对意外行人规划轨迹的系统和方法 |
CN108928344A (zh) * | 2017-05-29 | 2018-12-04 | 现代摩比斯株式会社 | 用于准备车辆的紧急制动的方法 |
CN109074744A (zh) * | 2016-09-23 | 2018-12-21 | 日立建机株式会社 | 矿山用工程机械以及障碍物判别装置 |
CN109305164A (zh) * | 2017-07-28 | 2019-02-05 | 现代摩比斯株式会社 | 用于车辆的紧急制动预备系统 |
US10408932B2 (en) | 2016-12-16 | 2019-09-10 | Automotive Research & Testing Center | Environment recognition system using vehicular millimeter wave radar |
CN110271549A (zh) * | 2018-03-14 | 2019-09-24 | 本田技研工业株式会社 | 车辆控制装置、车辆控制方法及存储介质 |
CN116494930A (zh) * | 2023-06-27 | 2023-07-28 | 上海伯镭智能科技有限公司 | 一种矿区无人驾驶矿车紧急制动方法 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017054311A (ja) * | 2015-09-09 | 2017-03-16 | 株式会社デンソー | 物体検出装置 |
JP6418407B2 (ja) * | 2016-05-06 | 2018-11-07 | トヨタ自動車株式会社 | 車両のブレーキ制御装置 |
CN107458308B (zh) * | 2016-06-02 | 2020-06-30 | 爱保科技有限公司 | 一种辅助驾驶方法及系统 |
JP6649865B2 (ja) * | 2016-10-27 | 2020-02-19 | 株式会社Soken | 物体検知装置 |
US9891625B1 (en) | 2016-11-20 | 2018-02-13 | Veripat, LLC | Vehicle with autonomous feature override for theft prevention |
US10262528B2 (en) * | 2017-07-21 | 2019-04-16 | State Farm Mutual Automobile Insurance Company | Autonomous vehicle mode alert system for bystanders |
JP2019089516A (ja) * | 2017-11-16 | 2019-06-13 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US11186295B2 (en) * | 2017-12-22 | 2021-11-30 | Veripat, LLC | Vehicle with escape feature using synthesized vehicle view |
CN111656216A (zh) * | 2018-03-13 | 2020-09-11 | 古河电气工业株式会社 | 雷达装置以及雷达装置的对象物检测方法 |
DE102018205965A1 (de) | 2018-04-19 | 2019-10-24 | Zf Friedrichshafen Ag | Verfahren und Steuergerät zum Kennzeichnen einer Person |
CN108609001A (zh) * | 2018-05-09 | 2018-10-02 | 上海蓥石汽车技术有限公司 | 一种主动刹车行人防撞的设计方法 |
US10852420B2 (en) | 2018-05-18 | 2020-12-01 | Industrial Technology Research Institute | Object detection system, autonomous vehicle using the same, and object detection method thereof |
KR20200023802A (ko) * | 2018-08-27 | 2020-03-06 | 주식회사 만도 | 사각지대 감지 장치 및 그 사각지대 감지 방법 |
US11203334B2 (en) | 2018-10-10 | 2021-12-21 | Roadtec, Inc. | Proximity detection zone for working machine |
DE102019206582A1 (de) * | 2019-05-08 | 2020-11-12 | Zf Friedrichshafen Ag | Vorrichtung, System, Verfahren und Computerprogram zur Geschwindigkeitsregelung eines Fahrzeugs |
CN110244313A (zh) * | 2019-05-24 | 2019-09-17 | 中国科学院合肥物质科学研究院 | 一种基于tof相机的防碰撞系统和方法 |
US11358593B2 (en) | 2019-07-09 | 2022-06-14 | King Fahd University Of Petroleum And Minerals | Dual direction accident prevention and assistive braking system |
US11320830B2 (en) | 2019-10-28 | 2022-05-03 | Deere & Company | Probabilistic decision support for obstacle detection and classification in a working area |
Citations (7)
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US20030105578A1 (en) * | 2001-11-30 | 2003-06-05 | Hitachi, Ltd. | Traffic environment recognition method and system for carrying out the same |
CN101389977A (zh) * | 2006-02-24 | 2009-03-18 | 丰田自动车株式会社 | 物体检测装置和检测物体的方法 |
JP2012043364A (ja) * | 2010-08-23 | 2012-03-01 | Toyota Motor Corp | 物体認識装置 |
JP4946228B2 (ja) * | 2006-07-18 | 2012-06-06 | トヨタ自動車株式会社 | 車載用歩行者検出装置 |
CN102508246A (zh) * | 2011-10-13 | 2012-06-20 | 吉林大学 | 车辆前方障碍物检测跟踪方法 |
JP5145986B2 (ja) * | 2008-02-05 | 2013-02-20 | 日産自動車株式会社 | 物体検出装置及び測距方法 |
JP2013145205A (ja) * | 2012-01-16 | 2013-07-25 | Toyota Motor Corp | 物体検出装置 |
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KR100206239B1 (ko) | 1996-12-21 | 1999-07-01 | 정몽규 | 차량과 보행자의 충돌 경보장치 |
JP4193703B2 (ja) * | 2004-01-19 | 2008-12-10 | トヨタ自動車株式会社 | 物体検出装置 |
JP2008230333A (ja) * | 2007-03-19 | 2008-10-02 | Mazda Motor Corp | 車両の運転支援装置 |
JP2009174900A (ja) * | 2008-01-22 | 2009-08-06 | Fujitsu Ten Ltd | 物体検出装置、物体検出方法および物体検出システム |
DE102009033853A1 (de) | 2009-07-16 | 2010-05-12 | Daimler Ag | Verfahren zum Betrieb eines Fahrerassistenzsystems und Vorrichtung zur Durchführung des Verfahrens |
DE102010006828B4 (de) | 2010-02-03 | 2021-07-08 | Volkswagen Ag | Verfahren zur automatischen Erstellung eines Modells der Umgebung eines Fahrzeugs sowie Fahrerassistenzsystem und Fahrzeug |
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KR101526622B1 (ko) | 2010-07-30 | 2015-06-08 | 현대자동차주식회사 | 자동긴급제동장치 작동 시 엔진정지 방지 방법 |
JP5558440B2 (ja) * | 2011-09-08 | 2014-07-23 | 三菱電機株式会社 | 物体検出装置 |
JP5688396B2 (ja) * | 2012-09-24 | 2015-03-25 | 本田技研工業株式会社 | 物体認識装置 |
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2014
- 2014-05-30 KR KR1020140065774A patent/KR102178433B1/ko active IP Right Grant
-
2015
- 2015-05-28 DE DE102015209857.5A patent/DE102015209857B4/de active Active
- 2015-05-28 US US14/723,923 patent/US9778356B2/en active Active
- 2015-05-29 CN CN201510289364.0A patent/CN105128836B/zh active Active
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Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107180067A (zh) * | 2016-03-11 | 2017-09-19 | 松下电器(美国)知识产权公司 | 图像处理方法、图像处理装置及程序 |
CN107180067B (zh) * | 2016-03-11 | 2022-05-13 | 松下电器(美国)知识产权公司 | 图像处理方法、图像处理装置及记录介质 |
CN108780610A (zh) * | 2016-03-24 | 2018-11-09 | 本田技研工业株式会社 | 用于针对意外行人规划轨迹的系统和方法 |
CN108780610B (zh) * | 2016-03-24 | 2022-02-15 | 本田技研工业株式会社 | 用于针对意外行人规划轨迹的系统和方法 |
CN107524735A (zh) * | 2016-06-17 | 2017-12-29 | 博格华纳公司 | 利用机械传动实现自动紧急制动 |
CN109074744A (zh) * | 2016-09-23 | 2018-12-21 | 日立建机株式会社 | 矿山用工程机械以及障碍物判别装置 |
US10408932B2 (en) | 2016-12-16 | 2019-09-10 | Automotive Research & Testing Center | Environment recognition system using vehicular millimeter wave radar |
CN108263379B (zh) * | 2016-12-30 | 2023-01-10 | 现代自动车株式会社 | 基于姿势信息的行人检测和行人碰撞预防装置和方法 |
CN108263379A (zh) * | 2016-12-30 | 2018-07-10 | 现代自动车株式会社 | 基于姿势信息的行人检测和行人碰撞预防装置和方法 |
CN106864437A (zh) * | 2017-03-17 | 2017-06-20 | 奇瑞汽车股份有限公司 | 一种车辆紧急制动系统及其控制方法 |
CN107161100B (zh) * | 2017-05-04 | 2019-01-18 | 广东轻工职业技术学院 | 一种行人安全保护方法和系统 |
CN107161100A (zh) * | 2017-05-04 | 2017-09-15 | 广东轻工职业技术学院 | 一种行人安全保护方法和系统 |
CN108928344A (zh) * | 2017-05-29 | 2018-12-04 | 现代摩比斯株式会社 | 用于准备车辆的紧急制动的方法 |
CN109305164B (zh) * | 2017-07-28 | 2021-08-17 | 现代摩比斯株式会社 | 用于车辆的紧急制动预备系统 |
CN109305164A (zh) * | 2017-07-28 | 2019-02-05 | 现代摩比斯株式会社 | 用于车辆的紧急制动预备系统 |
CN110271549A (zh) * | 2018-03-14 | 2019-09-24 | 本田技研工业株式会社 | 车辆控制装置、车辆控制方法及存储介质 |
CN116494930A (zh) * | 2023-06-27 | 2023-07-28 | 上海伯镭智能科技有限公司 | 一种矿区无人驾驶矿车紧急制动方法 |
CN116494930B (zh) * | 2023-06-27 | 2023-08-25 | 上海伯镭智能科技有限公司 | 一种矿区无人驾驶矿车紧急制动方法 |
Also Published As
Publication number | Publication date |
---|---|
DE102015209857B4 (de) | 2022-12-22 |
KR102178433B1 (ko) | 2020-11-16 |
US9778356B2 (en) | 2017-10-03 |
DE102015209857A1 (de) | 2015-12-03 |
KR20150137621A (ko) | 2015-12-09 |
CN105128836B (zh) | 2019-04-19 |
US20150346337A1 (en) | 2015-12-03 |
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