CN109643495B - 周边监视装置及周边监视方法 - Google Patents

周边监视装置及周边监视方法 Download PDF

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Publication number
CN109643495B
CN109643495B CN201780052847.6A CN201780052847A CN109643495B CN 109643495 B CN109643495 B CN 109643495B CN 201780052847 A CN201780052847 A CN 201780052847A CN 109643495 B CN109643495 B CN 109643495B
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China
Prior art keywords
information
vehicle
sensor
image processing
wave
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Expired - Fee Related
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CN201780052847.6A
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English (en)
Chinese (zh)
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CN109643495A (zh
Inventor
前田优
原田岳人
松浦充保
柳川博彦
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Denso Corp
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Denso Corp
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    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/003—Bistatic sonar systems; Multistatic sonar 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
CN201780052847.6A 2016-08-29 2017-08-03 周边监视装置及周边监视方法 Expired - Fee Related CN109643495B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016167182A JP6722066B2 (ja) 2016-08-29 2016-08-29 周辺監視装置及び周辺監視方法
JP2016-167182 2016-08-29
PCT/JP2017/028265 WO2018043028A1 (ja) 2016-08-29 2017-08-03 周辺監視装置及び周辺監視方法

Publications (2)

Publication Number Publication Date
CN109643495A CN109643495A (zh) 2019-04-16
CN109643495B true CN109643495B (zh) 2022-05-17

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CN201780052847.6A Expired - Fee Related CN109643495B (zh) 2016-08-29 2017-08-03 周边监视装置及周边监视方法

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Country Link
US (1) US10885354B2 (cg-RX-API-DMAC10.html)
JP (1) JP6722066B2 (cg-RX-API-DMAC10.html)
CN (1) CN109643495B (cg-RX-API-DMAC10.html)
DE (1) DE112017004333B4 (cg-RX-API-DMAC10.html)
WO (1) WO2018043028A1 (cg-RX-API-DMAC10.html)

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WO2020012852A1 (ja) * 2018-07-11 2020-01-16 クラリオン株式会社 測位支援装置及び測位支援方法
JP2020013220A (ja) * 2018-07-13 2020-01-23 株式会社神戸製鋼所 建設機械用の物体検出装置及び物体検出方法
JP6930512B2 (ja) * 2018-10-19 2021-09-01 株式会社デンソー 物体検知装置、物体検知方法およびプログラム
DE102018129876B3 (de) * 2018-11-27 2020-04-16 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer geometrischen Eigenschaft eines Objekts mittels einer Geradengleichung, Computerprogrammprodukt, elektronische Recheneinrichtung sowie Ultraschallsensorvorrichtung
WO2020157531A1 (ja) * 2019-01-29 2020-08-06 日産自動車株式会社 乗車許可判断装置及び乗車許可判断方法
US11353578B2 (en) * 2019-02-28 2022-06-07 Zoox, Inc. Recognizing radar reflections using position information
US11410545B2 (en) * 2019-07-19 2022-08-09 Ford Global Technologies, Llc Dynamic vehicle perimeter definition and reporting
KR102333240B1 (ko) * 2019-12-18 2021-12-01 현대모비스 주식회사 차량용 물체 인식 장치 및 방법
CN115244594B (zh) * 2020-03-24 2023-10-31 三菱电机株式会社 信息处理装置和信息处理方法
CN111551196B (zh) * 2020-04-23 2024-06-18 上海悠络客电子科技股份有限公司 一种检修工位上是否有车辆的检测方法
JP7318609B2 (ja) * 2020-08-06 2023-08-01 トヨタ自動車株式会社 車載検出装置
JP7559473B2 (ja) * 2020-09-29 2024-10-02 株式会社アイシン 駐車支援システム、駐車支援方法、及びプログラム
DE102020126172A1 (de) * 2020-10-07 2022-04-07 Valeo Schalter Und Sensoren Gmbh Verfahren zum vermessen eines seitlichen umfelds eines fahrzeugs, messvorrichtung und fahrzeug
JP7363758B2 (ja) * 2020-12-23 2023-10-18 株式会社デンソー 状態監視装置及び状態監視プログラム
JP7589086B2 (ja) * 2021-03-29 2024-11-25 京セラ株式会社 情報処理装置、車両、路側機、および情報処理方法
DE102021214203A1 (de) * 2021-12-13 2023-06-15 Robert Bosch Gesellschaft mit beschränkter Haftung System zur Erfassung von wenigstens einem Objekt in einer Umgebung eines Fahrzeugs sowie Fahrzeug mit solch einem System
US20260043917A1 (en) * 2024-08-09 2026-02-12 Nvidia Corporation Object detection using ultrasonic sensors for autonomous systems and applications
WO2026105244A1 (ja) * 2024-11-13 2026-05-21 Ａｓｔｅｍｏ株式会社 表示画像生成装置
CN121679594A (zh) * 2025-11-21 2026-03-17 惠州华阳通用电子有限公司 一种基于超声波雷达的限位块识别方法及系统

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Also Published As

Publication number Publication date
CN109643495A (zh) 2019-04-16
DE112017004333T5 (de) 2019-05-09
US20200210722A1 (en) 2020-07-02
JP2018037737A (ja) 2018-03-08
DE112017004333B4 (de) 2023-09-28
JP6722066B2 (ja) 2020-07-15
US10885354B2 (en) 2021-01-05
WO2018043028A1 (ja) 2018-03-08

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