DE10110435B8 - Verfahren und Vorrichtung zum Erkennen der Fahrbahnform - Google Patents

Verfahren und Vorrichtung zum Erkennen der Fahrbahnform Download PDF

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Publication number
DE10110435B8
DE10110435B8 DE10110435A DE10110435A DE10110435B8 DE 10110435 B8 DE10110435 B8 DE 10110435B8 DE 10110435 A DE10110435 A DE 10110435A DE 10110435 A DE10110435 A DE 10110435A DE 10110435 B8 DE10110435 B8 DE 10110435B8
Authority
DE
Germany
Prior art keywords
recognizing
roadway shape
roadway
shape
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.)
Expired - Lifetime
Application number
DE10110435A
Other languages
English (en)
Other versions
DE10110435B4 (de
DE10110435A1 (de
Inventor
Noriaki Kariya-shi Shirai
Katsuhiro Kariya-shi Morikawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of DE10110435A1 publication Critical patent/DE10110435A1/de
Publication of DE10110435B4 publication Critical patent/DE10110435B4/de
Application granted granted Critical
Publication of DE10110435B8 publication Critical patent/DE10110435B8/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of 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
    • G01S13/88—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
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
DE10110435A 2000-03-09 2001-03-05 Verfahren und Vorrichtung zum Erkennen der Fahrbahnform Expired - Lifetime DE10110435B8 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPP00-65096 2000-03-09
JP2000065096A JP3427809B2 (ja) 2000-03-09 2000-03-09 車両用道路形状認識方法及び装置、記録媒体

Publications (3)

Publication Number Publication Date
DE10110435A1 DE10110435A1 (de) 2001-11-22
DE10110435B4 DE10110435B4 (de) 2010-01-21
DE10110435B8 true DE10110435B8 (de) 2010-05-20

Family

ID=18584683

Family Applications (1)

Application Number Title Priority Date Filing Date
DE10110435A Expired - Lifetime DE10110435B8 (de) 2000-03-09 2001-03-05 Verfahren und Vorrichtung zum Erkennen der Fahrbahnform

Country Status (3)

Country Link
US (1) US6553283B2 (de)
JP (1) JP3427809B2 (de)
DE (1) DE10110435B8 (de)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3645177B2 (ja) * 2000-11-29 2005-05-11 三菱電機株式会社 車両周辺監視装置
US6795765B2 (en) * 2001-03-22 2004-09-21 Visteon Global Technologies, Inc. Tracking of a target vehicle using adaptive cruise control
DE10114470A1 (de) * 2001-03-24 2002-09-26 Bosch Gmbh Robert Spurhalte- und Fahgeschwindigkeitsregeleinrichtung für Kraftfahrzeuge
JP2002323565A (ja) * 2001-04-27 2002-11-08 Denso Corp 障害物認識装置
JP2002352399A (ja) * 2001-05-23 2002-12-06 Mitsubishi Electric Corp 車両周辺監視装置
JP3788312B2 (ja) * 2001-11-01 2006-06-21 日産自動車株式会社 先行車検出装置
US6888622B2 (en) 2002-03-12 2005-05-03 Nissan Motor Co., Ltd. Method for determining object type of reflective object on track
US8718919B2 (en) * 2002-04-23 2014-05-06 Robert Bosch Gmbh Method and apparatus for lane recognition for a vehicle
DE10345802A1 (de) 2003-09-30 2005-04-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrspurerkennung für ein Fahrzeug
DE10218924A1 (de) * 2002-04-27 2003-11-06 Bosch Gmbh Robert Verfahren und Vorrichtung zur Kursprädiktion bei Kraftfahrzeugen
WO2004002572A1 (en) * 2002-06-28 2004-01-08 Advanced Bionics Corporation Microstimulator having self-contained power source and bi-directional telemetry system
JP4506162B2 (ja) * 2003-02-20 2010-07-21 日産自動車株式会社 前方物体検出装置及び前方物体検出方法
JP4703136B2 (ja) * 2004-06-02 2011-06-15 トヨタ自動車株式会社 線図形化処理装置
JP4561507B2 (ja) * 2005-07-08 2010-10-13 株式会社デンソー 道路形状認識装置
JP4736777B2 (ja) * 2005-12-15 2011-07-27 株式会社デンソー 車両用道路形状認識装置
DE102007013685A1 (de) * 2007-03-22 2008-09-25 Robert Bosch Gmbh Kollisionswarnvorrichtung für Kraftfahrzeuge
JP4811343B2 (ja) * 2007-05-11 2011-11-09 トヨタ自動車株式会社 物体検出装置
JP5074365B2 (ja) 2008-11-28 2012-11-14 日立オートモティブシステムズ株式会社 カメラ装置
US8437939B2 (en) * 2010-01-29 2013-05-07 Toyota Jidosha Kabushiki Kaisha Road information detecting device and vehicle cruise control device
JP5618744B2 (ja) 2010-05-26 2014-11-05 三菱電機株式会社 道路形状推定装置及びコンピュータプログラム及び道路形状推定方法
JP5746695B2 (ja) 2010-06-29 2015-07-08 本田技研工業株式会社 車両の進行路推定装置
US9002630B2 (en) * 2010-11-04 2015-04-07 Toyota Jidosha Kabushiki Kaisha Road shape estimation apparatus
JP5321640B2 (ja) * 2011-05-17 2013-10-23 株式会社デンソー 車両用道路形状認識方法及び装置、記録媒体
JP5353946B2 (ja) * 2011-05-17 2013-11-27 株式会社デンソー 車両用道路形状認識方法及び装置、記録媒体
JP2012242936A (ja) * 2011-05-17 2012-12-10 Denso Corp 車両用道路形状認識方法及び装置、記録媒体
JP5402983B2 (ja) * 2011-05-17 2014-01-29 株式会社デンソー 車両用道路形状認識方法及び装置、記録媒体
US8781644B2 (en) 2011-03-21 2014-07-15 Denso Corporation Method and apparatus for recognizing shape of road for vehicles
JP5565385B2 (ja) * 2011-07-16 2014-08-06 株式会社デンソー 車両用無線通信装置および通信システム
JP5916444B2 (ja) * 2012-03-08 2016-05-11 日立建機株式会社 鉱山用車両
JP2013218467A (ja) * 2012-04-06 2013-10-24 Honda Elesys Co Ltd 物体検知装置、物体検知方法、物体検知プログラム、及び動作制御システム
JP5746999B2 (ja) * 2012-05-24 2015-07-08 京セラドキュメントソリューションズ株式会社 クリーニング装置及び画像形成装置
KR101405664B1 (ko) 2012-11-27 2014-06-10 현대자동차주식회사 레이더를 이용한 도로 파라미터 추정 장치 및 그 방법
JP6059561B2 (ja) * 2013-03-06 2017-01-11 株式会社デンソーウェーブ 物体検出方法
JP5892129B2 (ja) * 2013-08-29 2016-03-23 株式会社デンソー 道路形状認識方法、道路形状認識装置、プログラムおよび記録媒体
CN110044371A (zh) * 2018-01-16 2019-07-23 华为技术有限公司 一种车辆定位的方法以及车辆定位装置
CN113126064B (zh) * 2019-12-28 2024-06-11 华为技术有限公司 一种信号处理方法及相关装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10154300A (ja) * 1996-11-25 1998-06-09 Honda Access Corp 車両の運転支援システム
JPH10239436A (ja) * 1997-02-21 1998-09-11 Mitsubishi Electric Corp 車間距離検出装置
JPH11144198A (ja) * 1997-11-14 1999-05-28 Mazda Motor Corp 車両の物体識別装置
JPH11352229A (ja) * 1998-06-05 1999-12-24 Mitsubishi Motors Corp 車両用後方モニタシステム

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JPH05159199A (ja) 1991-12-10 1993-06-25 Nissan Motor Co Ltd 接近検知装置
JP3341186B2 (ja) 1994-03-31 2002-11-05 オムロン株式会社 対象判別装置および方法，ならびに対象判別装置を搭載した車両
US5745870A (en) * 1994-09-14 1998-04-28 Mazda Motor Corporation Traveling-path prediction apparatus and method for vehicles
JP3324325B2 (ja) 1995-03-14 2002-09-17 三菱電機株式会社 車両前方監視装置
JP3656301B2 (ja) * 1995-12-28 2005-06-08 株式会社デンソー 車両用障害物警報装置
DE59704311D1 (de) * 1996-05-08 2001-09-20 Daimler Chrysler Ag Verfahren zur erkennung des vorausliegenden fahrbahnverlaufs für kraftfahrzeuge
JPH11345394A (ja) * 1998-06-03 1999-12-14 Mitsubishi Electric Corp 車両の周辺監視装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10154300A (ja) * 1996-11-25 1998-06-09 Honda Access Corp 車両の運転支援システム
JPH10239436A (ja) * 1997-02-21 1998-09-11 Mitsubishi Electric Corp 車間距離検出装置
JPH11144198A (ja) * 1997-11-14 1999-05-28 Mazda Motor Corp 車両の物体識別装置
JPH11352229A (ja) * 1998-06-05 1999-12-24 Mitsubishi Motors Corp 車両用後方モニタシステム

Also Published As

Publication number Publication date
US6553283B2 (en) 2003-04-22
DE10110435B4 (de) 2010-01-21
JP2001256600A (ja) 2001-09-21
DE10110435A1 (de) 2001-11-22
JP3427809B2 (ja) 2003-07-22
US20010025211A1 (en) 2001-09-27

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