DE112009005292B8 - Objekterfassungsvorrichtung - Google Patents

Objekterfassungsvorrichtung Download PDF

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Publication number
DE112009005292B8
DE112009005292B8 DE112009005292.4T DE112009005292T DE112009005292B8 DE 112009005292 B8 DE112009005292 B8 DE 112009005292B8 DE 112009005292 T DE112009005292 T DE 112009005292T DE 112009005292 B8 DE112009005292 B8 DE 112009005292B8
Authority
DE
Germany
Prior art keywords
detecting device
object detecting
detecting
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.)
Active
Application number
DE112009005292.4T
Other languages
English (en)
Other versions
DE112009005292B4 (de
DE112009005292T5 (de
Inventor
Takeshi Nanami
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor 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 Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of DE112009005292T5 publication Critical patent/DE112009005292T5/de
Publication of DE112009005292B4 publication Critical patent/DE112009005292B4/de
Application granted granted Critical
Publication of DE112009005292B8 publication Critical patent/DE112009005292B8/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/426—Scanning radar, e.g. 3D radar
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
DE112009005292.4T 2009-09-28 2009-09-28 Objekterfassungsvorrichtung Active DE112009005292B8 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2009/066793 WO2011036803A1 (ja) 2009-09-28 2009-09-28 物体検出装置

Publications (3)

Publication Number Publication Date
DE112009005292T5 DE112009005292T5 (de) 2012-12-27
DE112009005292B4 DE112009005292B4 (de) 2015-02-05
DE112009005292B8 true DE112009005292B8 (de) 2015-04-02

Family

ID=43795573

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112009005292.4T Active DE112009005292B8 (de) 2009-09-28 2009-09-28 Objekterfassungsvorrichtung

Country Status (5)

Country Link
US (1) US8305254B2 (de)
JP (1) JP5565406B2 (de)
CN (1) CN102439480B (de)
DE (1) DE112009005292B8 (de)
WO (1) WO2011036803A1 (de)

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* Cited by examiner, † Cited by third party
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JP4254844B2 (ja) * 2006-11-01 2009-04-15 トヨタ自動車株式会社 走行制御計画評価装置
CN102449672B (zh) * 2009-06-02 2013-05-01 丰田自动车株式会社 车辆用周边监视装置
KR101247960B1 (ko) * 2011-10-18 2013-04-03 메타빌드주식회사 레이더를 이용한 멀티 모드 장애물 감지 방법 및 그 장치
JP5953716B2 (ja) 2011-11-28 2016-07-20 トヨタ自動車株式会社 車両用制御装置、特定物体判別装置、特定物体判別方法、特定物体判別プログラム
JP5727356B2 (ja) * 2011-11-30 2015-06-03 日立オートモティブシステムズ株式会社 物体検知装置
DE102012208254A1 (de) * 2012-05-16 2013-11-21 Continental Teves Ag & Co. Ohg Verfahren und System zur Erstellung eines aktuellen Situationsabbilds
JP6205729B2 (ja) * 2013-01-21 2017-10-04 株式会社デンソー レーダ装置
JP5878491B2 (ja) * 2013-03-27 2016-03-08 株式会社日本自動車部品総合研究所 運転支援装置
JP6022983B2 (ja) * 2013-03-29 2016-11-09 株式会社日本自動車部品総合研究所 運転支援装置
JP5949721B2 (ja) * 2013-10-10 2016-07-13 株式会社デンソー 先行車選択装置
JP6828603B2 (ja) * 2017-06-09 2021-02-10 トヨタ自動車株式会社 物標検出装置
JP6828602B2 (ja) * 2017-06-09 2021-02-10 トヨタ自動車株式会社 物標検出装置
WO2020217685A1 (ja) * 2019-04-25 2020-10-29 パナソニックＩｐマネジメント株式会社 エリア判定システム、エリア判定方法、及び、プログラム
US11835649B2 (en) * 2019-06-28 2023-12-05 Smart Radar System, Inc. Method and apparatus for radar signal processing using convolutional neural network
KR102250621B1 (ko) * 2019-10-22 2021-05-10 재단법인대구경북과학기술원 Fmcw 레이더의 파라미터 검출 장치 및 방법

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004230947A (ja) * 2003-01-28 2004-08-19 Toyota Motor Corp 衝突判定装置
JP2008216213A (ja) * 2007-03-07 2008-09-18 Toyota Motor Corp 衝突予測装置

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US7899616B2 (en) * 1997-10-22 2011-03-01 Intelligent Technologies International, Inc. Method for obtaining information about objects outside of a vehicle
JP3903856B2 (ja) * 2002-06-14 2007-04-11 株式会社デンソー 車両制御装置，プログラム
JP2004037239A (ja) * 2002-07-03 2004-02-05 Fuji Heavy Ind Ltd 同一対象物判断方法および装置、並びに、位置ずれ補正方法および装置
JP4252951B2 (ja) * 2004-11-04 2009-04-08 本田技研工業株式会社 車両用制御対象判定装置
DE502006006525D1 (de) * 2005-09-15 2010-05-06 Continental Teves Ag & Co Ohg Verfahren und vorrichtung zum durchführen eines ausweichmanövers
JP4747883B2 (ja) * 2006-02-27 2011-08-17 トヨタ自動車株式会社 物標検出装置および物標検出方法
JP2007279892A (ja) * 2006-04-04 2007-10-25 Honda Motor Co Ltd 衝突予知システムの制御装置、衝突予知方法および乗員保護システム
US7667636B2 (en) * 2006-08-03 2010-02-23 Honda Motor Co., Ltd. Vehicle control system
JP4757146B2 (ja) * 2006-08-24 2011-08-24 本田技研工業株式会社 物体検知装置
JP4816340B2 (ja) * 2006-08-31 2011-11-16 ソニー株式会社 ナビゲーション装置、位置検出方法及び位置検出プログラム
JP5380788B2 (ja) * 2007-05-30 2014-01-08 トヨタ自動車株式会社 物体検出装置、及び車両用制御装置
JP2007232747A (ja) * 2007-06-22 2007-09-13 Fujitsu Ten Ltd 車載用レーダ装置
JP4385064B2 (ja) * 2007-09-06 2009-12-16 本田技研工業株式会社 制御対象認識装置
JP4385065B2 (ja) * 2007-09-06 2009-12-16 本田技研工業株式会社 車両用物体検知装置
US7733266B2 (en) * 2007-09-06 2010-06-08 Honda Motor Co., Ltd. Control target recognition system and vehicle object detection system
JP2009210337A (ja) * 2008-03-03 2009-09-17 Toyota Motor Corp レーダ装置
JP5120139B2 (ja) * 2008-08-08 2013-01-16 トヨタ自動車株式会社 物体検出装置
JP5093020B2 (ja) * 2008-09-18 2012-12-05 トヨタ自動車株式会社 レーダ装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004230947A (ja) * 2003-01-28 2004-08-19 Toyota Motor Corp 衝突判定装置
JP2008216213A (ja) * 2007-03-07 2008-09-18 Toyota Motor Corp 衝突予測装置

Also Published As

Publication number Publication date
JPWO2011036803A1 (ja) 2013-02-14
WO2011036803A1 (ja) 2011-03-31
CN102439480A (zh) 2012-05-02
JP5565406B2 (ja) 2014-08-06
US20120176267A1 (en) 2012-07-12
DE112009005292B4 (de) 2015-02-05
US8305254B2 (en) 2012-11-06
CN102439480B (zh) 2014-05-07
DE112009005292T5 (de) 2012-12-27

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