DE112009005424T8 - Objektdetektionsvorrichtung und Objektdetektionsverfahren - Google Patents
Objektdetektionsvorrichtung und Objektdetektionsverfahren Download PDFInfo
- Publication number
- DE112009005424T8 DE112009005424T8 DE112009005424T DE112009005424T DE112009005424T8 DE 112009005424 T8 DE112009005424 T8 DE 112009005424T8 DE 112009005424 T DE112009005424 T DE 112009005424T DE 112009005424 T DE112009005424 T DE 112009005424T DE 112009005424 T8 DE112009005424 T8 DE 112009005424T8
- Authority
- DE
- Germany
- Prior art keywords
- object detection
- detection device
- detection method
- detection
- 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 - Fee Related
Links
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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
-
- 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
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- 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
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
- G01S2013/932—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
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/070562 WO2011070650A1 (ja) | 2009-12-08 | 2009-12-08 | 物体検出装置及び物体検出方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
DE112009005424T5 DE112009005424T5 (de) | 2012-12-06 |
DE112009005424T8 true DE112009005424T8 (de) | 2013-02-07 |
DE112009005424B4 DE112009005424B4 (de) | 2015-12-24 |
Family
ID=44145222
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE112009005424.2T Expired - Fee Related DE112009005424B4 (de) | 2009-12-08 | 2009-12-08 | Objektdetektionsvorrichtung und Objektdetektionsverfahren |
Country Status (5)
Country | Link |
---|---|
US (1) | US8610620B2 (de) |
JP (1) | JP4883246B2 (de) |
CN (1) | CN102696060B (de) |
DE (1) | DE112009005424B4 (de) |
WO (1) | WO2011070650A1 (de) |
Families Citing this family (59)
Publication number | Priority date | Publication date | Assignee | Title |
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EP2639781A1 (de) * | 2012-03-14 | 2013-09-18 | Honda Motor Co., Ltd. | Fahrzeug mit verbesserter Verkehrsobjektpositionserkennung |
US10609335B2 (en) | 2012-03-23 | 2020-03-31 | Magna Electronics Inc. | Vehicle vision system with accelerated object confirmation |
WO2014024284A1 (ja) * | 2012-08-08 | 2014-02-13 | トヨタ自動車株式会社 | 衝突予測装置 |
WO2014033955A1 (ja) * | 2012-09-03 | 2014-03-06 | トヨタ自動車株式会社 | 速度算出装置及び速度算出方法並びに衝突判定装置 |
WO2014033954A1 (ja) * | 2012-09-03 | 2014-03-06 | トヨタ自動車株式会社 | 衝突判定装置及び衝突判定方法 |
CN102945602B (zh) * | 2012-10-19 | 2015-04-15 | 上海交通大学无锡研究院 | 一种用于交通事件检测的车辆轨迹分类方法 |
JP5812064B2 (ja) * | 2012-11-22 | 2015-11-11 | 株式会社デンソー | 物標検出装置 |
JP5939357B2 (ja) * | 2013-05-31 | 2016-06-22 | トヨタ自動車株式会社 | 移動軌跡予測装置及び移動軌跡予測方法 |
JP5812061B2 (ja) * | 2013-08-22 | 2015-11-11 | 株式会社デンソー | 物標検出装置およびプログラム |
JP5929870B2 (ja) * | 2013-10-17 | 2016-06-08 | 株式会社デンソー | 物標検出装置 |
EP2865576B1 (de) * | 2013-10-22 | 2018-07-04 | Honda Research Institute Europe GmbH | Zusammengesetzte Vertrauensschätzung für prädiktive Fahrerunterstützungssysteme |
JP5991332B2 (ja) * | 2014-02-05 | 2016-09-14 | トヨタ自動車株式会社 | 衝突回避制御装置 |
CN103927437B (zh) * | 2014-04-04 | 2016-10-26 | 东南大学 | 在非直线路段测量车头间距的方法 |
JP6209797B2 (ja) | 2014-05-20 | 2017-10-11 | 本田技研工業株式会社 | 走行制御装置 |
WO2016003473A1 (en) * | 2014-07-03 | 2016-01-07 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
CN104269070B (zh) * | 2014-08-20 | 2017-05-17 | 东风汽车公司 | 一种车辆主动安全预警方法和运用该方法的安全预警系统 |
JP6380232B2 (ja) * | 2015-05-19 | 2018-08-29 | 株式会社デンソー | 物体検出装置、及び物体検出方法 |
CN107850670B (zh) * | 2015-07-27 | 2019-08-06 | 日产自动车株式会社 | 物体检测方法及物体检测装置 |
JP6027659B1 (ja) * | 2015-08-27 | 2016-11-16 | 富士重工業株式会社 | 車両の走行制御装置 |
WO2017078183A1 (en) | 2015-11-05 | 2017-05-11 | Nidec Elesys Corporation | Slot array antenna |
CN207542369U (zh) | 2015-11-05 | 2018-06-26 | 日本电产株式会社 | 雷达系统以及无线通信系统 |
US10381741B2 (en) | 2015-12-24 | 2019-08-13 | Nidec Corporation | Slot array antenna, and radar, radar system, and wireless communication system including the slot array antenna |
US10164344B2 (en) | 2015-12-24 | 2018-12-25 | Nidec Corporation | Waveguide device, slot antenna, and radar, radar system, and wireless communication system including the slot antenna |
JP6809908B2 (ja) | 2016-01-15 | 2021-01-06 | 日本電産株式会社 | 導波路装置および当該導波路装置を備えるアンテナ装置 |
DE112017000573B4 (de) | 2016-01-29 | 2024-01-18 | Nidec Corporation | Wellenleitervorrichtung und Antennenvorrichtung mit der Wellenleitervorrichtung |
DE102017102284A1 (de) | 2016-02-08 | 2017-08-10 | Nidec Elesys Corporation | Wellenleitervorrichtung und Antennenvorrichtung mit der Wellenleitervorrichtung |
DE102017102559A1 (de) | 2016-02-12 | 2017-08-17 | Nidec Elesys Corporation | Wellenleitervorrichtung und Antennenvorrichtung mit der Wellenleitervorrichtung |
JP2019047141A (ja) | 2016-03-29 | 2019-03-22 | 日本電産エレシス株式会社 | マイクロ波ic導波路装置モジュール、レーダ装置およびレーダシステム |
CN208093768U (zh) | 2016-04-05 | 2018-11-13 | 日本电产株式会社 | 雷达 |
JP2019054315A (ja) | 2016-04-28 | 2019-04-04 | 日本電産エレシス株式会社 | 実装基板、導波路モジュール、集積回路実装基板、マイクロ波モジュール、レーダ装置およびレーダシステム |
DE102016211730A1 (de) * | 2016-06-29 | 2018-01-04 | Continental Teves Ag & Co. Ohg | Verfahren zur Vorhersage eines Fahrbahnverlaufs einer Fahrbahn |
JP6787102B2 (ja) * | 2016-12-14 | 2020-11-18 | 株式会社デンソー | 物体検出装置、物体検出方法 |
CN106740465B (zh) * | 2016-12-30 | 2020-07-24 | 南通市台盈新材料科技有限公司 | 一种基于宽度探测的汽车避撞方法 |
JP2018112461A (ja) * | 2017-01-11 | 2018-07-19 | いすゞ自動車株式会社 | 確率算出装置及び確率算出方法 |
EP3364211B1 (de) * | 2017-02-21 | 2022-08-17 | Continental Autonomous Mobility Germany GmbH | Verfahren und vorrichtung zur erfassen einer möglichen kollision und fahrzeug |
JP2018164252A (ja) | 2017-03-24 | 2018-10-18 | 日本電産株式会社 | スロットアレーアンテナ、および当該スロットアレーアンテナを備えるレーダ |
CN108695585B (zh) | 2017-04-12 | 2021-03-16 | 日本电产株式会社 | 高频构件的制造方法 |
JP7020677B2 (ja) | 2017-04-13 | 2022-02-16 | 日本電産エレシス株式会社 | スロットアンテナ装置 |
US10608345B2 (en) | 2017-04-13 | 2020-03-31 | Nidec Corporation | Slot array antenna |
CN208093762U (zh) | 2017-04-14 | 2018-11-13 | 日本电产株式会社 | 缝隙天线装置以及雷达装置 |
WO2018207838A1 (en) | 2017-05-11 | 2018-11-15 | Nidec Corporation | Waveguide device, and antenna device including the waveguide device |
WO2018207796A1 (en) | 2017-05-11 | 2018-11-15 | Nidec Corporation | Waveguide device, and antenna device including the waveguide device |
JP2019009779A (ja) | 2017-06-26 | 2019-01-17 | 株式会社Wgr | 伝送線路装置 |
JP7103860B2 (ja) | 2017-06-26 | 2022-07-20 | 日本電産エレシス株式会社 | ホーンアンテナアレイ |
US10547122B2 (en) | 2017-06-26 | 2020-01-28 | Nidec Corporation | Method of producing a horn antenna array and antenna array |
JP2019012999A (ja) | 2017-06-30 | 2019-01-24 | 日本電産株式会社 | 導波路装置モジュール、マイクロ波モジュール、レーダ装置およびレーダシステム |
JP7294608B2 (ja) | 2017-08-18 | 2023-06-20 | ニデックエレシス株式会社 | アンテナアレイ |
JP2019050568A (ja) | 2017-09-07 | 2019-03-28 | 日本電産株式会社 | 方向性結合器 |
US20190109361A1 (en) | 2017-10-10 | 2019-04-11 | Nidec Corporation | Waveguiding device |
EP3518001B1 (de) * | 2018-01-25 | 2020-09-16 | Aptiv Technologies Limited | Verfahren zur erhöhung der zuverlässigkeit der bestimmung der position eines fahrzeugs auf basis einer vielzahl von detektionspunkten |
CN110443819B (zh) * | 2018-05-03 | 2022-04-15 | 比亚迪股份有限公司 | 一种单轨列车的轨道检测方法和装置 |
JP7298808B2 (ja) | 2018-06-14 | 2023-06-27 | ニデックエレシス株式会社 | スロットアレイアンテナ |
JP6596804B1 (ja) * | 2018-08-24 | 2019-10-30 | 独立行政法人日本スポーツ振興センター | 位置追跡システム、及び位置追跡方法 |
CN109343041B (zh) * | 2018-09-11 | 2023-02-14 | 昆山星际舟智能科技有限公司 | 用于高级智能辅助驾驶的单目测距方法 |
CN109254289B (zh) * | 2018-11-01 | 2021-07-06 | 百度在线网络技术(北京)有限公司 | 道路护栏的检测方法和检测设备 |
JP7379176B2 (ja) | 2019-01-16 | 2023-11-14 | 太陽誘電株式会社 | 導波路装置、電磁波閉じ込め装置、アンテナ装置、マイクロ波化学反応装置、およびレーダ装置 |
CN110636266B (zh) * | 2019-10-10 | 2020-10-16 | 珠海格力电器股份有限公司 | 基于电器的安防监控方法及装置、存储介质 |
CN113093176B (zh) * | 2019-12-23 | 2022-05-17 | 北京三快在线科技有限公司 | 线状障碍物检测方法、装置、电子设备和存储介质 |
CN112927509B (zh) * | 2021-02-05 | 2022-12-23 | 长安大学 | 一种基于交通冲突技术的道路行车安全风险评估系统 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5027422A (en) * | 1988-08-29 | 1991-06-25 | Raytheon Company | Confirmed boundary pattern matching |
US5168529A (en) * | 1988-08-29 | 1992-12-01 | Rayethon Company | Confirmed boundary pattern matching |
US5052045A (en) * | 1988-08-29 | 1991-09-24 | Raytheon Company | Confirmed boundary pattern matching |
US5173949A (en) * | 1988-08-29 | 1992-12-22 | Raytheon Company | Confirmed boundary pattern matching |
US5168530A (en) * | 1988-08-29 | 1992-12-01 | Raytheon Company | Confirmed boundary pattern matching |
US5018218A (en) * | 1988-08-29 | 1991-05-21 | Raytheon Company | Confirmed boundary pattern matching |
JP3400875B2 (ja) * | 1994-10-20 | 2003-04-28 | 本田技研工業株式会社 | 移動体の検出装置 |
JP4205825B2 (ja) * | 1999-11-04 | 2009-01-07 | 本田技研工業株式会社 | 対象物認識装置 |
JP2001134772A (ja) * | 1999-11-04 | 2001-05-18 | Honda Motor Co Ltd | 対象物認識装置 |
CN1914060B (zh) * | 2004-01-28 | 2013-05-29 | 丰田自动车株式会社 | 车辆行驶支持系统 |
JP4830604B2 (ja) * | 2006-04-17 | 2011-12-07 | 日産自動車株式会社 | 物体検出方法および物体検出装置 |
JP5088669B2 (ja) * | 2007-03-23 | 2012-12-05 | 株式会社デンソー | 車両周辺監視装置 |
JP4558758B2 (ja) * | 2007-05-07 | 2010-10-06 | 三菱電機株式会社 | 車両用障害物認識装置 |
JP5098563B2 (ja) * | 2007-10-17 | 2012-12-12 | トヨタ自動車株式会社 | 物体検出装置 |
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 |
US8320615B2 (en) * | 2008-02-27 | 2012-11-27 | Honeywell International Inc. | Systems and methods for recognizing a target from a moving platform |
CN102301405B (zh) * | 2009-01-29 | 2014-01-15 | 丰田自动车株式会社 | 物体识别装置以及物体识别方法 |
-
2009
- 2009-12-08 US US13/057,217 patent/US8610620B2/en active Active
- 2009-12-08 WO PCT/JP2009/070562 patent/WO2011070650A1/ja active Application Filing
- 2009-12-08 CN CN200980132832.6A patent/CN102696060B/zh active Active
- 2009-12-08 DE DE112009005424.2T patent/DE112009005424B4/de not_active Expired - Fee Related
- 2009-12-08 JP JP2011507732A patent/JP4883246B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
CN102696060B (zh) | 2015-01-07 |
US20120313806A1 (en) | 2012-12-13 |
CN102696060A (zh) | 2012-09-26 |
JP4883246B2 (ja) | 2012-02-22 |
JPWO2011070650A1 (ja) | 2013-04-22 |
US8610620B2 (en) | 2013-12-17 |
DE112009005424T5 (de) | 2012-12-06 |
DE112009005424B4 (de) | 2015-12-24 |
WO2011070650A1 (ja) | 2011-06-16 |
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R018 | Grant decision by examination section/examining division | ||
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |