DE112016001529T8 - Objekterfassungsvorrichtung und Objekterfassungsverfahren - Google Patents
Objekterfassungsvorrichtung und Objekterfassungsverfahren Download PDFInfo
- Publication number
- DE112016001529T8 DE112016001529T8 DE112016001529.1T DE112016001529T DE112016001529T8 DE 112016001529 T8 DE112016001529 T8 DE 112016001529T8 DE 112016001529 T DE112016001529 T DE 112016001529T DE 112016001529 T8 DE112016001529 T8 DE 112016001529T8
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60T2201/024—Collision mitigation systems
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015072920A JP6592266B2 (ja) | 2015-03-31 | 2015-03-31 | 物体検知装置、及び物体検知方法 |
JP2015-072920 | 2015-03-31 | ||
PCT/JP2016/060167 WO2016158970A1 (ja) | 2015-03-31 | 2016-03-29 | 物体検知装置及び物体検知方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE112016001529T5 DE112016001529T5 (de) | 2017-12-14 |
DE112016001529T8 true DE112016001529T8 (de) | 2018-02-08 |
Family
ID=57006789
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE112016001529.1T Active DE112016001529T8 (de) | 2015-03-31 | 2016-03-29 | Objekterfassungsvorrichtung und Objekterfassungsverfahren |
Country Status (5)
Country | Link |
---|---|
US (1) | US10668919B2 (de) |
JP (1) | JP6592266B2 (de) |
CN (1) | CN107430822B (de) |
DE (1) | DE112016001529T8 (de) |
WO (1) | WO2016158970A1 (de) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6530705B2 (ja) | 2015-12-25 | 2019-06-12 | 株式会社デンソー | 運転支援装置及び運転支援方法 |
US9886841B1 (en) | 2016-04-27 | 2018-02-06 | State Farm Mutual Automobile Insurance Company | Systems and methods for reconstruction of a vehicular crash |
US10106156B1 (en) | 2016-04-27 | 2018-10-23 | State Farm Mutual Automobile Insurance Company | Systems and methods for reconstruction of a vehicular crash |
JP6693380B2 (ja) * | 2016-10-13 | 2020-05-13 | 株式会社デンソー | 車両制御装置 |
JP6574407B2 (ja) * | 2016-11-17 | 2019-09-11 | 株式会社デンソー | 車両制御装置、及び車両制御方法 |
JP6551382B2 (ja) * | 2016-12-22 | 2019-07-31 | トヨタ自動車株式会社 | 衝突回避支援装置 |
JP6669090B2 (ja) | 2017-01-30 | 2020-03-18 | 株式会社デンソー | 車両制御装置 |
JP7108916B2 (ja) * | 2018-03-13 | 2022-07-29 | パナソニックIpマネジメント株式会社 | 車両制御装置 |
CN108549880B (zh) * | 2018-04-28 | 2021-06-25 | 深圳市商汤科技有限公司 | 碰撞控制方法及装置、电子设备和存储介质 |
CN109703566B (zh) * | 2018-12-29 | 2021-08-03 | 百度在线网络技术(北京)有限公司 | 一种速度控制指令处理方法和车辆 |
CN112572462B (zh) | 2019-09-30 | 2022-09-20 | 阿波罗智能技术(北京)有限公司 | 自动驾驶的控制方法、装置、电子设备及存储介质 |
US11351961B2 (en) * | 2020-01-29 | 2022-06-07 | Ford Global Technologies, Llc | Proximity-based vehicle security systems and methods |
CN113246931B (zh) * | 2021-06-11 | 2021-09-28 | 创新奇智(成都)科技有限公司 | 一种车辆控制方法、装置、电子设备及存储介质 |
WO2023095341A1 (ja) * | 2021-11-29 | 2023-06-01 | 日産自動車株式会社 | 駐車支援方法及び駐車支援装置 |
CN114475586B (zh) * | 2022-01-19 | 2023-11-17 | 上汽通用五菱汽车股份有限公司 | 行人目标筛选方法、装置、电子设备及可读存储介质 |
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JPS5613968A (en) * | 1979-07-14 | 1981-02-10 | Okumura Yuuki Kk | Projecting rail stopping device for pinball machine |
US6982635B2 (en) * | 2000-09-21 | 2006-01-03 | American Calcar Inc. | Technique for assisting a vehicle user to make a turn |
JP4396400B2 (ja) * | 2004-06-02 | 2010-01-13 | トヨタ自動車株式会社 | 障害物認識装置 |
JP4604683B2 (ja) * | 2004-11-25 | 2011-01-05 | 日産自動車株式会社 | 危険状況警報装置 |
JP4706654B2 (ja) * | 2007-03-27 | 2011-06-22 | トヨタ自動車株式会社 | 衝突回避装置 |
US20090043462A1 (en) * | 2007-06-29 | 2009-02-12 | Kenneth Lee Stratton | Worksite zone mapping and collision avoidance system |
JP2009086788A (ja) * | 2007-09-28 | 2009-04-23 | Hitachi Ltd | 車両周辺監視装置 |
WO2011086661A1 (ja) * | 2010-01-12 | 2011-07-21 | トヨタ自動車株式会社 | 衝突位置予測装置 |
US8988276B2 (en) * | 2010-03-17 | 2015-03-24 | Honda Motor Co., Ltd. | Vehicle surroundings monitoring device |
JP5644206B2 (ja) * | 2010-06-23 | 2014-12-24 | トヨタ自動車株式会社 | 車両支援装置 |
EP2593931B1 (de) * | 2010-07-17 | 2019-02-27 | Valeo Schalter und Sensoren GmbH | Verfahren zur warnung eines lenkers eines kraftfahrzeuges vor einem hindernis in einem seitebereich neben einer fahrzeugseite und kraftfahrzeug mit einem fahrerhilfesystem |
DE102011012784A1 (de) * | 2010-09-14 | 2012-03-15 | Daimler Ag | Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung |
JP5587170B2 (ja) * | 2010-12-28 | 2014-09-10 | 株式会社豊田中央研究所 | 運転支援装置及びプログラム |
JP2012203884A (ja) * | 2011-03-28 | 2012-10-22 | Toyota Central R&D Labs Inc | 飛び出し歩行者判定装置及びプログラム |
DE102011106520A1 (de) * | 2011-06-15 | 2011-12-15 | Daimler Ag | Verfahren zur Verhinderung einer Kollision eines Fahrzeuges und Fahrerassistenzsystem für ein Fahrzeug |
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DE102012208712A1 (de) * | 2012-05-24 | 2013-11-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Vermeiden oder Abmildern einer Kollision eines Fahrzeugs mit einem Hindernis |
JP5880717B2 (ja) * | 2012-09-04 | 2016-03-09 | トヨタ自動車株式会社 | 衝突回避支援装置及び衝突回避支援方法 |
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DE102013113054B4 (de) * | 2012-12-03 | 2022-01-27 | Denso Corporation | Zielerfassungsvorrichtung zum Vermeiden einer Kollision zwischen einem Fahrzeug und einem durch einen an dem Fahrzeug montierten Sensor erfassten Ziel |
JP5870908B2 (ja) * | 2012-12-11 | 2016-03-01 | 株式会社デンソー | 車両の衝突判定装置 |
CN103879404B (zh) * | 2012-12-19 | 2016-08-31 | 财团法人车辆研究测试中心 | 可追踪移动物体的防撞警示方法及其装置 |
US9207095B2 (en) * | 2013-03-15 | 2015-12-08 | Harman International Industries, Incorporated | Integrated navigation and collision avoidance systems |
KR20140126975A (ko) * | 2013-04-24 | 2014-11-03 | 주식회사 만도 | 차량의 충돌 회피 장치 및 방법 |
JP5842863B2 (ja) * | 2013-05-14 | 2016-01-13 | 株式会社デンソー | 衝突緩和装置 |
KR101843073B1 (ko) * | 2013-05-31 | 2018-03-28 | 도요타 지도샤(주) | 차량의 운전 지원 장치 및 차량 탑재 컴퓨터 |
DE112013007255T5 (de) * | 2013-07-19 | 2016-03-31 | Honda Motor Co., Ltd. | Fahrzeug-Fahr-Sicherheits-Vorrichtung, Fahrzeug-Fahr-Sicherheits-Verfahren und Fahrzeug-Fahr-Sicherheits-Programm |
CN104210489B (zh) * | 2014-09-16 | 2017-06-13 | 武汉理工大学 | 车路协同环境下车辆与行人碰撞规避方法与系统 |
JP6622584B2 (ja) * | 2015-12-25 | 2019-12-18 | 株式会社デンソー | 運転支援装置及び運転支援方法 |
KR101996418B1 (ko) * | 2016-12-30 | 2019-07-04 | 현대자동차주식회사 | 센서 융합 기반 보행자 탐지 및 보행자 충돌 방지 장치 및 방법 |
JP6852632B2 (ja) * | 2017-09-19 | 2021-03-31 | トヨタ自動車株式会社 | 車両制御装置 |
-
2015
- 2015-03-31 JP JP2015072920A patent/JP6592266B2/ja active Active
-
2016
- 2016-03-29 DE DE112016001529.1T patent/DE112016001529T8/de active Active
- 2016-03-29 CN CN201680020138.5A patent/CN107430822B/zh active Active
- 2016-03-29 US US15/562,172 patent/US10668919B2/en active Active
- 2016-03-29 WO PCT/JP2016/060167 patent/WO2016158970A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JP2016192164A (ja) | 2016-11-10 |
US20180079408A1 (en) | 2018-03-22 |
DE112016001529T5 (de) | 2017-12-14 |
US10668919B2 (en) | 2020-06-02 |
CN107430822B (zh) | 2020-10-13 |
JP6592266B2 (ja) | 2019-10-16 |
CN107430822A (zh) | 2017-12-01 |
WO2016158970A1 (ja) | 2016-10-06 |
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Legal Events
Date | Code | Title | Description |
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R012 | Request for examination validly filed | ||
R082 | Change of representative |
Representative=s name: WINTER, BRANDL - PARTNERSCHAFT MBB, PATENTANWA, DE Representative=s name: WINTER, BRANDL, FUERNISS, HUEBNER, ROESS, KAIS, DE |
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R016 | Response to examination communication |