JP2000259981A - Radio wave type road information detecting device - Google Patents
Radio wave type road information detecting deviceInfo
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- JP2000259981A JP2000259981A JP11060114A JP6011499A JP2000259981A JP 2000259981 A JP2000259981 A JP 2000259981A JP 11060114 A JP11060114 A JP 11060114A JP 6011499 A JP6011499 A JP 6011499A JP 2000259981 A JP2000259981 A JP 2000259981A
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- Prior art keywords
- road surface
- signal
- unit
- road
- doppler
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、道路に設置された
電波式の道路情報検出装置に関し、特にレーダにより路
面情報として必要な情報を検出する電波式道路情報検出
装置の改良に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio wave type road information detecting device installed on a road, and more particularly to an improvement of a radio wave type road information detecting device for detecting information required as road surface information by a radar.
【０００２】[0002]
【従来の技術】レーダによる道路情報検出装置として
は、一般的に路面状況を把握するための電波式路面状況
把握装置と、走行車両の速度等を検出する電波式走行車
両把握装置が知られている。2. Description of the Related Art As a road information detecting device using a radar, there are generally known a radio wave road surface condition grasping device for grasping a road surface condition and a radio wave traveling vehicle grasping device for detecting a speed of a traveling vehicle. I have.
【０００３】レーダを利用した路面状況把握用装置は、
米国の電子情報学会であるアイ・トリプルイー（ＩＥＥ
Ｅ）から発行されているリモートセンシングに関する分
科会雑誌（Transaction on Geoscience and Remote Sci
ence）の１９９２年３月号の３７０ページから３８１ペ
ージにわたりオー氏等（Y.Oh K.Sarabandi T.Uraby）の
論文に開示されており、レーダを用いて路面状況を把握
・計測することが提案されている。[0003] The device for grasping the road surface condition using radar is
I Triple E (IEEE)
(E) Transaction on Geoscience and Remote Sci
ence), pages 370 to 381 of the March 1992 issue of Y. Oh K. Sarabandi T. Uraby. Proposed.
【０００４】この先行技術文献に開示された手法は、図
１に示すように、路側部に設けられたポール２に送受信
部３、空中線部４からなるレーダ装置から、ビーム６が
路面１に照射される構成として提案されている。すなわ
ち、送受信部３は回転台５の上に搭載されており、路面
１を照射するビーム６の路面１に対する入射角度を変え
ることが可能になっており、この路面１からのビーム６
の散乱強度と路面１に対するビーム６の入射角７の角度
θから路面状況の推定が可能となる。この推定を信号処
理部８で実行する。In the technique disclosed in this prior art document, as shown in FIG. 1, a beam 6 irradiates a road surface 1 from a radar device comprising a transmitting / receiving unit 3 and an antenna unit 4 on a pole 2 provided on the road side. It has been proposed as a configuration. That is, the transmission / reception unit 3 is mounted on the turntable 5 so that the incident angle of the beam 6 irradiating the road surface 1 with respect to the road surface 1 can be changed.
The road surface condition can be estimated from the scattering intensity of the light beam and the angle θ of the incident angle 7 of the beam 6 with respect to the road surface 1. This estimation is performed by the signal processing unit 8.
【０００５】この先行技術の全体の系統図を図５に示
す。図５では、空中線部４と送受信部３とからなるレー
ダ装置から路面に対し照射されたビーム６の路面からの
反射波を再び受信し、送受信部で検波、増幅した後反射
信号は信号処理部８へ送られる。信号処理部８は、デー
タ処理により路面に対するビーム６の入射角度θに対す
る単位面積当たりのレーダ断面積σ０を求め、このθに
対するσ０のデータからニュ−ロアルゴリズム等により
路面状況の推定を行うものである。FIG. 5 shows an overall system diagram of this prior art. In FIG. 5, the reflected wave from the road surface of the beam 6 applied to the road surface from the radar device including the antenna unit 4 and the transmission / reception unit 3 is received again, and the transmission / reception unit detects and amplifies the reflected signal. Sent to 8. The signal processing unit 8 obtains a radar cross-sectional area σ 0 per unit area with respect to the incident angle θ of the beam 6 with respect to the road surface by data processing, and estimates a road surface condition from the data of σ 0 with respect to θ by a neuro algorithm or the like. Things.
【０００６】[0006]
【発明が解決しようとする課題】この先行技術は、路面
からの反射信号強度のビーム入射角度依存性から路面状
況を推定しようとするものであり、路面上に車両等が走
行する場合には車両等からの強い反射が生じ、路面から
の正確な単位面積当たりのレーダ断面積を計測すること
が不可能となり、路面状況の推定が出来なくなるという
問題点がある。This prior art is intended to estimate a road surface condition from the beam incident angle dependence of the intensity of a reflected signal from the road surface. There is a problem that strong reflection from the like occurs, and it becomes impossible to accurately measure the radar cross-sectional area per unit area from the road surface, and it becomes impossible to estimate the road surface condition.
【０００７】路面からのレーダの反射強度は路面上の凹
凸により決まり、乾燥路面では路面のコンクリート舗装
面、アスファルト舗装面により決まる凹凸による反射強
度から、水膜面では水膜により殆ど凹凸がなくなりほぼ
ゼロの反射強度から、積雪面では積雪表面の凹凸により
決まる反射強度からそれぞれ路面状況の推定を行ってお
り、極めて微弱な強さの反射信号により路面を推定する
ものである。[0007] The reflection intensity of the radar from the road surface is determined by the unevenness on the road surface. On a dry road surface, the reflection intensity due to the unevenness determined by the concrete and asphalt pavement surfaces of the road surface indicates that the water film surface has almost no unevenness due to the water film. The road surface condition is estimated from the reflection intensity of zero and the reflection intensity determined by the unevenness of the snow surface on the snow surface, and the road surface is estimated by a reflection signal of extremely weak intensity.
【０００８】これに対し、路面を走行する車両は金属物
体であり、レーダの反射強度は路面からの反射強度にく
らべ、数桁強いことが容易に予測される。そのため、車
両走行時では路面状況の計測は不可能になる。On the other hand, a vehicle traveling on a road surface is a metal object, and it is easily predicted that the reflection intensity of the radar is several orders of magnitude higher than the reflection intensity from the road surface. Therefore, it becomes impossible to measure the road surface condition when the vehicle is running.
【０００９】本発明の目的は、路面上を車両が頻繁に走
行していても、的確に路面の状態を推定出来る電波式道
路情報検出装置を提供することにある。An object of the present invention is to provide a radio wave type road information detecting device capable of accurately estimating a state of a road surface even when a vehicle frequently runs on the road surface.
【００１０】[0010]
【課題を解決するための手段】本発明による電波式道路
情報把握装置は、空中線部、送受信部からなるレーダ装
置とレーダ装置から放射されるビームの路面に対する入
射角度を変えるための回転台部、レーダ装置の送受信部
から出力される反射信号を入力せしめ路面状況の推定を
行う信号処理部からなる道路情報検出装置において、信
号処理部に周波数弁別部を設け、０ドップラ信号のみ取
り出し路面状況推定処理を行わせしめる信号処理部を設
けたことを特徴としている。A radio wave type road information grasping device according to the present invention comprises a radar device comprising an antenna unit, a transmitting and receiving unit, and a turntable for changing an incident angle of a beam radiated from the radar device with respect to a road surface. In a road information detection device comprising a signal processing unit for estimating a road surface condition by inputting a reflected signal output from a transmission / reception unit of a radar device, a frequency discriminating unit is provided in the signal processing unit, and only a 0 Doppler signal is extracted and a road surface condition estimation process is performed. Is provided.
【００１１】この周波数弁別部は、移動体に照射された
レーダ装置の反射波の周波数が、移動体の速度に応じて
偏倚するドップラシフトを利用したものである。すなわ
ち路面上の走行車両からの反射波はその速度に対応して
周波数がシフトしており、この周波数シフト（ドップラ
周波数）を計測することにより車両の走行速度が明らか
となる。The frequency discriminating unit utilizes a Doppler shift in which the frequency of the reflected wave of the radar device irradiated on the moving body is shifted in accordance with the speed of the moving body. That is, the frequency of the reflected wave from the traveling vehicle on the road surface is shifted in accordance with the speed, and the traveling speed of the vehicle becomes clear by measuring this frequency shift (Doppler frequency).
【００１２】一方、路面に照射されたレーダ装置の反射
波は、照射面が固定のため周波数シフトは生じない。こ
の性質を利用することにより、路面上に車両が走行して
いても正確に路面状況の推定が可能になる。On the other hand, the reflected wave of the radar device irradiated on the road surface has no frequency shift because the irradiated surface is fixed. By utilizing this property, the road surface condition can be accurately estimated even when the vehicle is running on the road surface.
【００１３】[0013]
【発明の実施の形態】図１は、本発明の一実施の形態と
しての道路情報検出装置を示している。すなわち、路側
部に設けられたポール２に送受信部３、空中線部４から
なるレーダ装置からビーム６が路面１に照射される構成
となっており、照射機構自体は先行技術と同様である。
送受信部３は、回転台５の上に搭載されており、路面１
を照射するビーム６の路面１に対する入射角度を変える
ことが可能になっており、この路面１からのビーム６の
散乱強度と路面１に対するビーム６の入射角度θから路
面状況の推定が可能となる。この推定を信号処理部８で
実行する。FIG. 1 shows a road information detecting device according to an embodiment of the present invention. That is, the beam 6 is irradiated on the road surface 1 from the radar device including the transmission / reception unit 3 and the antenna unit 4 on the pole 2 provided on the road side, and the irradiation mechanism itself is the same as that of the prior art.
The transmission / reception unit 3 is mounted on the turntable 5, and
It is possible to change the angle of incidence of the beam 6 for irradiating the road surface 1 with the scattering intensity of the beam 6 from the road surface 1 and the angle of incidence θ of the beam 6 with respect to the road surface 1. . This estimation is performed by the signal processing unit 8.
【００１４】本実施の形態の全体の系統図を図２に示
す。空中線部４と送受信部３とからなるレーダ装置から
路面に対し照射されたビーム６の路面からの反射波は、
レーダ装置で再び受信され、送受信部３でＩ／Ｑ検波さ
れ、増幅された後反射信号は信号処理部８へ送られる。
信号処理部８ではまず周波数弁別部９へ入力され、ドッ
プラ周波数成分のうち周波数がゼロの０ドップラ信号の
みが抽出される。FIG. 2 shows an overall system diagram of the present embodiment. The reflected wave from the road surface of the beam 6 emitted from the radar device including the antenna unit 4 and the transmission / reception unit 3 onto the road surface is as follows:
The reflected signal is received again by the radar device, subjected to I / Q detection by the transmission / reception unit 3 and amplified, and sent to the signal processing unit 8.
In the signal processing unit 8, first, the signal is input to the frequency discrimination unit 9, and only the 0 Doppler signal having a zero frequency is extracted from the Doppler frequency components.
【００１５】この０ドップラ信号は、路面上の移動して
いない目標物体からの反射であるために容易に走行車両
からの反射信号と区別が可能となる。この０ドップラ信
号成分をニューロアルゴリズム等により路面状況の推定
を行う路面状況推定処理部１０へ送出し、路面状況の推
定結果を出力する。Since this 0 Doppler signal is a reflection from a non-moving target object on the road surface, it can be easily distinguished from a reflection signal from a traveling vehicle. This 0 Doppler signal component is sent to a road surface condition estimation processing unit 10 for estimating the road surface condition using a neuro-algorithm or the like, and the estimation result of the road surface condition is output.
【００１６】以下、本実施の形態の動作につき説明す
る。路面上にレーダ装置のビーム６を照射すると、路面
上を走行する車両等の移動物体から電波が反射される場
合、反射信号は移動物体の速度に応じドップラ効果によ
り反射信号の周波数がシフトされる。逆に、このドップ
ラ周波数を計測することにより走行速度の計測が可能と
なる。Hereinafter, the operation of the present embodiment will be described. When a radio wave is reflected from a moving object such as a vehicle traveling on the road surface when the beam 6 of the radar device is irradiated on the road surface, the frequency of the reflected signal is shifted by the Doppler effect according to the speed of the moving object when the reflected signal is shifted. . Conversely, by measuring the Doppler frequency, the traveling speed can be measured.
【００１７】本発明の道路情報検出装置では、路面状況
の検出が目的であり、その場合はドップラ周波数がゼロ
の信号のみを検出する事により走行車両等の移動物体か
らの反射と区別することが出来る。そのために、信号処
理部８に、ドップラ周波数検出用の周波数弁別部９を設
け、０ドップラ信号のみを抽出して路面状況推定処理部
１０へ出力する。この０ドップラ信号は、路面上を走行
する車両等からの反射信号が除かれた路面からの反射信
号のみからなっている。The purpose of the road information detecting device of the present invention is to detect a road surface condition. In this case, it is possible to distinguish from reflection from a moving object such as a traveling vehicle by detecting only a signal having a Doppler frequency of zero. I can do it. For this purpose, the signal processing unit 8 is provided with a frequency discriminating unit 9 for Doppler frequency detection, and extracts only the 0 Doppler signal and outputs it to the road surface condition estimation processing unit 10. The 0 Doppler signal is composed of only the reflection signal from the road surface from which the reflection signal from the vehicle traveling on the road surface is removed.
【００１８】路面状況推定処理部１０では、受信された
０ドップラ信号の強度と、回転台部５から入力された入
射角度信号に基づいて、先行技術と同様にそれぞれの路
面状況の推定を行う。The road surface condition estimation processing section 10 estimates each road surface condition based on the intensity of the received 0 Doppler signal and the incident angle signal input from the turntable 5, as in the prior art.
【００１９】図３は、本発明の他の実施形態としての道
路情報検出装置を示している。照射機構自体は先行技術
と同様である。すなわち、送受信部３は、回転台５の上
に搭載されており、路面１を照射するビーム６の路面１
に対する入射角度を変えることが可能になっており、こ
の路面１からのビーム６の散乱強度と路面１に対するビ
ーム６の入射角度θから路面状況の推定が可能となる。
この推定を信号処理部８で実行する。FIG. 3 shows a road information detecting apparatus according to another embodiment of the present invention. The irradiation mechanism itself is the same as in the prior art. That is, the transmitting / receiving unit 3 is mounted on the turntable 5, and the road surface 1 of the beam 6 irradiating the road surface 1 is
Can be changed, and the road surface condition can be estimated from the scattering intensity of the beam 6 from the road surface 1 and the incident angle θ of the beam 6 to the road surface 1.
This estimation is performed by the signal processing unit 8.
【００２０】本実施の形態は、信号処理部８の周波数弁
別部９で計測された０ドップラ以外の信号成分を利用す
ることにより、路面１上を移動する走行車両１２の状況
を検出する機能を付加したことを特徴としている。The present embodiment uses a signal component other than 0 Doppler measured by the frequency discriminating unit 9 of the signal processing unit 8 to detect the situation of the traveling vehicle 12 moving on the road surface 1. It is characterized by being added.
【００２１】道路情報検出装置としては、路面状況の検
出の他に、路面上を移動する走行車両の動きを把握する
走行車両把握機能も重要な機能である。これは、インフ
ラに設置されたセンサにより走行車両の動きを検出し、
道路に設置された情報板或いは走行車両の運転者に情報
提供するものである。しかし、この場合通常、路面状況
検出装置と走行車両把握装置が別の装置となりかなり大
がかりなものとなる。そこで、１個のレーダ装置で両方
の機能が実現可能であれば、極めて有効である。As a road information detecting device, a traveling vehicle grasping function for grasping the movement of a traveling vehicle moving on a road surface is also an important function in addition to the detection of the road surface condition. This is done by detecting the movement of the traveling vehicle by sensors installed in the infrastructure,
Information is provided to an information board installed on a road or a driver of a traveling vehicle. However, in this case, the road surface condition detecting device and the traveling vehicle grasping device are usually separate devices, which are considerably large. Therefore, it is extremely effective if both functions can be realized by one radar device.
【００２２】図４は、この実施の形態を示す系統図であ
る。本系統図では、Ｉ／Ｑ検波した反射信号成分を信号
処理部８へ出力するレーダ装置は、図２と同様である
が、信号処理装置８の周波数弁別部９が異なる。すなわ
ち、周波数弁別部９は、０ドップラ信号と０ドップラ以
外の信号とを分離し、０ドップラ信号は、図２と同様に
路面状況推定処理部１０へ入力して路面状況推定結果を
出力させるが、０ドップラ以外の信号を走行車両の速度
を検出し演算する走行車両速度演算処理部１１に入力す
る。FIG. 4 is a system diagram showing this embodiment. In this system diagram, the radar device that outputs the reflected signal component subjected to the I / Q detection to the signal processing unit 8 is the same as that in FIG. 2, but the frequency discriminating unit 9 of the signal processing device 8 is different. That is, the frequency discriminating unit 9 separates the 0 Doppler signal from the signals other than 0 Doppler, and inputs the 0 Doppler signal to the road surface condition estimation processing unit 10 as in FIG. 2 to output the road surface condition estimation result. , 0 Doppler is input to a traveling vehicle speed calculation processing unit 11 which detects and computes the speed of the traveling vehicle.
【００２３】走行車両速度演算処理部１１は、入力され
た０ドップラ以外の信号を更に周波数分析することによ
り、上り方向および下り方向の各走行車両の速度を検出
して出力する。また、入力される０ドップラ以外の各信
号の断続状況を検出することにより、上り方向および下
り方向の各走行車両の単位時間当たりの数を把握するこ
ともできる。The traveling vehicle speed calculation processing section 11 further analyzes the frequency of the input signals other than 0 Doppler, thereby detecting and outputting the traveling vehicle speeds in the upward and downward directions. Further, by detecting the intermittent state of each signal other than the input 0 Doppler, the number of traveling vehicles per unit time in the up direction and the down direction can be grasped.
【００２４】なお、本発明は、上記各実施の形態に限定
されるものではなく、本発明の特許請求の範囲内におい
て、適宜変更して実施することができる。It should be noted that the present invention is not limited to the above embodiments, and can be implemented with appropriate modifications within the scope of the claims of the present invention.
【００２５】[0025]
【発明の効果】本発明によれば、信号処理部に周波数弁
部別部を設け、周波数弁部別の０ドップラ信号を出力せ
しめ、この信号から路面状況推定処理を行うことによ
り、路面上を走行する移動物体の影響を全く受けずに安
定な路面状況推定の実施が可能な電波式道路情報検出装
置を提供することができる。According to the present invention, a signal processing section is provided with a frequency valve section, a 0 Doppler signal for each frequency valve section is output, and a road surface condition estimating process is performed from this signal, whereby a road surface is estimated. It is possible to provide a radio wave road information detecting device capable of performing stable road surface condition estimation without being affected by a moving object at all.
【００２６】さらに、周波数弁部別部から０ドップラ以
外の周波数の信号を検出し、その信号から走行車両の走
行速度あるいは走行車両数を検出することにより、路面
状況検出機能と走行車両把握機能の両方を合わせもつ電
波式道路情報検出装置を提供することができる。Further, a signal having a frequency other than 0 Doppler is detected from the frequency discriminating portion, and the traveling speed or the number of traveling vehicles is detected from the signal, so that the road surface condition detecting function and the traveling vehicle grasping function are detected. It is possible to provide a radio wave road information detecting device having both of them.
【図１】本発明の電波式道路情報検出装置の実施の形態
を示す構成図である。FIG. 1 is a configuration diagram showing an embodiment of a radio wave road information detection device according to the present invention.
【図２】本発明の電波式道路情報検出装置の実施の形態
の系統図である。FIG. 2 is a system diagram of an embodiment of a radio wave road information detecting device according to the present invention.
【図３】本発明の電波式道路情報検出装置の他の実施の
形態を示す構成図である。FIG. 3 is a configuration diagram showing another embodiment of the radio wave type road information detection device of the present invention.
【図４】本発明の電波式道路情報検出装置の他の実施の
形態の系統図である。FIG. 4 is a system diagram of another embodiment of the radio wave type road information detecting device of the present invention.
【図５】従来の電波式道路情報検出装置の系統図であ
る。FIG. 5 is a system diagram of a conventional radio wave road information detecting device.
１ 路面 ２ ポール ３ 送受信部 ４ 空中線部 ５ 回転台回転台 ６ ビーム ７ ビーム入射角 ８ 信号処理部 ９ 周波数弁別部 １０ 路面状況推定処理部 １１ 走行車両速度演算処理部 １２ 走行車両 DESCRIPTION OF SYMBOLS 1 Road surface 2 Pole 3 Transmission / reception part 4 Antenna part 5 Turntable turntable 6 Beam 7 Beam incidence angle 8 Signal processing part 9 Frequency discrimination part 10 Road surface condition estimation processing part 11 Traveling vehicle speed calculation processing part 12 Traveling vehicle
Claims (4)
らの反射波を受信する空中線部および送受信部からなる
レーダ装置と、前記レーダ装置から放射されるビームの
路面に対する入射角度を変える為の回転台部と、前記送
受信部で受信・検波された路面反射信号と前記回転台部
から出力される入射角度信号から路面状況の推定処理を
行う路面状況推定処理部を備えた信号処理部と、を備え
た電波式道路情報検出装置において、 前記送受信部に位相検波部を設け、前記信号処理部に前
記位相検波部で位相検波された前記路面反射信号を周波
数弁別する周波数弁別部を設けたことを特徴とする電波
式道路情報検出装置。1. A radar device comprising an antenna unit and a transmitting / receiving unit for radiating a beam on a road surface and receiving a reflected wave from the road surface, and a turntable for changing an incident angle of the beam radiated from the radar device on the road surface. And a signal processing unit including a road surface condition estimation processing unit that performs a road surface condition estimation process from a road surface reflection signal received and detected by the transmission / reception unit and an incident angle signal output from the turntable unit. In the radio wave type road information detection device, a phase detection unit is provided in the transmission / reception unit, and a frequency discrimination unit is provided in the signal processing unit to discriminate a frequency of the road surface reflected signal detected by the phase detection unit. Radio wave road information detecting device.
ら入力された前記路面反射信号から、０ドップラ信号の
みを抽出して、前記路面状況推定処理部へ出力すること
を特徴とする請求項１記載の電波式道路情報検出装置。2. The method according to claim 1, wherein the frequency discriminating unit extracts only a 0 Doppler signal from the road surface reflection signal input from the phase detection unit and outputs the signal to the road surface condition estimation processing unit. 2. The radio wave road information detecting device according to 1.
部を設け、前記周波数弁別部は、前記位相検波部から入
力された前記路面反射信号から、０ドップラ信号のみを
抽出して、前記路面状況推定処理部へ出力するととも
に、０ドップラ以外の信号を前記走行車両速度演算処理
部へ出力することを特徴とする請求項１記載の電波式道
路情報検出装置。3. A traveling vehicle speed calculation processing unit is provided in the signal processing unit, and the frequency discrimination unit extracts only a 0 Doppler signal from the road surface reflection signal input from the phase detection unit, and 2. The radio wave road information detecting device according to claim 1, wherein a signal other than 0 Doppler is output to the traveling vehicle speed calculation processing unit in addition to outputting to the situation estimation processing unit.
波数弁別部から入力された０ドップラ以外の信号に基づ
いて、前記路面を走行中の車両の速度情報と、単位時間
当たりの走行車両数情報を出力することを特徴とする請
求項３記載の電波式道路情報検出装置。4. The traveling vehicle speed calculation processing section, based on a signal other than 0 Doppler input from the frequency discriminating section, velocity information of a vehicle traveling on the road surface and the number of traveling vehicles per unit time. 4. The radio wave road information detecting device according to claim 3, wherein information is output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06011499A JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06011499A JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000259981A true JP2000259981A (en) | 2000-09-22 |
| JP3369501B2 JP3369501B2 (en) | 2003-01-20 |
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ID=13132777
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP06011499A Expired - Fee Related JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
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| Country | Link |
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| JP (1) | JP3369501B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019144189A (en) * | 2018-02-23 | 2019-08-29 | 名古屋電機工業株式会社 | Road surface state determination device, method for determining road surface, and road surface state determination program |
| CN112888961A (en) * | 2018-10-12 | 2021-06-01 | 京瓷株式会社 | Electronic device, control method for electronic device, and control program for electronic device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101696325B1 (en) * | 2015-05-26 | 2017-01-13 | 컴레이저 (주) | laser detector of perimeter column type |
-
1999
- 1999-03-08 JP JP06011499A patent/JP3369501B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019144189A (en) * | 2018-02-23 | 2019-08-29 | 名古屋電機工業株式会社 | Road surface state determination device, method for determining road surface, and road surface state determination program |
| JP7039323B2 (en) | 2018-02-23 | 2022-03-22 | 名古屋電機工業株式会社 | Road surface condition determination device, road surface condition determination method and road surface condition determination program |
| CN112888961A (en) * | 2018-10-12 | 2021-06-01 | 京瓷株式会社 | Electronic device, control method for electronic device, and control program for electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3369501B2 (en) | 2003-01-20 |
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