JP2007278892A - 車両の障害物検知装置 - Google Patents
車両の障害物検知装置 Download PDFInfo
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- JP2007278892A JP2007278892A JP2006106549A JP2006106549A JP2007278892A JP 2007278892 A JP2007278892 A JP 2007278892A JP 2006106549 A JP2006106549 A JP 2006106549A JP 2006106549 A JP2006106549 A JP 2006106549A JP 2007278892 A JP2007278892 A JP 2007278892A
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- obstacle
- vehicle
- detected
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- 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.)
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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
-
- 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
-
- 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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- G01S13/02—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
-
- 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
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01265—Seat belts
- B60R2021/01272—Belt tensioners
-
- 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
-
- 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
-
- 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
- G01S2013/932—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
Abstract
【解決手段】レーダ装置1により障害物が検知された時点で算出された上記ずれ量を、該障害物の自車両に対する相対移動位置を推定する際に、該障害物が検知されてから所定時間経過した時点で検出された旋回半径に基づいて補正する。
【選択図】図2
Description
x(k)=x(k−1)−L×v/R
より求める。
x=Lθ
で表されるものである。
f=x−c
という関係があり、cの値は、
R2=d2+(R−c)2
という関係がある。そして、cの値がRに比べて非常に小さいことと、dがLと略等しいこととを考慮して、
c=d2/2R=L2/2R
と近似される。
1 レーダ装置
4b 位置推定部(進行路推定手段)(静止物体判定手段)(位置推定手段)
(ずれ量算出手段)(補正手段)
11 コントロールユニット(作動機器制御手段)(旋回半径検出手段)
12 車速センサ(旋回半径検出手段)
13 ヨーレート検出センサ(旋回半径検出手段)
21 ブレーキ作動手段(作動機器)
22 シートベルトプリテンショナ(作動機器)
51 シートベルト
Claims (6)
- 自車両前方の障害物を検知するレーダ装置と、該レーダ装置からの障害物検知情報を受けて自車両の作動機器を制御する作動機器制御手段とを備えた車両の障害物検知装置であって、
自車両の旋回半径を検出する旋回半径検出手段と、
上記旋回半径検出手段により検出された旋回半径に基づいて自車両の進行路を推定する進行路推定手段と、
上記レーダ装置により検知された障害物が静止物体であるか否かを判定する静止物体判定手段と、
上記障害物が検知されてから所定時間経過した時点で、当該障害物が該所定時間の間に自車両に対して相対的に移動した位置を推定する位置推定手段とを備え、
上記位置推定手段は、上記レーダ装置により上記障害物が検知された時点で、当該障害物の、上記進行路推定手段により推定された進行路中心線からのずれ量を算出するずれ量算出手段を有していて、上記静止物体判定手段により当該障害物が静止物体であると判定された場合に、当該障害物が検知されてから所定時間経過した時点で、該ずれ量算出手段により算出されたずれ量に基づいて上記障害物の自車両に対する相対移動位置を推定するように構成されており、
上記ずれ量算出手段により算出されたずれ量を、上記位置推定手段が上記障害物の自車両に対する相対移動位置を推定する際に、上記障害物が検知されてから所定時間経過した時点で上記旋回半径検出手段により検出された旋回半径に基づいて補正する補正手段を更に備えていることを特徴とする車両の障害物検知装置。 - 請求項1記載の車両の障害物検知装置において、
上記レーダ装置は、ミリ波レーダ装置であることを特徴とする車両の障害物検知装置。 - 請求項1又は2記載の車両の障害物検知装置において、
上記旋回半径検出手段は、自車両のヨーレートを検出するヨーレート検出センサを有していることを特徴とする車両の障害物検知装置。 - 請求項1又は2記載の車両の障害物検知装置において、
上記旋回半径検出手段は、自車両の横加速度を検出する横加速度検出センサを有していることを特徴とする車両の障害物検知装置。 - 請求項1〜4のいずれか1つに記載の車両の障害物検知装置において、
上記作動機器は、自車両のブレーキを作動させるブレーキ作動手段であることを特徴とする車両の障害物検知装置。 - 請求項1〜4のいずれか1つに記載の車両の障害物検知装置において、
上記作動機器は、自車両の乗員が着用しているシートベルトを巻き取って該シートベルトに所定張力を付与することで該乗員を拘束するシートベルトプリテンショナであることを特徴とする車両の障害物検知装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006106549A JP5055812B2 (ja) | 2006-04-07 | 2006-04-07 | 車両の障害物検知装置 |
EP07006447.2A EP1843174B1 (en) | 2006-04-07 | 2007-03-28 | Obstacle detecting device, method and computer program product |
US11/730,426 US7835865B2 (en) | 2006-04-07 | 2007-04-02 | Obstacle detecting control device of vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006106549A JP5055812B2 (ja) | 2006-04-07 | 2006-04-07 | 車両の障害物検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007278892A true JP2007278892A (ja) | 2007-10-25 |
JP5055812B2 JP5055812B2 (ja) | 2012-10-24 |
Family
ID=38330714
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006106549A Expired - Fee Related JP5055812B2 (ja) | 2006-04-07 | 2006-04-07 | 車両の障害物検知装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7835865B2 (ja) |
EP (1) | EP1843174B1 (ja) |
JP (1) | JP5055812B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012001896A1 (ja) * | 2010-06-29 | 2012-01-05 | 本田技研工業株式会社 | 車両の進行路推定装置 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4909790B2 (ja) * | 2007-04-04 | 2012-04-04 | 本田技研工業株式会社 | 車両用走行制御装置 |
FR2947223B1 (fr) * | 2009-06-29 | 2015-05-01 | Valeo Vision | Procede de commande de faisceau d'eclairage pour vehicules |
DE102009033689A1 (de) * | 2009-07-17 | 2011-01-20 | Trw Automotive Gmbh | Fahrzeugsicherheitsgurtsystem |
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 |
JP5939224B2 (ja) * | 2013-10-03 | 2016-06-22 | 株式会社デンソー | 先行車選択装置 |
EP2950114B1 (en) * | 2014-05-30 | 2020-03-04 | Honda Research Institute Europe GmbH | Method for assisting a driver in driving a vehicle, a driver assistance system, a computer software program product and vehicle |
JP6292097B2 (ja) * | 2014-10-22 | 2018-03-14 | 株式会社デンソー | 側方測距センサ診断装置 |
JP6361698B2 (ja) * | 2016-06-24 | 2018-07-25 | トヨタ自動車株式会社 | 衝突回避装置 |
CN109476307B (zh) * | 2016-07-12 | 2021-12-07 | 日产自动车株式会社 | 行驶控制方法及行驶控制装置 |
CZ201734A3 (cs) * | 2017-01-24 | 2018-04-04 | České vysoké učení technické v Praze - Fakulta elektrotechnická | Zařízení pro zvýšení bezpečnosti provozu vozidel při pojíždění |
FR3062500A1 (fr) * | 2017-02-02 | 2018-08-03 | Valeo Systemes D'essuyage | Procede de suivi de l'utilisation d'un systeme d'essuyage d'un vehicule automobile |
JP7135808B2 (ja) * | 2018-12-07 | 2022-09-13 | トヨタ自動車株式会社 | 衝突回避支援装置 |
CN113246973B (zh) * | 2021-06-11 | 2022-05-03 | 北京三快在线科技有限公司 | 障碍物的轨迹预测方法、装置、存储介质及电子设备 |
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JPH07215147A (ja) * | 1994-01-28 | 1995-08-15 | Mazda Motor Corp | 車両用障害物検出装置 |
JPH08161697A (ja) * | 1994-10-05 | 1996-06-21 | Mazda Motor Corp | 車両の障害物検知装置 |
JPH08160133A (ja) * | 1994-12-09 | 1996-06-21 | Nikon Corp | 車両用レーダ検出装置 |
JP2001014597A (ja) * | 1999-06-28 | 2001-01-19 | Hitachi Ltd | 車線位置推定装置 |
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JP2003294838A (ja) * | 2002-04-01 | 2003-10-15 | Hitachi Ltd | 車載レーダ装置および車載用処理装置 |
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2006
- 2006-04-07 JP JP2006106549A patent/JP5055812B2/ja not_active Expired - Fee Related
-
2007
- 2007-03-28 EP EP07006447.2A patent/EP1843174B1/en not_active Expired - Fee Related
- 2007-04-02 US US11/730,426 patent/US7835865B2/en not_active Expired - Fee Related
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JPH07215147A (ja) * | 1994-01-28 | 1995-08-15 | Mazda Motor Corp | 車両用障害物検出装置 |
JPH08161697A (ja) * | 1994-10-05 | 1996-06-21 | Mazda Motor Corp | 車両の障害物検知装置 |
JPH08160133A (ja) * | 1994-12-09 | 1996-06-21 | Nikon Corp | 車両用レーダ検出装置 |
JP2001014597A (ja) * | 1999-06-28 | 2001-01-19 | Hitachi Ltd | 車線位置推定装置 |
JP2002341027A (ja) * | 2001-05-16 | 2002-11-27 | Fujitsu Ten Ltd | 車両のaccシステムにおけるカーブr補正方法及びその装置 |
JP2003294838A (ja) * | 2002-04-01 | 2003-10-15 | Hitachi Ltd | 車載レーダ装置および車載用処理装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012001896A1 (ja) * | 2010-06-29 | 2012-01-05 | 本田技研工業株式会社 | 車両の進行路推定装置 |
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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 |
Also Published As
Publication number | Publication date |
---|---|
EP1843174B1 (en) | 2013-05-22 |
EP1843174A3 (en) | 2007-11-21 |
EP1843174A2 (en) | 2007-10-10 |
US7835865B2 (en) | 2010-11-16 |
JP5055812B2 (ja) | 2012-10-24 |
US20070239358A1 (en) | 2007-10-11 |
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