JP2009086787A - 車両検出装置 - Google Patents
車両検出装置 Download PDFInfo
- Publication number
- JP2009086787A JP2009086787A JP2007252948A JP2007252948A JP2009086787A JP 2009086787 A JP2009086787 A JP 2009086787A JP 2007252948 A JP2007252948 A JP 2007252948A JP 2007252948 A JP2007252948 A JP 2007252948A JP 2009086787 A JP2009086787 A JP 2009086787A
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- vehicle
- radar
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- sensor
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- 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
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S2013/9319—Controlling the accelerator
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
従来技術では、レーダが車両の無い位置に車両があると判定(誤検出)した場合、その位置付近で車両を探索してしまう、という課題がある。又、実際には車両が存在するにもかかわらず車両が無いと判定する(未検出)こともある、という課題もある。
【解決手段】
車両検出装置は、自車前方の車両を検出する第1及び第2のセンサと、第1のセンサが検出した対象物を第2のセンサが検出した場合、当該対象物を車両であると判定する判定部を備える。判定部は、対象物を一旦車両であると判定した場合、次回の判定において第2のセンサが当該対象物を検出しなくても、当該対象物を車両であると判定してもよい。第1のセンサはレーダ、第2のセンサはカメラであると望ましい。
【選択図】図5
Description
102 レーダ
103 結果統合ユニット
104 車両検出部
105 制御内容決定ユニット
106 ACC制御部
107 ECU
108 エンジン
109 ブレーキ
110 ACC実行部
Claims (4)
- 自車前方の車両を検出する第1及び第2のセンサと、
前記第1のセンサが検出した対象物を前記第2のセンサが検出した場合、当該対象物を車両であると判定する判定部を備える、車両検出装置。 - 前記判定部は、前記対象物を一旦車両であると判定した場合、次回の判定において前記第2のセンサが当該対象物を検出しなくても、当該対象物を車両であると判定する、請求項1記載の車両検出装置。
- 前記第1のセンサはレーダである請求項1又は2何れかに記載の車両検出装置。
- 前記第2のセンサはカメラである請求項1乃至3何れかに記載の車両検出装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007252948A JP2009086787A (ja) | 2007-09-28 | 2007-09-28 | 車両検出装置 |
US12/191,815 US20090085775A1 (en) | 2007-09-28 | 2008-08-14 | Vehicle Detection Apparatus |
EP08014798A EP2045623A1 (en) | 2007-09-28 | 2008-08-20 | Vehicle detection apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007252948A JP2009086787A (ja) | 2007-09-28 | 2007-09-28 | 車両検出装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2009086787A true JP2009086787A (ja) | 2009-04-23 |
Family
ID=40204960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007252948A Pending JP2009086787A (ja) | 2007-09-28 | 2007-09-28 | 車両検出装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20090085775A1 (ja) |
EP (1) | EP2045623A1 (ja) |
JP (1) | JP2009086787A (ja) |
Cited By (3)
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---|---|---|---|---|
WO2017204107A1 (ja) * | 2016-05-24 | 2017-11-30 | 株式会社デンソー | 物標検出装置 |
JP6400249B1 (ja) * | 2017-07-26 | 2018-10-03 | 三菱電機株式会社 | 運転制御システムおよび運転支援方法 |
US11933967B2 (en) | 2019-08-22 | 2024-03-19 | Red Creamery, LLC | Distally actuated scanning mirror |
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GB2447672B (en) | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
US9723274B2 (en) | 2011-04-19 | 2017-08-01 | Ford Global Technologies, Llc | System and method for adjusting an image capture setting |
US9555832B2 (en) | 2011-04-19 | 2017-01-31 | Ford Global Technologies, Llc | Display system utilizing vehicle and trailer dynamics |
US9434414B2 (en) | 2011-04-19 | 2016-09-06 | Ford Global Technologies, Llc | System and method for determining a hitch angle offset |
US9513103B2 (en) | 2011-04-19 | 2016-12-06 | Ford Global Technologies, Llc | Hitch angle sensor assembly |
US20140172232A1 (en) * | 2011-04-19 | 2014-06-19 | Ford Global Technologies, Llc | Sensor system and method for monitoring trailer hitch angle |
US9683848B2 (en) | 2011-04-19 | 2017-06-20 | Ford Global Technologies, Llc | System for determining hitch angle |
US9854209B2 (en) | 2011-04-19 | 2017-12-26 | Ford Global Technologies, Llc | Display system utilizing vehicle and trailer dynamics |
US9926008B2 (en) | 2011-04-19 | 2018-03-27 | Ford Global Technologies, Llc | Trailer backup assist system with waypoint selection |
US10196088B2 (en) | 2011-04-19 | 2019-02-05 | Ford Global Technologies, Llc | Target monitoring system and method |
US9373044B2 (en) | 2011-07-25 | 2016-06-21 | Ford Global Technologies, Llc | Trailer lane departure warning system |
DE102011112715A1 (de) * | 2011-09-07 | 2013-03-07 | Audi Ag | Verfahren zum Erfassen eines Objekts in einem Umfeld eines Kraftfahrzeugs |
US9164511B1 (en) | 2013-04-17 | 2015-10-20 | Google Inc. | Use of detected objects for image processing |
US9517668B2 (en) | 2014-07-28 | 2016-12-13 | Ford Global Technologies, Llc | Hitch angle warning system and method |
US9963004B2 (en) | 2014-07-28 | 2018-05-08 | Ford Global Technologies, Llc | Trailer sway warning system and method |
US9533683B2 (en) | 2014-12-05 | 2017-01-03 | Ford Global Technologies, Llc | Sensor failure mitigation system and mode management |
US9607242B2 (en) | 2015-01-16 | 2017-03-28 | Ford Global Technologies, Llc | Target monitoring system with lens cleaning device |
US9522699B2 (en) | 2015-02-05 | 2016-12-20 | Ford Global Technologies, Llc | Trailer backup assist system with adaptive steering angle limits |
US9616923B2 (en) | 2015-03-03 | 2017-04-11 | Ford Global Technologies, Llc | Topographical integration for trailer backup assist system |
US9804022B2 (en) | 2015-03-24 | 2017-10-31 | Ford Global Technologies, Llc | System and method for hitch angle detection |
US9555736B2 (en) | 2015-04-03 | 2017-01-31 | Magna Electronics Inc. | Vehicle headlamp control using sensing and communication systems |
US9821845B2 (en) | 2015-06-11 | 2017-11-21 | Ford Global Technologies, Llc | Trailer length estimation method using trailer yaw rate signal |
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JP4052291B2 (ja) | 2004-08-05 | 2008-02-27 | 日産自動車株式会社 | 車両用画像処理装置 |
JP4426436B2 (ja) * | 2004-12-27 | 2010-03-03 | 株式会社日立製作所 | 車両検知装置 |
JP2007091025A (ja) * | 2005-09-28 | 2007-04-12 | Fuji Heavy Ind Ltd | 車両の前方監視装置 |
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2007
- 2007-09-28 JP JP2007252948A patent/JP2009086787A/ja active Pending
-
2008
- 2008-08-14 US US12/191,815 patent/US20090085775A1/en not_active Abandoned
- 2008-08-20 EP EP08014798A patent/EP2045623A1/en not_active Withdrawn
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017204107A1 (ja) * | 2016-05-24 | 2017-11-30 | 株式会社デンソー | 物標検出装置 |
JP2017211249A (ja) * | 2016-05-24 | 2017-11-30 | 株式会社デンソー | 物標検出装置 |
JP6400249B1 (ja) * | 2017-07-26 | 2018-10-03 | 三菱電機株式会社 | 運転制御システムおよび運転支援方法 |
US11933967B2 (en) | 2019-08-22 | 2024-03-19 | Red Creamery, LLC | Distally actuated scanning mirror |
Also Published As
Publication number | Publication date |
---|---|
US20090085775A1 (en) | 2009-04-02 |
EP2045623A1 (en) | 2009-04-08 |
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