JP2010286245A - 物体検知方法 - Google Patents
物体検知方法 Download PDFInfo
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- JP2010286245A JP2010286245A JP2009137829A JP2009137829A JP2010286245A JP 2010286245 A JP2010286245 A JP 2010286245A JP 2009137829 A JP2009137829 A JP 2009137829A JP 2009137829 A JP2009137829 A JP 2009137829A JP 2010286245 A JP2010286245 A JP 2010286245A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- 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
-
- 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
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/20—Systems for measuring distance only using transmission of interrupted, pulse modulated waves whereby multiple time-around echoes are used or eliminated
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
【解決手段】 検知されたターゲットと同方向で距離が2倍の位置にダミーターゲットを設定し、ダミーターゲットの位置を含む所定範囲に倍波ターゲット検知範囲を設定し、倍波ターゲット検知範囲に検知されたターゲットを倍波ターゲットとして判定し、倍波ターゲットと同方向で距離が2分の1の位置に補間ターゲットを設定し、補間ターゲットの位置を含む所定範囲に基本波ターゲット検知領域を設定し、基本波ターゲット検知領域に基本波ターゲットが検知されない場合に補間ターゲットを基本波ターゲットとして出力する。このように、検知すべき基本波ターゲットが至近距離において非検知状態になっても、依然として検知されている倍波ターゲットから算出した補間ターゲットにより基本波ターゲットのデータを推定して出力することで、基本波ターゲットを継続的に検知し続けることができる。
【選択図】 図7
Description
Va 自車
Vb 先行車(ターゲット)
Claims (2)
- 送受信手段(M)により自車(Va)の進行方向に設定された所定領域に向けて電磁波を送信するとともに該電磁波がターゲット(Vb)により反射されて生じる反射波を受信し、受信された反射波に基づいて少なくともターゲット(Vb)の方向および距離を検知する物体検知方法において、
検知されたターゲット(Vb)と同方向で距離が2倍の位置にダミーターゲットを設定する第1工程と、
前記ダミーターゲットの位置を含む所定範囲に倍波ターゲット検知範囲を設定する第2工程と、
前記倍波ターゲット検知範囲に検知されたターゲット(Vb)を倍波ターゲットとして判定する第3工程と、
前記倍波ターゲットと同方向で距離が2分の1の位置に補間ターゲットを設定する第4工程と、
前記補間ターゲットの位置を含む所定範囲に基本波ターゲット検知領域を設定する第5工程と、
前記基本波ターゲット検知領域に基本波ターゲットが検知されない場合に前記補間ターゲットを基本波ターゲットとして出力する第6工程と、
を含むことを特徴とする物体検知方法。 - 前記第1工程において検知されるターゲット(Vb)は、距離が所定距離未満のターゲット(Vb)であることを特徴とする、請求項1に記載の物体検知方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009137829A JP5129784B2 (ja) | 2009-06-09 | 2009-06-09 | 物体検知方法及び物体検知装置 |
EP10786044.7A EP2442130B1 (en) | 2009-06-09 | 2010-05-21 | Object detection method |
CA2763650A CA2763650C (en) | 2009-06-09 | 2010-05-21 | Object detection method |
PCT/JP2010/058604 WO2010143513A1 (ja) | 2009-06-09 | 2010-05-21 | 物体検知方法 |
US13/376,116 US8896482B2 (en) | 2009-06-09 | 2010-05-21 | Object detection method |
CN201080024923.0A CN102460207B (zh) | 2009-06-09 | 2010-05-21 | 物体探测方法和运算处理装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009137829A JP5129784B2 (ja) | 2009-06-09 | 2009-06-09 | 物体検知方法及び物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010286245A true JP2010286245A (ja) | 2010-12-24 |
JP5129784B2 JP5129784B2 (ja) | 2013-01-30 |
Family
ID=43308772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009137829A Expired - Fee Related JP5129784B2 (ja) | 2009-06-09 | 2009-06-09 | 物体検知方法及び物体検知装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8896482B2 (ja) |
EP (1) | EP2442130B1 (ja) |
JP (1) | JP5129784B2 (ja) |
CN (1) | CN102460207B (ja) |
CA (1) | CA2763650C (ja) |
WO (1) | WO2010143513A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022065293A1 (ja) * | 2020-09-24 | 2022-03-31 | スタンレー電気株式会社 | ランプ装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9582886B2 (en) | 2013-07-08 | 2017-02-28 | Honda Motor Co., Ltd. | Object recognition device |
BR112015031832A2 (pt) * | 2013-07-08 | 2017-07-25 | Honda Motor Co Ltd | dispositivo de reconhecimento de objeto |
JP6387786B2 (ja) * | 2014-10-22 | 2018-09-12 | 株式会社デンソー | 超音波式物体検知装置 |
EP3441787A4 (en) * | 2016-04-05 | 2019-04-10 | Sony Corporation | DISTANCE KNIVES AND DISTANCE MEASUREMENT PROCEDURES |
JP6597517B2 (ja) * | 2016-08-10 | 2019-10-30 | 株式会社デンソー | 物標検出装置 |
CN108303697B (zh) * | 2017-01-13 | 2020-02-04 | 杭州海康威视数字技术股份有限公司 | 一种障碍物的超声波检测方法、装置及系统 |
CN112083288A (zh) * | 2020-09-10 | 2020-12-15 | 广州赛力迪科技有限公司 | 一种在线电缆故障测试信号分离方法、系统、装置及存储介质 |
US20230142674A1 (en) * | 2021-07-23 | 2023-05-11 | Zoox, Inc. | Radar data analysis and concealed object detection |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1164497A (ja) * | 1997-08-15 | 1999-03-05 | Mitsubishi Electric Corp | レーダ装置 |
JP2003270342A (ja) * | 2002-03-19 | 2003-09-25 | Denso Corp | 物体認識装置、物体認識方法、レーダ装置 |
JP2007240369A (ja) * | 2006-03-09 | 2007-09-20 | Mitsubishi Electric Corp | 電波軸調整装置および電波軸調整方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE811470C (de) | 1946-12-04 | 1951-08-20 | Linotype Machinery Ltd | Kuehlvorrichtung fuer gewoelbte, insbesondere halbzylindrische Druckplatten |
GB811470A (en) * | 1956-07-02 | 1959-04-08 | Decca Record Co Ltd | Improvements in or relating to pulse radar apparatus |
US4973968A (en) * | 1986-03-07 | 1990-11-27 | Plessey Overseas Limited | Radar system for determining first time around targets from multiple time around targets |
JP2004205279A (ja) | 2002-12-24 | 2004-07-22 | Denso Corp | レーダ装置,プログラム |
JP4287403B2 (ja) | 2005-04-15 | 2009-07-01 | 本田技研工業株式会社 | 物体検知装置 |
EP2610634B1 (en) * | 2011-12-28 | 2019-03-13 | LEONARDO S.p.A. | Method for determining an estimate of the radial speed of radar echoes by using the Doppler information |
-
2009
- 2009-06-09 JP JP2009137829A patent/JP5129784B2/ja not_active Expired - Fee Related
-
2010
- 2010-05-21 CA CA2763650A patent/CA2763650C/en not_active Expired - Fee Related
- 2010-05-21 EP EP10786044.7A patent/EP2442130B1/en not_active Not-in-force
- 2010-05-21 CN CN201080024923.0A patent/CN102460207B/zh not_active Expired - Fee Related
- 2010-05-21 WO PCT/JP2010/058604 patent/WO2010143513A1/ja active Application Filing
- 2010-05-21 US US13/376,116 patent/US8896482B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1164497A (ja) * | 1997-08-15 | 1999-03-05 | Mitsubishi Electric Corp | レーダ装置 |
JP2003270342A (ja) * | 2002-03-19 | 2003-09-25 | Denso Corp | 物体認識装置、物体認識方法、レーダ装置 |
JP2007240369A (ja) * | 2006-03-09 | 2007-09-20 | Mitsubishi Electric Corp | 電波軸調整装置および電波軸調整方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022065293A1 (ja) * | 2020-09-24 | 2022-03-31 | スタンレー電気株式会社 | ランプ装置 |
Also Published As
Publication number | Publication date |
---|---|
CA2763650C (en) | 2014-08-05 |
CN102460207A (zh) | 2012-05-16 |
EP2442130A1 (en) | 2012-04-18 |
EP2442130A4 (en) | 2013-02-27 |
WO2010143513A1 (ja) | 2010-12-16 |
US20120146839A1 (en) | 2012-06-14 |
US8896482B2 (en) | 2014-11-25 |
JP5129784B2 (ja) | 2013-01-30 |
CN102460207B (zh) | 2014-07-16 |
CA2763650A1 (en) | 2010-12-16 |
EP2442130B1 (en) | 2013-07-24 |
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