JP2013170898A - 障害物判定装置 - Google Patents
障害物判定装置 Download PDFInfo
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- JP2013170898A JP2013170898A JP2012034360A JP2012034360A JP2013170898A JP 2013170898 A JP2013170898 A JP 2013170898A JP 2012034360 A JP2012034360 A JP 2012034360A JP 2012034360 A JP2012034360 A JP 2012034360A JP 2013170898 A JP2013170898 A JP 2013170898A
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- 230000007423 decrease Effects 0.000 claims abstract description 5
- 238000013459 approach Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 20
- 238000013213 extrapolation Methods 0.000 description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 16
- 229910052742 iron Inorganic materials 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000001788 irregular Effects 0.000 description 2
- 230000001151 other effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 1
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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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath 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
- G01S13/88—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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】車両に搭載されたレーダ2の出力により検出された障害物との衝突を判定して車両の運転支援を行う運転支援ECU3を備えた障害物判定装置1であって、運転支援ECU3は、レーダ2の出力が低下するヌル点で区切られるヌル点区間の距離をヌル点間距離とし、所定範囲において最も自車両に近いヌル点区間である基準区間よりも遠方において、基準区間のヌル点間距離よりも短いヌル点間距離のヌル点区間が所定数以上検出されると、この検出した障害物とは衝突しないと判定する。
【選択図】図6
Description
次に、第1の実施形態に係る障害物判定装置について具体的に説明する。
次に、第2の実施形態に係る障害物判定装置1について具体的に説明する。第2の実施形態に係る障害物判定装置1は、基本的に第1の実施形態に係る障害物判定装置1と同様であり、判定部33の機能及び処理動作のみ第1の実施形態に係る障害物判定装置1と相違する。このため、以下では、第1の実施形態に係る障害物判定装置1と相違する部分のみを説明し、第1の実施形態に係る障害物判定装置1と同じ部分の説明を省略する。
Claims (7)
- 車両に搭載されたレーダの出力により検出された障害物との衝突を判定する障害物判定装置であって、
前記レーダの出力が低下するヌル点で区切られるヌル点区間の距離をヌル点間距離とし、
所定範囲において最も自車両に近い前記ヌル点区間である基準区間よりも遠方において、前記基準区間のヌル点間距離よりも短いヌル点間距離のヌル点区間が所定数以上検出されると、前記障害物とは衝突しないと判定する、
障害物判定装置。 - 前記ヌル点は、マルチパスにより前記レーダの出力が低下する点である、
請求項1に記載の障害物判定装置。 - 前記ヌル点区間は、前記レーダの出力が高まる凸点が含まれる区間である、
請求項1又は2に記載の障害物判定装置。 - 前記凸点は、マルチパスにより前記レーダの出力が高まる点である、
請求項3に記載の障害物判定装置。 - 前記所定範囲は、前記レーダにより前記障害物を安定して検出可能な範囲である、
請求項1〜4の何れか一項に記載の障害物判定装置。 - 前記基準区間のヌル点間距離よりも短いヌル点間距離のヌル点区間が所定数以上検出されたとしても、前記レーダの出力が閾値を超えると、前記障害物とは衝突すると判定する、
請求項1〜5の何れか一項に記載の障害物判定装置。 - 前記閾値は、近づくに従い高くなる、
請求項6に記載の障害物判定装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012034360A JP5926069B2 (ja) | 2012-02-20 | 2012-02-20 | 障害物判定装置 |
CN201280070074.1A CN104126130B (zh) | 2012-02-20 | 2012-11-14 | 障碍物判定装置 |
EP12869486.6A EP2818892B1 (en) | 2012-02-20 | 2012-11-14 | Obstacle determination device |
PCT/JP2012/079538 WO2013125110A1 (ja) | 2012-02-20 | 2012-11-14 | 障害物判定装置 |
US14/378,567 US9134417B2 (en) | 2012-02-20 | 2012-11-14 | Obstacle determination device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012034360A JP5926069B2 (ja) | 2012-02-20 | 2012-02-20 | 障害物判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013170898A true JP2013170898A (ja) | 2013-09-02 |
JP5926069B2 JP5926069B2 (ja) | 2016-05-25 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012034360A Active JP5926069B2 (ja) | 2012-02-20 | 2012-02-20 | 障害物判定装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9134417B2 (ja) |
EP (1) | EP2818892B1 (ja) |
JP (1) | JP5926069B2 (ja) |
CN (1) | CN104126130B (ja) |
WO (1) | WO2013125110A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6381736B1 (ja) * | 2017-05-24 | 2018-08-29 | 三菱電機株式会社 | 物体検知装置およびこれを用いた自動運転システム |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6369035B2 (ja) * | 2013-02-05 | 2018-08-08 | 株式会社デンソー | 物標検出装置 |
JP6248778B2 (ja) * | 2014-04-18 | 2017-12-20 | 株式会社デンソー | 物標検出装置 |
US9708793B2 (en) * | 2015-03-11 | 2017-07-18 | Kubota Corporation | Work vehicle and running control apparatus causing automatic running of work vehicle |
US9505404B2 (en) * | 2015-04-10 | 2016-11-29 | Jaguar Land Rover Limited | Collision avoidance system |
WO2016194036A1 (ja) * | 2015-05-29 | 2016-12-08 | 三菱電機株式会社 | レーダ信号処理装置 |
EP3432022A4 (en) * | 2016-03-14 | 2019-12-04 | Hitachi Construction Machinery Co., Ltd. | MINE WORK MACHINE |
CN108784220A (zh) * | 2017-05-03 | 2018-11-13 | 苏州古月峰信息技术有限公司 | 一种酒杯以及智能特效系统 |
CN107656283A (zh) * | 2017-09-22 | 2018-02-02 | 合肥晟泰克汽车电子股份有限公司 | 泊车辅助系统的控制方法 |
JP6642556B2 (ja) * | 2017-11-22 | 2020-02-05 | マツダ株式会社 | 車両の物標検出装置 |
CN116068557A (zh) * | 2018-12-29 | 2023-05-05 | 百度在线网络技术(北京)有限公司 | 基于雷达的车辆位置检测方法、装置和计算机设备 |
Citations (14)
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JP2001153946A (ja) * | 1999-11-24 | 2001-06-08 | Fujitsu Ten Ltd | 車載レーダ装置 |
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JP2006036159A (ja) * | 2004-07-30 | 2006-02-09 | Mazda Motor Corp | 車両の走行制御装置 |
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JP2008107158A (ja) * | 2006-10-24 | 2008-05-08 | Mitsubishi Electric Corp | 車載用レーダ装置 |
JP2009300102A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP2011002346A (ja) * | 2009-06-19 | 2011-01-06 | Fujitsu Ten Ltd | 信号処理装置、及びレーダ装置 |
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-
2012
- 2012-02-20 JP JP2012034360A patent/JP5926069B2/ja active Active
- 2012-11-14 WO PCT/JP2012/079538 patent/WO2013125110A1/ja active Application Filing
- 2012-11-14 CN CN201280070074.1A patent/CN104126130B/zh active Active
- 2012-11-14 US US14/378,567 patent/US9134417B2/en active Active
- 2012-11-14 EP EP12869486.6A patent/EP2818892B1/en active Active
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JPH0634755A (ja) * | 1992-07-20 | 1994-02-10 | Fujitsu Ten Ltd | 車載用レーダ |
JPH10339774A (ja) * | 1997-06-10 | 1998-12-22 | Fujitsu Ten Ltd | Fm−cwレーダ |
JP2001153946A (ja) * | 1999-11-24 | 2001-06-08 | Fujitsu Ten Ltd | 車載レーダ装置 |
JP2002277537A (ja) * | 2001-03-19 | 2002-09-25 | Fujitsu Ten Ltd | Fm−cwレーダの路上静止物検知方法 |
JP2006036159A (ja) * | 2004-07-30 | 2006-02-09 | Mazda Motor Corp | 車両の走行制御装置 |
JP2006153658A (ja) * | 2004-11-29 | 2006-06-15 | Japan Radio Co Ltd | Fm−cwレーダ装置 |
JP2008107158A (ja) * | 2006-10-24 | 2008-05-08 | Mitsubishi Electric Corp | 車載用レーダ装置 |
JP2009300102A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP2011002346A (ja) * | 2009-06-19 | 2011-01-06 | Fujitsu Ten Ltd | 信号処理装置、及びレーダ装置 |
JP2011017634A (ja) * | 2009-07-09 | 2011-01-27 | Denso Corp | 物標情報推定装置 |
JP2011122876A (ja) * | 2009-12-09 | 2011-06-23 | Toyota Central R&D Labs Inc | 障害物検出装置 |
JP2011133946A (ja) * | 2009-12-22 | 2011-07-07 | Toyota Motor Corp | 衝突予測装置 |
JP2012194039A (ja) * | 2011-03-16 | 2012-10-11 | Mitsubishi Electric Corp | 車載用レーダ装置 |
JP2013002927A (ja) * | 2011-06-15 | 2013-01-07 | Honda Elesys Co Ltd | 障害物検知装置及びコンピュータプログラム |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6381736B1 (ja) * | 2017-05-24 | 2018-08-29 | 三菱電機株式会社 | 物体検知装置およびこれを用いた自動運転システム |
JP2018197950A (ja) * | 2017-05-24 | 2018-12-13 | 三菱電機株式会社 | 物体検知装置およびこれを用いた自動運転システム |
Also Published As
Publication number | Publication date |
---|---|
WO2013125110A1 (ja) | 2013-08-29 |
CN104126130A (zh) | 2014-10-29 |
JP5926069B2 (ja) | 2016-05-25 |
EP2818892B1 (en) | 2019-12-25 |
CN104126130B (zh) | 2016-05-25 |
EP2818892A4 (en) | 2015-08-05 |
EP2818892A1 (en) | 2014-12-31 |
US9134417B2 (en) | 2015-09-15 |
US20150032363A1 (en) | 2015-01-29 |
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