JP2016080647A - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
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- JP2016080647A JP2016080647A JP2014215097A JP2014215097A JP2016080647A JP 2016080647 A JP2016080647 A JP 2016080647A JP 2014215097 A JP2014215097 A JP 2014215097A JP 2014215097 A JP2014215097 A JP 2014215097A JP 2016080647 A JP2016080647 A JP 2016080647A
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- 238000001514 detection method Methods 0.000 claims abstract description 119
- 238000004364 calculation method Methods 0.000 claims description 35
- 238000000034 method Methods 0.000 description 33
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
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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)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
以下、移動体に搭載される物体検知装置として具体化した第1実施形態について、図面を参照しつつ説明する。本実施形態に係る物体検知装置は、移動体としての車両に搭載された車載装置であり、物体検知センサとしての測距センサから物体の検知情報を受信することにより、車両の周囲に存在する物体(例えば、他の車両や道路構造物等)を検知する。まずは、本実施形態に係る車両の物体検知システムの概略構成について図1を用いて説明する。
本発明は上記実施形態に限定されず、例えば次のように実施してもよい。
Claims (7)
- 探査波を送信し前記探査波の反射波を物体の検知情報として受信する複数の物体検知センサ(20)を備える移動体(30)に適用され、前記検知情報に基づいて前記移動体の周囲に存在する物体を検知する物体検知装置(10)であって、
前記複数の物体検知センサのうち前記探査波を送信したセンサと同一のセンサが受信した反射波である直接波により前記物体を検知する第1検知手段と、
前記複数の物体検知センサのうち前記探査波を送信したセンサとは異なるセンサが受信した反射波である間接波により前記物体を検知する第2検知手段と、
前記第1検知手段及び前記第2検知手段の検知結果に基づいて、三角測量の原理により前記物体の位置情報を算出する位置算出手段と、
前記位置算出手段により算出した前記位置情報が前記移動体の進路領域内にある場合に、前記位置情報のうち前記移動体の進行方向に直交する方向の位置情報である横位置情報と、前記位置算出手段により算出した位置情報の信頼度とに基づいて、前記物体が前記移動体の接触対象か否かを判定する接触判定手段と、
を備えることを特徴とする物体検知装置。 - 前記接触判定手段は、前記信頼度に基づいて、前記横位置情報の検知ばらつきが生じるばらつき範囲を設定し、該設定したばらつき範囲と前記進路領域との位置関係に基づいて、前記物体が前記移動体の接触対象か否かを判定する請求項1に記載の物体検知装置。
- 前記接触判定手段は、前回の演算周期までに前記物体が前記移動体の接触対象であると判定した場合に、該判定した後の演算周期において、前記信頼度に対する前記ばらつき範囲を判定前よりも小さく設定する請求項2に記載の物体検知装置。
- 前記接触判定手段は、前記信頼度に応じた縮小率で前記進路領域を前記移動体の進行方向に直交する方向に縮小した縮小範囲を設定し、該設定した縮小範囲と前記横位置情報との位置関係に基づいて、前記物体が前記移動体の接触対象か否かを判定する請求項1に記載の物体検知装置。
- 前記接触判定手段は、前回の演算周期までに前記物体が前記移動体の接触対象であると判定した場合に、該判定した後の演算周期において、前記信頼度に対する前記縮小範囲を判定前よりも大きく設定する請求項4に記載の物体検知装置。
- 前記反射波の受信時刻に基づいて前記移動体と前記物体との距離を算出する距離算出手段を備え、
前記接触判定手段は、前記位置算出手段により算出した前記位置情報が前記移動体の進路領域内にある場合に、前記横位置情報、前記信頼度及び前記距離算出手段により算出した距離に基づいて、前記物体が前記移動体の接触対象か否かを判定する請求項1〜5のいずれか一項に記載の物体検知装置。 - 前記物体検知センサは、前記探査波として超音波を送信する超音波センサである請求項1〜6のいずれか一項に記載の物体検知装置。
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JP2014215097A JP6442225B2 (ja) | 2014-10-22 | 2014-10-22 | 物体検知装置 |
US14/918,319 US10578736B2 (en) | 2014-10-22 | 2015-10-20 | Object detection apparatus |
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JP2014215097A JP6442225B2 (ja) | 2014-10-22 | 2014-10-22 | 物体検知装置 |
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JP2016080647A true JP2016080647A (ja) | 2016-05-16 |
JP6442225B2 JP6442225B2 (ja) | 2018-12-19 |
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Cited By (1)
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JP2019095302A (ja) * | 2017-11-22 | 2019-06-20 | アイシン精機株式会社 | 物体検出装置 |
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DE102016218093A1 (de) * | 2016-09-21 | 2018-03-22 | Robert Bosch Gmbh | Betriebsverfahren für ein Ultraschallsensorsystem, Steuereinrichtung, Ultraschallsensorsystem und Fahrzeug |
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US11332124B2 (en) * | 2019-01-10 | 2022-05-17 | Magna Electronics Inc. | Vehicular control system |
KR20210060237A (ko) * | 2019-11-18 | 2021-05-26 | 현대모비스 주식회사 | 후방 교차 충돌 감지 시스템 및 방법 |
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