JP2018503074A - 物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 - Google Patents
物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 Download PDFInfo
- Publication number
- JP2018503074A JP2018503074A JP2017529714A JP2017529714A JP2018503074A JP 2018503074 A JP2018503074 A JP 2018503074A JP 2017529714 A JP2017529714 A JP 2017529714A JP 2017529714 A JP2017529714 A JP 2017529714A JP 2018503074 A JP2018503074 A JP 2018503074A
- Authority
- JP
- Japan
- Prior art keywords
- sensor device
- classifier
- sensor
- determined
- computer device
- Prior art date
- 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.)
- Granted
Links
Images
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
- 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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- 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
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
-
- 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
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- 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
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
-
- 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
- G01S2013/9315—Monitoring blind spots
-
- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
- G01S2013/93272—Sensor installation details in the back 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)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (13)
- 物体(8)による自動車(1)のセンサ装置(4)の遮蔽を検出するための方法であって、
前記センサ装置(4)により捕捉された少なくとも1つのエコー信号であって、前記センサ装置(4)と前記物体(8)との間の距離を表すエコー信号が、コンピュータ装置(3)により受信され(S1)、
前記センサ装置(4)の捕捉領域(E)が決定され、
前記少なくとも1つの受信されたエコー信号に基づいて、前記センサ装置(4)の捕捉領域(E)が、少なくともいくつかの領域において、前記物体(8)により遮蔽されているかどうかが検査される、方法において、
前記コンピュータ装置(3)により、前記少なくとも1つのエコー信号が、複数の個別距離値(B1、B2、B3)のうちの1つの個別距離値(B1、B2、B3)に割り当てられ、
前記個別距離値(B1、B2、B3)のそれぞれに対して、パワー値(P)が前記エコー信号に基づいて決定され(S2)、
前記パワー値(P)に基づいて、分類器により、前記センサ装置(4)の前記捕捉領域(E)の少なくとも所定の割合が、前記物体(8)により遮蔽されているかどうかについての決定がなされる(S6)、
ことを特徴とする方法。 - 前記複数の個別距離値(B1、B2、B3)に対する前記パワー値(P)は、ベクトルに割り当てられ、
前記ベクトルは、前記分類器によって所定の判定境界と比較される(S3)、
ことを特徴とする請求項1に記載の方法。 - 前記所定の判定境界は、前記分類器のトレーニング期中に予め決定される(S4)、
ことを特徴とする請求項2に記載の方法。 - 前記所定の判定境界は、前記分類器のテスト期中に検査される(S5)、
ことを特徴とする請求項2又は3に記載の方法。 - 複数のエコー信号が前記コンピュータ装置(3)により受信され、
前記エコー信号のそれぞれは、計測サイクル中に前記センサ装置(4)により受信される、
ことを特徴とする請求項1乃至4のいずれか一項に記載の方法。 - 前記センサ装置(4)と前記物体(8)との相対配置が、前記コンピュータ装置(3)により、前記個別距離値(B1、B2、B3)に対する前記パワー値(P)のそれぞれに基づいて決定される、
ことを特徴とする請求項1乃至5のいずれか一項に記載の方法。 - 前記物体(8)により遮蔽された前記捕捉領域(E)の第1部分領域(10)と、少なくとも1つの更なる物体(9)が前記センサ装置(4)により捕捉され得る前記捕捉領域(E)の第2部分領域(11)とが、前記コンピュータ装置(3)により、前記センサ装置(4)と前記物体(8)との前記決定された相対配置に基づいて決定される、
ことを特徴とする請求項6に記載の方法。 - 前記個別距離値(B1、B2、B3)に基づいて、前記コンピュータ装置(3)により、前記センサ装置(4)から進んで、前記物体(8)の背後に位置する更なる物体(9)が、少なくともいくつかの領域において、前記捕捉領域(E)において前記センサ装置(4)により捕捉され得るかどうかが検査される、
ことを特徴とする請求項1乃至7のいずれか一項に記載の方法。 - 前記分類器は、サポートベクターマシン、パーゼン窓分類器、及び/又は判別分析分類器である、
ことを特徴とする請求項1乃至8のいずれか一項に記載の方法。 - 請求項1乃至9のいずれか一項に記載の方法を実施するように設計された、自動車(1)の運転者支援システム(2)用のコンピュータ装置(3)。
- 請求項10に記載のコンピュータ装置(3)と、少なくとも1つのセンサ装置(4)とを有する、自動車(1)用の運転者支援システム(2)。
- 前記少なくとも1つのセンサ装置(3)は、レーダーセンサ、超音波センサ、レーザーセンサ、及び/又はカメラを有する、
請求項11に記載の運転者支援システム(2)。 - 請求項11又は12に記載の運転者支援システム(2)を有する自動車(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014118035.6A DE102014118035B4 (de) | 2014-12-05 | 2014-12-05 | Verfahren zum Erkennen einer Abschattung einer Sensoreinrichtung eines Kraftfahrzeugs durch ein Objekt, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102014118035.6 | 2014-12-05 | ||
PCT/EP2015/077999 WO2016087339A1 (de) | 2014-12-05 | 2015-11-30 | Verfahren zum erkennen einer abschattung einer sensoreinrichtung eines kraftfahrzeugs durch ein objekt, recheneinrichtung, fahrerassistenzsystem sowie kraftfahrzeug |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018503074A true JP2018503074A (ja) | 2018-02-01 |
JP6510052B2 JP6510052B2 (ja) | 2019-05-08 |
Family
ID=54705638
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017529714A Active JP6510052B2 (ja) | 2014-12-05 | 2015-11-30 | 物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10908259B2 (ja) |
EP (1) | EP3227718A1 (ja) |
JP (1) | JP6510052B2 (ja) |
KR (1) | KR102012572B1 (ja) |
CN (1) | CN107003405B (ja) |
DE (1) | DE102014118035B4 (ja) |
WO (1) | WO2016087339A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3579020B1 (de) * | 2018-06-05 | 2021-03-31 | Elmos Semiconductor SE | Verfahren zur erkennung eines hindernisses mit hilfe von reflektierten ultraschallwellen |
US11156714B2 (en) * | 2020-02-13 | 2021-10-26 | Tymphany Acoustic Technology (Huizhou) Co., Ltd. | Object movement detection based on ultrasonic sensor data analysis |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005535876A (ja) * | 2002-08-08 | 2005-11-24 | レイセオン・カンパニー | 自動車側面物体検出センサの遮断を検出する方法およびシステム |
JP2006010570A (ja) * | 2004-06-28 | 2006-01-12 | Aisin Seiki Co Ltd | 車両周辺監視装置 |
WO2006025453A1 (ja) * | 2004-09-01 | 2006-03-09 | Matsushita Electric Industrial Co., Ltd. | レーダ装置 |
JP2006098099A (ja) * | 2004-09-28 | 2006-04-13 | Secom Co Ltd | 移動体検知装置 |
JP2006349456A (ja) * | 2005-06-15 | 2006-12-28 | Denso Corp | 車載レーダ装置、車両制御システム |
JP2013134591A (ja) * | 2011-12-26 | 2013-07-08 | Denso Corp | 運転支援装置 |
JP2013156147A (ja) * | 2012-01-30 | 2013-08-15 | Toyota Motor Corp | 周辺物体検知装置 |
WO2013157123A1 (ja) * | 2012-04-19 | 2013-10-24 | トヨタ自動車株式会社 | 周辺物体検出装置 |
DE102012017668A1 (de) * | 2012-09-07 | 2014-03-13 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Ultraschallsensorvorrichtung eines Kraftfahrzeugs bei angekoppeltem Anhänger, Ultraschallsensorvorrichtung und Kraftfahrzeug |
JP2014180986A (ja) * | 2013-03-21 | 2014-09-29 | Toyota Motor Corp | 車線変更支援装置 |
JP2016034777A (ja) * | 2014-08-01 | 2016-03-17 | マツダ株式会社 | 車両の運転支援装置、及び運転支援方法 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19721901A1 (de) | 1997-05-26 | 1997-11-13 | Bernhard Prof Dr Liesenkoetter | Verfahren und Vorrichtung zur Hinderniserkennung auf Bahngleisen mit einem fahrzeugbasierten Radarsystem |
JP2003270341A (ja) | 2002-03-19 | 2003-09-25 | Denso Corp | 車載レーダの信号処理装置,プログラム |
DE102005046000A1 (de) * | 2004-09-28 | 2006-05-04 | Continental Teves Ag & Co. Ohg | Vorrichtung zum Erfassen eines seitlichen Umfelds eines Fahrzeugs |
JP4426436B2 (ja) * | 2004-12-27 | 2010-03-03 | 株式会社日立製作所 | 車両検知装置 |
EP2260322A1 (en) * | 2008-03-31 | 2010-12-15 | Valeo Radar Systems, Inc. | Automotive radar sensor blockage detection apparatus and method |
CN101866499B (zh) * | 2009-04-14 | 2012-04-25 | 成都西谷曙光数字技术有限公司 | 一种用于不停车收费管理的电子标签准确识别方法 |
US9014848B2 (en) | 2010-05-20 | 2015-04-21 | Irobot Corporation | Mobile robot system |
DE102012001554A1 (de) * | 2012-01-26 | 2013-08-01 | Connaught Electronics Ltd. | Verfahren zum Betreiben einer Fahrerassistenzeinrichtung eines Kraftfahrzeugs,Fahrerassistenzeinrichtung und Kraftfahrzeug |
JP5615862B2 (ja) * | 2012-03-07 | 2014-10-29 | クラリオン株式会社 | 車両周囲監視装置 |
EP2639781A1 (en) | 2012-03-14 | 2013-09-18 | Honda Motor Co., Ltd. | Vehicle with improved traffic-object position detection |
JP6770299B2 (ja) * | 2015-03-25 | 2020-10-14 | パナソニック株式会社 | 物体検出装置および物体検出方法 |
-
2014
- 2014-12-05 DE DE102014118035.6A patent/DE102014118035B4/de active Active
-
2015
- 2015-11-30 CN CN201580065639.0A patent/CN107003405B/zh active Active
- 2015-11-30 WO PCT/EP2015/077999 patent/WO2016087339A1/de active Application Filing
- 2015-11-30 EP EP15801452.2A patent/EP3227718A1/de not_active Withdrawn
- 2015-11-30 KR KR1020177014953A patent/KR102012572B1/ko active IP Right Grant
- 2015-11-30 JP JP2017529714A patent/JP6510052B2/ja active Active
- 2015-11-30 US US15/532,608 patent/US10908259B2/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005535876A (ja) * | 2002-08-08 | 2005-11-24 | レイセオン・カンパニー | 自動車側面物体検出センサの遮断を検出する方法およびシステム |
JP2006010570A (ja) * | 2004-06-28 | 2006-01-12 | Aisin Seiki Co Ltd | 車両周辺監視装置 |
WO2006025453A1 (ja) * | 2004-09-01 | 2006-03-09 | Matsushita Electric Industrial Co., Ltd. | レーダ装置 |
JP2006098099A (ja) * | 2004-09-28 | 2006-04-13 | Secom Co Ltd | 移動体検知装置 |
JP2006349456A (ja) * | 2005-06-15 | 2006-12-28 | Denso Corp | 車載レーダ装置、車両制御システム |
JP2013134591A (ja) * | 2011-12-26 | 2013-07-08 | Denso Corp | 運転支援装置 |
JP2013156147A (ja) * | 2012-01-30 | 2013-08-15 | Toyota Motor Corp | 周辺物体検知装置 |
WO2013157123A1 (ja) * | 2012-04-19 | 2013-10-24 | トヨタ自動車株式会社 | 周辺物体検出装置 |
DE102012017668A1 (de) * | 2012-09-07 | 2014-03-13 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Ultraschallsensorvorrichtung eines Kraftfahrzeugs bei angekoppeltem Anhänger, Ultraschallsensorvorrichtung und Kraftfahrzeug |
JP2014180986A (ja) * | 2013-03-21 | 2014-09-29 | Toyota Motor Corp | 車線変更支援装置 |
JP2016034777A (ja) * | 2014-08-01 | 2016-03-17 | マツダ株式会社 | 車両の運転支援装置、及び運転支援方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107003405A (zh) | 2017-08-01 |
US20170343649A1 (en) | 2017-11-30 |
WO2016087339A1 (de) | 2016-06-09 |
EP3227718A1 (de) | 2017-10-11 |
KR102012572B1 (ko) | 2019-08-20 |
DE102014118035B4 (de) | 2022-11-17 |
JP6510052B2 (ja) | 2019-05-08 |
US10908259B2 (en) | 2021-02-02 |
KR20170081665A (ko) | 2017-07-12 |
CN107003405B (zh) | 2020-09-01 |
DE102014118035A1 (de) | 2016-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3282284B1 (en) | Trailer dimension estimation with radar and camera | |
EP2998761A1 (en) | Radar system with phase based multi-target detection | |
US10393862B2 (en) | Trailer estimation with elevation enhanced sensing | |
CN104843007B (zh) | 用于选择位于其主车辆的行驶路径中的前车的车载设备 | |
CN106985780A (zh) | 车辆安全辅助系统 | |
JP6361592B2 (ja) | 車両制御装置 | |
CN104603856A (zh) | 碰撞判定装置和碰撞判定方法 | |
US10197672B2 (en) | Moving object detection apparatus and drive support apparatus | |
CN108535709A (zh) | 道路杂波抑除 | |
US11269059B2 (en) | Locating and/or classifying objects based on radar data, with improved reliability at different distances | |
JP6668472B2 (ja) | 物体分類を有する動力車両の周辺領域をキャプチャーする方法、制御装置、運転者支援システム、及び動力車両 | |
JP6510052B2 (ja) | 物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 | |
CN111580108B (zh) | 一种基于幅度变化分析的车载毫米波雷达遮挡检测方法 | |
US20210046940A1 (en) | Identifying the Contour of a Vehicle on the Basis of Measurement Data from an Environment Sensor System | |
US20050004719A1 (en) | Device and method for determining the position of objects in the surroundings of a motor vehicle | |
JP4730027B2 (ja) | 車両用物標判定装置 | |
US20190128047A1 (en) | Apparatus and method for controlling vehicle | |
CN112101069A (zh) | 确定行驶区域信息的方法及装置 | |
CN108885262A (zh) | 用于捕捉至少一个对象的方法、传感器设备的装置、传感器设备和具有至少一个传感器设备的驾驶员辅助系统 | |
WO2020196367A1 (ja) | 検出装置及び検出方法 | |
JP2019219252A (ja) | 車両用物標検出方法および装置 | |
JP6820958B2 (ja) | 車両の制御装置および制御方法 | |
KR102192762B1 (ko) | 레이더 간섭 제거 장치 및 방법 | |
EP4099211A1 (en) | Method and device for training a machine learning algorithm | |
US20220334246A1 (en) | Object tracking method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180619 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180620 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180919 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190305 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190403 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6510052 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |