JP2019002769A - 物標判定装置及び運転支援システム - Google Patents
物標判定装置及び運転支援システム Download PDFInfo
- Publication number
- JP2019002769A JP2019002769A JP2017116907A JP2017116907A JP2019002769A JP 2019002769 A JP2019002769 A JP 2019002769A JP 2017116907 A JP2017116907 A JP 2017116907A JP 2017116907 A JP2017116907 A JP 2017116907A JP 2019002769 A JP2019002769 A JP 2019002769A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- target
- relative speed
- upper structure
- driving support
- 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
- 238000001514 detection method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 208000019901 Anxiety disease Diseases 0.000 description 2
- 230000036506 anxiety Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
-
- 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
- G01S13/865—Combination of radar systems with lidar 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
- G01S13/88—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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
その物標判定装置は、
ミリ波レーダーを用い、前記車両の前方に存在する物標の前記車両に対する相対速度を第1相対速度として取得する第1相対速度取得装置と、
ライダーを用い、前記物標の前記車両に対する相対速度を第2相対速度として取得する第2相対速度取得装置と、
前記第1相対速度と前記第2相対速度との差が閾値を超えた場合、前記物標を前記車両の高さよりも上方に存在する上方構造物として判定する判定装置と
を備える。
その運転支援システムは、
第1の発明に係る物標判定装置と、
運転支援制御を行う運転支援制御装置と
を備える。
前記運転支援制御は、前記車両の前方の対象物との衝突を回避する衝突回避制御と、設定された車間距離を保ちながら対象物に追従する追従走行制御とのうち少なくとも一方を含む。
前記運転支援制御装置は、前記上方構造物を前記運転支援制御における前記対象物から除外する。
図1は、本実施の形態に係る車両1及び前方物標の例を示す概略図である。車両1は、路面上をX方向に一定速度V1で走行している。つまり、X方向は、車両1の進行方向を表している。Z方向は、上方向、つまり、路面から離れる方向を表している。X方向とZ方向は互いに直交している。尚、本実施の形態では、X方向とZ方向とで規定される面だけを考え、水平方向は考えない。
V2R=−V1
V3R=−V1・cosθ
V2L=dDx/dt≒−V1
V3L=dDx/dt≒−V1
2−1.構成
図10は、本実施の形態に係る物標判定装置100の構成を示すブロック図である。物標判定装置100は、車両1に搭載されており、車両1の前方に存在する前方物標が上方構造物3であるか否かを判定する。詳細には、物標判定装置100は、第1相対速度取得装置110、第2相対速度取得装置120、及び判定装置130を備えている。
図11は、本実施の形態に係る物標判定装置100による物標判定方法を要約的に示すフローチャートである。図11に示されるルーチンは、繰り返し実行される。
物標判定装置100は、ミリ波レーダー10を用いて、車両1に対する前方物標の相対速度である第1相対速度VRを取得する。
物標判定装置100は、ライダー20を用いて、車両1に対する前方物標の相対速度である第2相対速度VLを取得する。
物標判定装置100は、第1相対速度VRと第2相対速度VLとの差ΔV(=|VR−VL|)を算出し、その差ΔVを閾値ΔVthと比較する(ステップS131)。差ΔVが閾値ΔVth以下の場合(ステップS131;Yes)、物標判定装置100は、当該前方物標は上方構造物3ではないと判定する(ステップS132)。差ΔVが閾値ΔVthを超えた場合(ステップS131;No)、物標判定装置100は、当該前方物標は上方構造物3であると判定する(ステップS133)。
以上に説明されたように、本実施の形態に係る物標判定装置100は、ミリ波レーダー10とライダー20の2種類のセンサを用いて、同じ前方物標の相対速度を取得する。ミリ波レーダー10を用いた場合の相対速度は第1相対速度VRであり、ライダー20を用いた場合の相対速度は第2相対速度VLである。前方物標が上方構造物3である場合、第1相対速度VRと第2相対速度VLとの差ΔVは、上方構造物3に近づくにつれて拡大する。従って、その差ΔVを閾値ΔVthと対比することによって、前方物標が上方構造物3であるか否かを判定することができる。
上述の物標判定装置100は、典型的には、車両1の運転を支援する運転支援システムに適用される。以下、本実施の形態に係る物標判定装置100を利用した運転支援システムについて説明する。
2 静止車両
3 上方構造物
10 ミリ波レーダー
20 ライダー
100 物標判定装置
110 第1相対速度取得装置
120 第2相対速度取得装置
130 判定装置
200 運転支援制御装置
300 走行装置
VR 第1相対速度
VL 第2相対速度
Claims (2)
- 車両に搭載される物標判定装置であって、
ミリ波レーダーを用い、前記車両の前方に存在する物標の前記車両に対する相対速度を第1相対速度として取得する第1相対速度取得装置と、
ライダーを用い、前記物標の前記車両に対する相対速度を第2相対速度として取得する第2相対速度取得装置と、
前記第1相対速度と前記第2相対速度との差が閾値を超えた場合、前記物標を前記車両の高さよりも上方に存在する上方構造物として判定する判定装置と
を備える
物標判定装置。 - 車両に搭載される運転支援システムであって、
請求項1に記載の物標判定装置と、
運転支援制御を行う運転支援制御装置と
を備え、
前記運転支援制御は、前記車両の前方の対象物との衝突を回避する衝突回避制御と、設定された車間距離を保ちながら対象物に追従する追従走行制御とのうち少なくとも一方を含み、
前記運転支援制御装置は、前記上方構造物を前記運転支援制御における前記対象物から除外する
運転支援システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017116907A JP6856452B2 (ja) | 2017-06-14 | 2017-06-14 | 物標判定装置及び運転支援システム |
CN201810563273.5A CN109080628B (zh) | 2017-06-14 | 2018-06-04 | 目标确定设备和驾驶辅助系统 |
US15/996,933 US10583737B2 (en) | 2017-06-14 | 2018-06-04 | Target determination apparatus and driving assistance system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017116907A JP6856452B2 (ja) | 2017-06-14 | 2017-06-14 | 物標判定装置及び運転支援システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019002769A true JP2019002769A (ja) | 2019-01-10 |
JP6856452B2 JP6856452B2 (ja) | 2021-04-07 |
Family
ID=64656647
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017116907A Active JP6856452B2 (ja) | 2017-06-14 | 2017-06-14 | 物標判定装置及び運転支援システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US10583737B2 (ja) |
JP (1) | JP6856452B2 (ja) |
CN (1) | CN109080628B (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10883256B2 (en) | 2018-05-25 | 2021-01-05 | Deere & Company | Object responsive control system for a work machine |
JP6702390B2 (ja) | 2018-10-09 | 2020-06-03 | トヨタ自動車株式会社 | 車両用駆動装置の制御装置、車載電子制御ユニット、学習済みモデル、機械学習システム、車両用駆動装置の制御方法、電子制御ユニットの製造方法及び出力パラメータ算出装置 |
US11119192B2 (en) | 2018-12-07 | 2021-09-14 | Here Global B.V. | Automatic detection of overhead obstructions |
JP7172786B2 (ja) | 2019-03-22 | 2022-11-16 | トヨタ自動車株式会社 | 車両制御システム |
CN110171417B (zh) * | 2019-05-24 | 2020-08-11 | 无锡佶达德光电子技术有限公司 | 基于激光雷达的定速巡航装置 |
JP7131508B2 (ja) | 2019-08-21 | 2022-09-06 | トヨタ自動車株式会社 | レーダ装置 |
JP7379021B2 (ja) * | 2019-08-29 | 2023-11-14 | 株式会社東芝 | 距離計測装置、距離計測方法、及び速度計測装置 |
CN112130136B (zh) * | 2020-09-11 | 2024-04-12 | 中国重汽集团济南动力有限公司 | 一种交通目标综合感知系统及方法 |
CN113253273B (zh) * | 2021-04-30 | 2024-02-20 | 岚图汽车科技有限公司 | 一种远距离车辆的探测方法和探测系统 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003104148A (ja) * | 2001-09-27 | 2003-04-09 | Mazda Motor Corp | 車両の制御装置 |
JP2004171295A (ja) * | 2002-11-20 | 2004-06-17 | Matsushita Electric Works Ltd | 障害物検知方法及び車載用レーダ装置 |
JP2005069739A (ja) * | 2003-08-20 | 2005-03-17 | Matsushita Electric Works Ltd | 車載用障害物検知装置 |
JP2008204281A (ja) * | 2007-02-21 | 2008-09-04 | Nippon Soken Inc | 物体検出装置、および車車間通信システム |
US20090002222A1 (en) * | 2007-06-27 | 2009-01-01 | Gm Global Technology Operations, Inc. | Method of estimating target elevation utilizing radar data fusion |
JP2010210483A (ja) * | 2009-03-11 | 2010-09-24 | Toyota Motor Corp | レーダ装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002189075A (ja) | 2000-12-20 | 2002-07-05 | Fujitsu Ten Ltd | 道路上方静止物検知方法 |
JP2002303671A (ja) | 2001-04-03 | 2002-10-18 | Nissan Motor Co Ltd | 物体種別判別装置 |
CN102221698B (zh) * | 2010-03-15 | 2014-09-10 | 株式会社本田艾莱希斯 | 雷达设备 |
JP5612621B2 (ja) * | 2012-02-28 | 2014-10-22 | 富士重工業株式会社 | 車外環境認識装置 |
KR101625413B1 (ko) * | 2012-12-06 | 2016-05-30 | 광주과학기술원 | 차선 변경 안내 방법 및 이를 실행하는 장치 |
FR3020616B1 (fr) * | 2014-04-30 | 2017-10-27 | Renault Sas | Dispositif de signalisation d'objets a un module de navigation de vehicule equipe de ce dispositif |
KR102435552B1 (ko) * | 2015-10-22 | 2022-08-24 | 주식회사 에이치엘클레무브 | 차량용 레이더 장치 장치 및 그의 타겟 선정 방법 |
-
2017
- 2017-06-14 JP JP2017116907A patent/JP6856452B2/ja active Active
-
2018
- 2018-06-04 US US15/996,933 patent/US10583737B2/en active Active
- 2018-06-04 CN CN201810563273.5A patent/CN109080628B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003104148A (ja) * | 2001-09-27 | 2003-04-09 | Mazda Motor Corp | 車両の制御装置 |
JP2004171295A (ja) * | 2002-11-20 | 2004-06-17 | Matsushita Electric Works Ltd | 障害物検知方法及び車載用レーダ装置 |
JP2005069739A (ja) * | 2003-08-20 | 2005-03-17 | Matsushita Electric Works Ltd | 車載用障害物検知装置 |
JP2008204281A (ja) * | 2007-02-21 | 2008-09-04 | Nippon Soken Inc | 物体検出装置、および車車間通信システム |
US20090002222A1 (en) * | 2007-06-27 | 2009-01-01 | Gm Global Technology Operations, Inc. | Method of estimating target elevation utilizing radar data fusion |
JP2010210483A (ja) * | 2009-03-11 | 2010-09-24 | Toyota Motor Corp | レーダ装置 |
Non-Patent Citations (1)
Title |
---|
菅沼 直樹: ""アクティブセンサを用いた障害物の検出"", 映像情報メディア学会誌, JPN6021005678, 2014, pages 794 - 797, ISSN: 0004448384 * |
Also Published As
Publication number | Publication date |
---|---|
US10583737B2 (en) | 2020-03-10 |
CN109080628B (zh) | 2021-07-06 |
US20180361854A1 (en) | 2018-12-20 |
CN109080628A (zh) | 2018-12-25 |
JP6856452B2 (ja) | 2021-04-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6856452B2 (ja) | 物標判定装置及び運転支援システム | |
US20220048500A1 (en) | Driving support apparatus | |
CN104554258B (zh) | 采用虚拟势场技术的避让转向操作的路径规划 | |
US11097726B2 (en) | Lane keeping assist system and method for improving safety in preceding vehicle follower longitudinal control | |
US9656667B2 (en) | Method for minimizing automatic braking intrusion based on collision confidence | |
US10000208B2 (en) | Vehicle control apparatus | |
JP4517972B2 (ja) | 障害物判断装置及び方法 | |
JP6988200B2 (ja) | 車両制御装置 | |
WO2016117468A1 (ja) | 車両の走行制御装置及び走行制御方法 | |
JP2018200267A (ja) | 上方構造物判定装置及び運転支援システム | |
US10752223B2 (en) | Autonomous emergency braking system and method for vehicle at crossroad | |
CN109017776B (zh) | 安装在车辆中的驾驶辅助系统 | |
JP2008123462A (ja) | 物体検知装置 | |
JP2008276689A (ja) | 車両用障害物認識装置 | |
JP6301714B2 (ja) | 走行経路生成装置 | |
CN103373349A (zh) | 自动泊车辅助系统的障碍物避碰装置及方法 | |
JP2011164989A (ja) | ふらつき判定装置 | |
US10996317B2 (en) | Object detection apparatus and object detection method | |
JP2018124768A (ja) | 車両制御装置 | |
CN110678778B (zh) | 用于检测迎面车辆的车辆系统 | |
JP6699568B2 (ja) | 車両制御装置 | |
US11667295B2 (en) | Apparatus and method for recognizing object | |
US9495873B2 (en) | Other-vehicle detection device and other-vehicle detection method | |
CN114390989B (zh) | 车辆控制设备及其控制方法 | |
US20240116500A1 (en) | Information processing apparatus, movable apparatus, information processing method, and storage medium |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170626 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200218 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210129 |
|
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: 20210224 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210318 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6856452 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |