JP3369501B2 - Radio-type road information detection device - Google Patents
Radio-type road information detection deviceInfo
- Publication number
- JP3369501B2 JP3369501B2 JP06011499A JP6011499A JP3369501B2 JP 3369501 B2 JP3369501 B2 JP 3369501B2 JP 06011499 A JP06011499 A JP 06011499A JP 6011499 A JP6011499 A JP 6011499A JP 3369501 B2 JP3369501 B2 JP 3369501B2
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- Prior art keywords
- road surface
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- signal
- unit
- road
- Prior art date
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Description
【０００１】[0001]
【発明の属する技術分野】本発明は、道路に設置された
電波式の道路情報検出装置に関し、特にレーダにより路
面情報として必要な情報を検出する電波式道路情報検出
装置の改良に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio wave type road information detecting device installed on a road, and more particularly to an improvement of a radio wave type road information detecting device for detecting necessary information as road surface information by a radar.
【０００２】[0002]
【従来の技術】レーダによる道路情報検出装置として
は、一般的に路面状況を把握するための電波式路面状況
把握装置と、走行車両の速度等を検出する電波式走行車
両把握装置が知られている。2. Description of the Related Art As a road information detecting device using a radar, there are generally known a radio wave type road surface condition grasping device for grasping a road condition and a radio wave type traveling vehicle grasping device for detecting a speed of a traveling vehicle. There is.
【０００３】レーダを利用した路面状況把握用装置は、
米国の電子情報学会であるアイ・トリプルイー（ＩＥＥ
Ｅ）から発行されているリモートセンシングに関する分
科会雑誌（Transaction on Geoscience and Remote Sci
ence）の１９９２年３月号の３７０ページから３８１ペ
ージにわたりオー氏等（Y.Oh K.Sarabandi T.Uraby）の
論文に開示されており、レーダを用いて路面状況を把握
・計測することが提案されている。A device for grasping the road surface condition using a radar is
The American Institute of Electronics and Information Engineers I Triple E
E) published by the subcommittee magazine on Transactions on Geoscience and Remote Sci
ence) March 1992 issue, pages 370 to 381, which are disclosed in a paper by Y.Oh K. Sarabandi T.Uraby, which can be used to grasp and measure road surface conditions using radar. Proposed.
【０００４】この先行技術文献に開示された手法は、図
１に示すように、路側部に設けられたポール２に送受信
部３、空中線部４からなるレーダ装置から、ビーム６が
路面１に照射される構成として提案されている。すなわ
ち、送受信部３は回転台５の上に搭載されており、路面
１を照射するビーム６の路面１に対する入射角度を変え
ることが可能になっており、この路面１からのビーム６
の散乱強度と路面１に対するビーム６の入射角７の角度
θから路面状況の推定が可能となる。この推定を信号処
理部８で実行する。In the method disclosed in this prior art document, as shown in FIG. 1, a beam 6 is irradiated onto a road surface 1 from a radar device including a pole 2 provided on a roadside portion, a transmission / reception section 3 and an antenna section 4. It is proposed as a configuration to be performed. That is, the transmitting / receiving unit 3 is mounted on the rotary table 5, and it is possible to change the incident angle of the beam 6 irradiating the road surface 1 with respect to the road surface 1.
It is possible to estimate the road surface condition from the scattering intensity and the angle θ of the incident angle 7 of the beam 6 to the road surface 1. This estimation is executed by the signal processing unit 8.
【０００５】この先行技術の全体の系統図を図５に示
す。図５では、空中線部４と送受信部３とからなるレー
ダ装置から路面に対し照射されたビーム６の路面からの
反射波を再び受信し、送受信部で検波、増幅した後反射
信号は信号処理部８へ送られる。信号処理部８は、デー
タ処理により路面に対するビーム６の入射角度θに対す
る単位面積当たりのレーダ断面積σ０を求め、このθに
対するσ０のデータからニュ−ロアルゴリズム等により
路面状況の推定を行うものである。An overall system diagram of this prior art is shown in FIG. In FIG. 5, the reflected wave from the road surface of the beam 6 emitted to the road surface from the radar device including the antenna section 4 and the transmitter / receiver section 3 is received again, and the reflected signal is detected and amplified by the transmitter / receiver section, and the reflected signal is the signal processing section. Sent to 8. The signal processing unit 8 obtains the radar cross-sectional area σ 0 per unit area with respect to the incident angle θ of the beam 6 on the road surface by data processing, and estimates the road surface condition from the data of σ 0 with respect to θ by a neuro algorithm or the like. It is a thing.
【０００６】[0006]
【発明が解決しようとする課題】この先行技術は、路面
からの反射信号強度のビーム入射角度依存性から路面状
況を推定しようとするものであり、路面上に車両等が走
行する場合には車両等からの強い反射が生じ、路面から
の正確な単位面積当たりのレーダ断面積を計測すること
が不可能となり、路面状況の推定が出来なくなるという
問題点がある。This prior art is intended to estimate the road surface condition from the beam incident angle dependency of the reflected signal intensity from the road surface. When a vehicle or the like travels on the road surface, There is a problem that strong reflection from the road surface occurs, it becomes impossible to accurately measure the radar cross-sectional area per unit area from the road surface, and the road surface condition cannot be estimated.
【０００７】路面からのレーダの反射強度は路面上の凹
凸により決まり、乾燥路面では路面のコンクリート舗装
面、アスファルト舗装面により決まる凹凸による反射強
度から、水膜面では水膜により殆ど凹凸がなくなりほぼ
ゼロの反射強度から、積雪面では積雪表面の凹凸により
決まる反射強度からそれぞれ路面状況の推定を行ってお
り、極めて微弱な強さの反射信号により路面を推定する
ものである。The reflection intensity of the radar from the road surface is determined by the unevenness on the road surface, and on the dry road surface the unevenness determined by the unevenness determined by the concrete pavement surface or asphalt pavement surface causes almost no unevenness due to the water film on the water film surface. The road surface condition is estimated from the reflection intensity of zero and the reflection intensity determined by the unevenness of the snow surface on the snow surface, and the road surface is estimated from the reflection signal of extremely weak intensity.
【０００８】これに対し、路面を走行する車両は金属物
体であり、レーダの反射強度は路面からの反射強度にく
らべ、数桁強いことが容易に予測される。そのため、車
両走行時では路面状況の計測は不可能になる。On the other hand, the vehicle traveling on the road surface is a metal object, and it is easily predicted that the reflection intensity of the radar is several orders of magnitude stronger than the reflection intensity from the road surface. Therefore, it is impossible to measure the road surface condition while the vehicle is running.
【０００９】本発明の目的は、路面上を車両が頻繁に走
行していても、的確に路面の状態を推定出来る電波式道
路情報検出装置を提供することにある。It is an object of the present invention to provide a radio wave type road information detecting device capable of accurately estimating the condition of the road surface even if the vehicle frequently travels on the road surface.
【００１０】[0010]
【課題を解決するための手段】本発明による電波式道路
情報把握装置は、空中線部、送受信部からなるレーダ装
置とレーダ装置から放射されるビームの路面に対する入
射角度を変えるための回転台部、レーダ装置の送受信部
から出力される反射信号を入力せしめ路面状況の推定を
行う信号処理部からなる道路情報検出装置において、信
号処理部に周波数弁別部を設け、０ドップラ信号のみ取
り出し路面状況推定処理を行わせしめる信号処理部を設
けたことを特徴としている。A radio-type road information grasping apparatus according to the present invention comprises a radar apparatus comprising an antenna section and a transmitting / receiving section, and a turntable section for changing an incident angle of a beam emitted from the radar apparatus with respect to a road surface. In a road information detecting device including a signal processing unit for estimating a road surface condition by inputting a reflected signal output from a transmitting / receiving unit of a radar device, a frequency discriminating unit is provided in the signal processing unit and only a 0 Doppler signal is extracted to estimate a road surface condition. It is characterized in that a signal processing unit for performing the above is provided.
【００１１】この周波数弁別部は、移動体に照射された
レーダ装置の反射波の周波数が、移動体の速度に応じて
偏倚するドップラシフトを利用したものである。すなわ
ち路面上の走行車両からの反射波はその速度に対応して
周波数がシフトしており、この周波数シフト（ドップラ
周波数）を計測することにより車両の走行速度が明らか
となる。The frequency discriminating unit uses the Doppler shift in which the frequency of the reflected wave of the radar device irradiated on the moving body is deviated according to the speed of the moving body. That is, the frequency of the reflected wave from the traveling vehicle on the road surface shifts corresponding to the speed, and the traveling speed of the vehicle becomes clear by measuring this frequency shift (Doppler frequency).
【００１２】一方、路面に照射されたレーダ装置の反射
波は、照射面が固定のため周波数シフトは生じない。こ
の性質を利用することにより、路面上に車両が走行して
いても正確に路面状況の推定が可能になる。On the other hand, the reflected wave of the radar device irradiated on the road surface does not cause frequency shift because the irradiation surface is fixed. By using this property, it is possible to accurately estimate the road surface condition even when the vehicle is traveling on the road surface.
【００１３】[0013]
【発明の実施の形態】図１は、本発明の一実施の形態と
しての道路情報検出装置を示している。すなわち、路側
部に設けられたポール２に送受信部３、空中線部４から
なるレーダ装置からビーム６が路面１に照射される構成
となっており、照射機構自体は先行技術と同様である。
送受信部３は、回転台５の上に搭載されており、路面１
を照射するビーム６の路面１に対する入射角度を変える
ことが可能になっており、この路面１からのビーム６の
散乱強度と路面１に対するビーム６の入射角度θから路
面状況の推定が可能となる。この推定を信号処理部８で
実行する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a road information detecting device as an embodiment of the present invention. That is, the beam 6 is irradiated onto the road surface 1 from the radar device including the transmitter / receiver 3 and the antenna 4 on the pole 2 provided on the road side, and the irradiation mechanism itself is the same as that of the prior art.
The transmitter / receiver 3 is mounted on the turntable 5 and is mounted on the road surface 1
It is possible to change the incident angle of the beam 6 that irradiates the road surface 1 with respect to the road surface 1, and it is possible to estimate the road surface condition from the scattering intensity of the beam 6 from the road surface 1 and the incident angle θ of the beam 6 with respect to the road surface 1. . This estimation is executed by the signal processing unit 8.
【００１４】本実施の形態の全体の系統図を図２に示
す。空中線部４と送受信部３とからなるレーダ装置から
路面に対し照射されたビーム６の路面からの反射波は、
レーダ装置で再び受信され、送受信部３でＩ／Ｑ検波さ
れ、増幅された後反射信号は信号処理部８へ送られる。
信号処理部８ではまず周波数弁別部９へ入力され、ドッ
プラ周波数成分のうち周波数がゼロの０ドップラ信号の
みが抽出される。FIG. 2 shows an overall system diagram of this embodiment. The reflected wave from the road surface of the beam 6 emitted to the road surface from the radar device including the antenna section 4 and the transmitting / receiving section 3 is
The reflected signal, which is received again by the radar device, I / Q-detected by the transmission / reception unit 3 and amplified, is sent to the signal processing unit 8.
The signal processing unit 8 first inputs the frequency discrimination unit 9 and extracts only the 0 Doppler signal having a frequency of zero from the Doppler frequency components.
【００１５】この０ドップラ信号は、路面上の移動して
いない目標物体からの反射であるために容易に走行車両
からの反射信号と区別が可能となる。この０ドップラ信
号成分をニューロアルゴリズム等により路面状況の推定
を行う路面状況推定処理部１０へ送出し、路面状況の推
定結果を出力する。Since this 0 Doppler signal is a reflection from a target object that is not moving on the road surface, it can be easily distinguished from a reflection signal from a traveling vehicle. The 0 Doppler signal component is sent to the road surface condition estimation processing unit 10 that estimates the road surface condition by a neuro algorithm or the like, and the road surface condition estimation result is output.
【００１６】以下、本実施の形態の動作につき説明す
る。路面上にレーダ装置のビーム６を照射すると、路面
上を走行する車両等の移動物体から電波が反射される場
合、反射信号は移動物体の速度に応じドップラ効果によ
り反射信号の周波数がシフトされる。逆に、このドップ
ラ周波数を計測することにより走行速度の計測が可能と
なる。The operation of this embodiment will be described below. When radio waves are reflected from a moving object such as a vehicle traveling on the road surface when the beam 6 of the radar device is irradiated on the road surface, the frequency of the reflected signal is shifted by the Doppler effect according to the speed of the moving object in the reflected signal. . On the contrary, the traveling speed can be measured by measuring the Doppler frequency.
【００１７】本発明の道路情報検出装置では、路面状況
の検出が目的であり、その場合はドップラ周波数がゼロ
の信号のみを検出する事により走行車両等の移動物体か
らの反射と区別することが出来る。そのために、信号処
理部８に、ドップラ周波数検出用の周波数弁別部９を設
け、０ドップラ信号のみを抽出して路面状況推定処理部
１０へ出力する。この０ドップラ信号は、路面上を走行
する車両等からの反射信号が除かれた路面からの反射信
号のみからなっている。The object of the road information detecting device of the present invention is to detect the road surface condition, and in this case, it can be distinguished from the reflection from a moving object such as a traveling vehicle by detecting only a signal having a Doppler frequency of zero. I can. Therefore, the signal processing unit 8 is provided with a frequency discriminating unit 9 for detecting the Doppler frequency, and only the 0 Doppler signal is extracted and output to the road surface condition estimation processing unit 10. The 0 Doppler signal is composed of only the reflection signal from the road surface from which the reflection signal from the vehicle traveling on the road surface is removed.
【００１８】路面状況推定処理部１０では、受信された
０ドップラ信号の強度と、回転台部５から入力された入
射角度信号に基づいて、先行技術と同様にそれぞれの路
面状況の推定を行う。The road condition estimation processing unit 10 estimates each road condition on the basis of the intensity of the received 0 Doppler signal and the incident angle signal input from the rotary base unit 5, similarly to the prior art.
【００１９】図３は、本発明の他の実施形態としての道
路情報検出装置を示している。照射機構自体は先行技術
と同様である。すなわち、送受信部３は、回転台５の上
に搭載されており、路面１を照射するビーム６の路面１
に対する入射角度を変えることが可能になっており、こ
の路面１からのビーム６の散乱強度と路面１に対するビ
ーム６の入射角度θから路面状況の推定が可能となる。
この推定を信号処理部８で実行する。FIG. 3 shows a road information detecting device as another embodiment of the present invention. The irradiation mechanism itself is similar to the prior art. That is, the transmitting / receiving unit 3 is mounted on the turntable 5 and the road surface 1 of the beam 6 that irradiates the road surface 1
It is possible to change the angle of incidence on the road surface, and it is possible to estimate the road surface condition from the scattering intensity of the beam 6 from the road surface 1 and the angle of incidence θ of the beam 6 on the road surface 1.
This estimation is executed by the signal processing unit 8.
【００２０】本実施の形態は、信号処理部８の周波数弁
別部９で計測された０ドップラ以外の信号成分を利用す
ることにより、路面１上を移動する走行車両１２の状況
を検出する機能を付加したことを特徴としている。The present embodiment has a function of detecting the condition of the traveling vehicle 12 moving on the road surface 1 by using the signal components other than 0 Doppler measured by the frequency discriminating unit 9 of the signal processing unit 8. It is characterized by the addition.
【００２１】道路情報検出装置としては、路面状況の検
出の他に、路面上を移動する走行車両の動きを把握する
走行車両把握機能も重要な機能である。これは、インフ
ラに設置されたセンサにより走行車両の動きを検出し、
道路に設置された情報板或いは走行車両の運転者に情報
提供するものである。しかし、この場合通常、路面状況
検出装置と走行車両把握装置が別の装置となりかなり大
がかりなものとなる。そこで、１個のレーダ装置で両方
の機能が実現可能であれば、極めて有効である。As the road information detecting device, in addition to detecting the road surface condition, a traveling vehicle grasping function for grasping the movement of the traveling vehicle traveling on the road surface is also an important function. It detects the movement of the traveling vehicle with a sensor installed in the infrastructure,
Information is provided to a driver of an information board installed on a road or a traveling vehicle. However, in this case, the road surface condition detecting device and the traveling vehicle grasping device are usually separate devices, which is quite large. Therefore, it is extremely effective if both functions can be realized by one radar device.
【００２２】図４は、この実施の形態を示す系統図であ
る。本系統図では、Ｉ／Ｑ検波した反射信号成分を信号
処理部８へ出力するレーダ装置は、図２と同様である
が、信号処理装置８の周波数弁別部９が異なる。すなわ
ち、周波数弁別部９は、０ドップラ信号と０ドップラ以
外の信号とを分離し、０ドップラ信号は、図２と同様に
路面状況推定処理部１０へ入力して路面状況推定結果を
出力させるが、０ドップラ以外の信号を走行車両の速度
を検出し演算する走行車両速度演算処理部１１に入力す
る。FIG. 4 is a system diagram showing this embodiment. In this system diagram, the radar device that outputs the reflected signal component subjected to I / Q detection to the signal processing unit 8 is the same as that in FIG. 2, but the frequency discriminating unit 9 of the signal processing device 8 is different. That is, the frequency discrimination unit 9 separates the 0 Doppler signal and the signals other than 0 Doppler, and the 0 Doppler signal is input to the road surface condition estimation processing unit 10 to output the road surface condition estimation result as in FIG. , Signals other than 0 Doppler are input to the traveling vehicle speed calculation processing unit 11 which detects and calculates the speed of the traveling vehicle.
【００２３】走行車両速度演算処理部１１は、入力され
た０ドップラ以外の信号を更に周波数分析することによ
り、上り方向および下り方向の各走行車両の速度を検出
して出力する。また、入力される０ドップラ以外の各信
号の断続状況を検出することにより、上り方向および下
り方向の各走行車両の単位時間当たりの数を把握するこ
ともできる。The traveling vehicle speed calculation processing unit 11 further analyzes the frequency of the input signal other than 0 Doppler to detect and output the speed of each traveling vehicle in the up and down directions. Further, by detecting the connection / disconnection state of each signal other than the input 0 Doppler, it is possible to grasp the number of each traveling vehicle in the up direction and the down direction per unit time.
【００２４】なお、本発明は、上記各実施の形態に限定
されるものではなく、本発明の特許請求の範囲内におい
て、適宜変更して実施することができる。The present invention is not limited to the above-mentioned respective embodiments, but can be carried out with appropriate modifications within the scope of the claims of the present invention.
【００２５】[0025]
【発明の効果】本発明によれば、信号処理部に周波数弁
部別部を設け、周波数弁部別の０ドップラ信号を出力せ
しめ、この信号から路面状況推定処理を行うことによ
り、路面上を走行する移動物体の影響を全く受けずに安
定な路面状況推定の実施が可能な電波式道路情報検出装
置を提供することができる。According to the present invention, the signal processing section is provided with a frequency valve section-specific unit, a 0 Doppler signal for each frequency valve section is output, and road surface condition estimation processing is performed from this signal to determine the road surface condition. It is possible to provide a radio wave type road information detection device capable of performing stable road surface state estimation without being affected by a moving object at all.
【００２６】さらに、周波数弁部別部から０ドップラ以
外の周波数の信号を検出し、その信号から走行車両の走
行速度あるいは走行車両数を検出することにより、路面
状況検出機能と走行車両把握機能の両方を合わせもつ電
波式道路情報検出装置を提供することができる。Furthermore, by detecting a signal of a frequency other than 0 Doppler from the frequency discriminator and detecting the traveling speed of the traveling vehicle or the number of traveling vehicles from the signal, the road surface condition detecting function and the traveling vehicle grasping function can be obtained. It is possible to provide a radio wave type road information detecting device having both of them.
【図１】本発明の電波式道路情報検出装置の実施の形態
を示す構成図である。FIG. 1 is a configuration diagram showing an embodiment of a radio wave type road information detection device of the present invention.
【図２】本発明の電波式道路情報検出装置の実施の形態
の系統図である。FIG. 2 is a system diagram of an embodiment of a radio wave type road information detection device of the present invention.
【図３】本発明の電波式道路情報検出装置の他の実施の
形態を示す構成図である。FIG. 3 is a configuration diagram showing another embodiment of the radio wave type road information detection device of the present invention.
【図４】本発明の電波式道路情報検出装置の他の実施の
形態の系統図である。FIG. 4 is a system diagram of another embodiment of the radio wave type road information detection device of the present invention.
【図５】従来の電波式道路情報検出装置の系統図であ
る。FIG. 5 is a system diagram of a conventional radio type road information detection device.
１ 路面 ２ ポール ３ 送受信部 ４ 空中線部 ５ 回転台回転台 ６ ビーム ７ ビーム入射角 ８ 信号処理部 ９ 周波数弁別部 １０ 路面状況推定処理部 １１ 走行車両速度演算処理部 １２ 走行車両 1 road surface Two poles 3 transmitter / receiver 4 Aerial part 5 turntable turntable 6 beams 7 Beam incident angle 8 Signal processor 9 Frequency discriminator 10 Road condition estimation processing unit 11 Traveling vehicle speed calculation processing unit 12 traveling vehicles
Claims (3)
らの反射波を受信する空中線部および送受信部からなる
レーダ装置と、前記レーダ装置から放射されるビームの
路面に対する入射角度を変える為の回転台部と、前記送
受信部で受信・検波された路面反射信号と前記回転台部
から出力される入射角度信号から路面状況の推定処理を
行う路面状況推定処理部を備えた信号処理部と、を備え
た電波式道路情報検出装置において、 前記送受信部に位相検波部を設け、前記信号処理部に、
前記位相検波部から入力された前記路面反射信号から０
ドップラ信号のみを抽出して前記路面状況推定処理部へ
出力する周波数弁別部を設けたことを特徴とする電波式
道路情報検出装置。1. A radar device comprising an antenna and a transmitter / receiver for emitting a beam to a road surface and receiving a reflected wave from the road surface, and a turntable for changing an incident angle of the beam emitted from the radar device with respect to the road surface. And a signal processing unit including a road surface condition estimation processing unit that performs road surface condition estimation processing from a road surface reflection signal received and detected by the transmission / reception unit and an incident angle signal output from the rotary base unit. in the electric-wave road information detecting device, a phase detection unit provided to the signal processing unit to the transceiver unit,
0 from the road surface reflection signal input from the phase detector
Only Doppler signal is extracted to the road surface condition estimation processing unit
A radio-type road information detection device, which is provided with a frequency discriminating unit for outputting .
部を設け、前記周波数弁別部は、前記位相検波部から入
力された前記路面反射信号から、０ドップラ信号のみを
抽出して前記路面状況推定処理部へ出力するとともに、
０ドップラ以外の信号を前記走行車両速度演算処理部へ
出力することを特徴とする請求項１記載の電波式道路情
報検出装置。2. A traveling vehicle speed calculation process in the signal processing unit.
The frequency discriminating unit extracts only the 0 Doppler signal from the road surface reflection signal input from the phase detection unit and outputs the signal to the road surface condition estimation processing unit ,
Signals other than 0 Doppler to the traveling vehicle speed calculation processing unit
Electric-wave road information detecting apparatus according to claim 1, wherein the output.
波数弁別部から入力された０ドップラ以外の信号に基づ
いて、前記路面を走行中の車両の速度情報と、単位時間
当たりの走行車両数情報を出力することを特徴とする請
求項２記載の電波式道路情報検出装置。3. The traveling vehicle speed calculation processing unit is configured to
Based on signals other than 0 Doppler input from the wave number discriminator
And the speed information of the vehicle running on the road surface and the unit time
A contract characterized by outputting information on the number of traveling vehicles per hit
The radio wave type road information detection device according to claim 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06011499A JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06011499A JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000259981A JP2000259981A (en) | 2000-09-22 |
| JP3369501B2 true JP3369501B2 (en) | 2003-01-20 |
Family
ID=13132777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP06011499A Expired - Fee Related JP3369501B2 (en) | 1999-03-08 | 1999-03-08 | Radio-type road information detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3369501B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160138735A (en) * | 2015-05-26 | 2016-12-06 | 컴레이저 (주) | laser detector of perimeter column type |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7039323B2 (en) * | 2018-02-23 | 2022-03-22 | 名古屋電機工業株式会社 | Road surface condition determination device, road surface condition determination method and road surface condition determination program |
| EP3865909A4 (en) * | 2018-10-12 | 2022-06-22 | Kyocera Corporation | Electronic device, method for controlling electronic device, and program for controlling electronic device |
-
1999
- 1999-03-08 JP JP06011499A patent/JP3369501B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160138735A (en) * | 2015-05-26 | 2016-12-06 | 컴레이저 (주) | laser detector of perimeter column type |
| KR101696325B1 (en) * | 2015-05-26 | 2017-01-13 | 컴레이저 (주) | laser detector of perimeter column type |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2000259981A (en) | 2000-09-22 |
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