JP4210662B2 - 車両用物体検知装置 - Google Patents
車両用物体検知装置 Download PDFInfo
- Publication number
- JP4210662B2 JP4210662B2 JP2005076276A JP2005076276A JP4210662B2 JP 4210662 B2 JP4210662 B2 JP 4210662B2 JP 2005076276 A JP2005076276 A JP 2005076276A JP 2005076276 A JP2005076276 A JP 2005076276A JP 4210662 B2 JP4210662 B2 JP 4210662B2
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- JP
- Japan
- Prior art keywords
- object detection
- reception level
- detection means
- detecting
- vehicle
- 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.)
- Expired - Fee Related
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- 238000001514 detection method Methods 0.000 title claims description 82
- 230000005856 abnormality Effects 0.000 claims description 39
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 description 18
- 230000035945 sensitivity Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 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
- 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
- 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
- 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
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
- Traffic Control Systems (AREA)
Description
MAX受信レベルレジスタ値−MIN受信レベルレジスタ値<6dB
が成立すれば、ステップS13で異常判定手段M2が物体検知手段M1の異常により感度が低下したと判定し、逆に、
MAX受信レベルレジスタ値−MIN受信レベルレジスタ値≧6dB
が成立すれば、ステップS14で異常判定手段M2が物体検知手段M1が正常であって感度の低下が発生していないと判定した後、ステップS15で関連する全てのレジスタおよびカウンタをクリアする。
2 送光走査部(送信手段)
3 受光部(受信手段)
4 受光走査部(受信手段)
5 距離計測処理部(距離検出手段)
M1 物体検知手段
M2 異常判定手段
M3 計時手段
M4 走行距離検出手段
M5 車速検出手段
Claims (2)
- 送信手段(1,2)から電磁波を所定の領域に送信し、物体により反射された電磁波を受信手段(3,4)で受信した結果に基づいて、距離検出手段(5)が少なくとも物体の距離を検出する物体検知手段(M1)と、
受信手段(3,4)により受信された電磁波の受信レベルに基づいて物体検知手段(M1)の異常を判定する異常判定手段(M2)と、
時間を計時可能な計時手段(M3)と、
自車の車速を検出する車速検出手段(M5)と、
を備えた車両用物体検知装置において、
前記異常判定手段(M2)は、車速検出手段(M5)により検出された車速が所定値以上であり、かつ計時手段(M3)により計時された所定時間内に受信手段(3,4)により受信された電磁波の受信レベルの全てのデータの最大値および最小値の差が予め定められた閾値未満の場合に、物体検知手段(M1)が異常であると判定することを特徴とする車両用物体検知装置。 - 送信手段(1,2)から電磁波を所定の領域に送信し、物体により反射された電磁波を受信手段(3,4)で受信した結果に基づいて、距離検出手段(5)が少なくとも物体の距離を検出する物体検知手段(M1)と、
受信手段(3,4)により受信された電磁波の受信レベルに基づいて物体検知手段(M1)の異常を判定する異常判定手段(M2)と、
自車走行距離を検出する走行距離検出手段(M4)と、
を備えた車両用物体検知装置において、
前記異常判定手段(M2)は、走行距離検出手段(M4)により検出された走行距離が所定走行距離となる間に、受信手段(3,4)により受信された電磁波の受信レベルの全てのデータの最大値および最小値の差が予め定められた閾値未満の場合に、物体検知手段(M1)が異常であると判定することを特徴とする車両用物体検知装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005076276A JP4210662B2 (ja) | 2005-03-17 | 2005-03-17 | 車両用物体検知装置 |
US11/378,211 US7889325B2 (en) | 2005-03-17 | 2006-03-16 | Vehicle-purpose object sensing apparatus |
GB0605370A GB2424272B (en) | 2005-03-17 | 2006-03-16 | Vehicle-purpose object sensing apparatus |
DE102006012413A DE102006012413B4 (de) | 2005-03-17 | 2006-03-17 | Objekterfassungsvorrichtung für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005076276A JP4210662B2 (ja) | 2005-03-17 | 2005-03-17 | 車両用物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006258598A JP2006258598A (ja) | 2006-09-28 |
JP4210662B2 true JP4210662B2 (ja) | 2009-01-21 |
Family
ID=36292929
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005076276A Expired - Fee Related JP4210662B2 (ja) | 2005-03-17 | 2005-03-17 | 車両用物体検知装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7889325B2 (ja) |
JP (1) | JP4210662B2 (ja) |
DE (1) | DE102006012413B4 (ja) |
GB (1) | GB2424272B (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2691138C (en) * | 2007-06-18 | 2017-10-24 | Leddartech Inc. | Lighting system with driver assistance capabilities |
DE102009027797A1 (de) * | 2008-11-19 | 2010-05-20 | Robert Bosch Gmbh | Optische Einrichtung und Verfahren zu deren Überprüfung |
BR112012017726B1 (pt) | 2009-12-22 | 2020-12-08 | Leddartech Inc | método para detectar a presença de um objeto em uma zona de detecção utilizando um sistema de detecção de tráfego |
DE102010036883A1 (de) | 2010-08-06 | 2012-02-09 | Sick Ag | Optoelektronischer Sensor |
US8908159B2 (en) | 2011-05-11 | 2014-12-09 | Leddartech Inc. | Multiple-field-of-view scannerless optical rangefinder in high ambient background light |
WO2012172526A1 (en) | 2011-06-17 | 2012-12-20 | Leddartech Inc. | System and method for traffic side detection and characterization |
US9235988B2 (en) | 2012-03-02 | 2016-01-12 | Leddartech Inc. | System and method for multipurpose traffic detection and characterization |
EP2682780B1 (de) | 2012-07-04 | 2014-04-23 | Sick Ag | Verfahren zur sicheren Erfassung und Positionsbestimmung von Objekten und Sicherheitsvorrichtung |
EP3191869B1 (en) | 2014-09-09 | 2020-03-25 | Leddartech Inc. | Discretization of detection zone |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09178848A (ja) * | 1995-12-25 | 1997-07-11 | Denso Corp | 車両用障害物認識装置 |
JP3400311B2 (ja) * | 1997-09-19 | 2003-04-28 | 本田技研工業株式会社 | 車両用距離センサにおける検出異常判定方法 |
JP3488610B2 (ja) | 1997-12-03 | 2004-01-19 | 富士通テン株式会社 | レーダ装置 |
US6094605A (en) * | 1998-07-06 | 2000-07-25 | Storage Technology Corporation | Virtual automated cartridge system |
JP2000056020A (ja) * | 1998-08-07 | 2000-02-25 | Honda Motor Co Ltd | 物体検知装置 |
JP2000155168A (ja) | 1998-11-20 | 2000-06-06 | Mitsubishi Electric Corp | 電子走査レーダビーム制御装置 |
JP4564611B2 (ja) | 1999-08-04 | 2010-10-20 | 本田技研工業株式会社 | レーダ装置 |
JP3562408B2 (ja) * | 1999-11-10 | 2004-09-08 | 株式会社デンソー | レーダ装置特性検出装置及び記録媒体 |
JP3866479B2 (ja) * | 2000-04-07 | 2007-01-10 | 株式会社デンソー | 車間制御装置、記録媒体 |
JP4698048B2 (ja) * | 2001-03-19 | 2011-06-08 | 富士通テン株式会社 | Fm−cwレーダの路上静止物検知方法 |
JP3983158B2 (ja) * | 2002-11-25 | 2007-09-26 | 富士通株式会社 | 電波レーダの信号処理方法 |
US7136753B2 (en) * | 2002-12-05 | 2006-11-14 | Denso Corporation | Object recognition apparatus for vehicle, inter-vehicle control apparatus, and distance measurement apparatus |
-
2005
- 2005-03-17 JP JP2005076276A patent/JP4210662B2/ja not_active Expired - Fee Related
-
2006
- 2006-03-16 GB GB0605370A patent/GB2424272B/en not_active Expired - Fee Related
- 2006-03-16 US US11/378,211 patent/US7889325B2/en active Active
- 2006-03-17 DE DE102006012413A patent/DE102006012413B4/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2006258598A (ja) | 2006-09-28 |
GB2424272B (en) | 2009-10-21 |
GB0605370D0 (en) | 2006-04-26 |
US20060221228A1 (en) | 2006-10-05 |
DE102006012413B4 (de) | 2012-06-14 |
DE102006012413A1 (de) | 2006-11-09 |
GB2424272A (en) | 2006-09-20 |
US7889325B2 (en) | 2011-02-15 |
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