JP4371115B2 - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
- Publication number
- JP4371115B2 JP4371115B2 JP2006055399A JP2006055399A JP4371115B2 JP 4371115 B2 JP4371115 B2 JP 4371115B2 JP 2006055399 A JP2006055399 A JP 2006055399A JP 2006055399 A JP2006055399 A JP 2006055399A JP 4371115 B2 JP4371115 B2 JP 4371115B2
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- Japan
- Prior art keywords
- detection
- radar
- detected
- vehicle
- detection means
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- Expired - Fee Related
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Classifications
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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
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- 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
- G01S2013/932—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
- 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
-
- 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
- G01S2013/93274—Sensor installation details on the side 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)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Description
Claims (4)
- 送出した送信波の物体からの反射波を受信することで当該物体の位置及び当該物体との相対速度を検出する第1検出手段と、
前記第1検出手段と検出領域の一部が重なり合うように配置され、送出した送信波の物体からの反射波を受信することで当該物体の位置及び当該物体との相対速度を検出する第2検出手段と、
前記第1または第2検出手段の一方で検出した物体位置及び当該物体との相対速度に基づいて当該物体の進路に範囲を設定し、該範囲内に前記第1または第2検出手段の他方で検出した物体位置が含まれ、相対速度が略一致する場合に、前記第1検出手段で検出した物体と前記第2検出手段で検出した物体とが同一物体であると判定する同一物判定手段と、
を備えていることを特徴とする物体検出装置。 - 前記物体位置に基づいて当該物体の進路に設定する範囲は、検出領域の他方の検出手段側の境界位置近傍において、前記物体の推定移動軌跡から所定幅以内の領域であることを特徴とする請求項1記載の物体検出装置。
- 送出した送信波の物体からの反射波を受信することで当該物体の位置及び当該物体との相対速度を検出する第1検出手段と、
前記第1検出手段と検出領域の一部が重なり合うように配置され、送出した送信波の物体からの反射波を受信することで当該物体の位置及び当該物体との相対速度を検出する第2検出手段と、
第1検出手段と第2検出手段の検出結果をその相対速度に基づいてペアリングするペアリング手段と、
前記ペアリング手段により、ペアリングした物体位置のうち、自検出手段の他方の検出領域側の境界からの距離が遠い側の物体位置を物体位置として選択する選択手段と、
を備えていることを特徴とする物体検出装置。 - 前記第1検出手段および前記第2検出手段は、物体からの反射波のうち反射強度の最も強い位置を物体位置として出力することを特徴とする請求項1〜3のいずれかに記載の物体検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006055399A JP4371115B2 (ja) | 2006-03-01 | 2006-03-01 | 物体検出装置 |
US12/281,436 US7889116B2 (en) | 2006-03-01 | 2007-02-28 | Object detecting apparatus |
EP07715255.1A EP2009464B1 (en) | 2006-03-01 | 2007-02-28 | Object detection device |
CN2007800070888A CN101395492B (zh) | 2006-03-01 | 2007-02-28 | 物体检测装置 |
PCT/JP2007/054364 WO2007102520A1 (ja) | 2006-03-01 | 2007-02-28 | 物体検出装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006055399A JP4371115B2 (ja) | 2006-03-01 | 2006-03-01 | 物体検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007232594A JP2007232594A (ja) | 2007-09-13 |
JP4371115B2 true JP4371115B2 (ja) | 2009-11-25 |
Family
ID=38474947
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006055399A Expired - Fee Related JP4371115B2 (ja) | 2006-03-01 | 2006-03-01 | 物体検出装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7889116B2 (ja) |
EP (1) | EP2009464B1 (ja) |
JP (1) | JP4371115B2 (ja) |
CN (1) | CN101395492B (ja) |
WO (1) | WO2007102520A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112017008095T5 (de) | 2017-11-13 | 2020-07-16 | Mitsubishi Electric Corporation | Objekterkennungsvorrichtung und Objekterkennungsverfahren |
Families Citing this family (53)
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JP2009074803A (ja) * | 2007-09-18 | 2009-04-09 | Toyota Motor Corp | 物体検出装置 |
JP5045356B2 (ja) * | 2007-10-04 | 2012-10-10 | トヨタ自動車株式会社 | 物体検出装置 |
JP4950959B2 (ja) * | 2008-08-08 | 2012-06-13 | 本田技研工業株式会社 | 車両走行支援装置 |
JP4766404B2 (ja) * | 2008-10-28 | 2011-09-07 | トヨタ自動車株式会社 | レーダ装置 |
JP5370132B2 (ja) * | 2009-12-22 | 2013-12-18 | 株式会社デンソー | 障害物検出装置 |
JP5613457B2 (ja) * | 2010-05-27 | 2014-10-22 | 本田技研工業株式会社 | 物体検知装置 |
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CN102529962B (zh) | 2010-12-08 | 2014-11-05 | 安尼株式会社 | 移动体防碰撞装置和移动体 |
JP5590463B2 (ja) * | 2010-12-17 | 2014-09-17 | 株式会社デンソー | 車両用障害物監視装置 |
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CN103503046B (zh) * | 2011-04-28 | 2016-03-02 | 本田技研工业株式会社 | 车用物体探测装置及方法 |
JP5666987B2 (ja) * | 2011-05-25 | 2015-02-12 | 株式会社デンソー | 移動物体検出装置 |
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-
2006
- 2006-03-01 JP JP2006055399A patent/JP4371115B2/ja not_active Expired - Fee Related
-
2007
- 2007-02-28 EP EP07715255.1A patent/EP2009464B1/en not_active Expired - Fee Related
- 2007-02-28 CN CN2007800070888A patent/CN101395492B/zh not_active Expired - Fee Related
- 2007-02-28 WO PCT/JP2007/054364 patent/WO2007102520A1/ja active Application Filing
- 2007-02-28 US US12/281,436 patent/US7889116B2/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112017008095T5 (de) | 2017-11-13 | 2020-07-16 | Mitsubishi Electric Corporation | Objekterkennungsvorrichtung und Objekterkennungsverfahren |
US11555913B2 (en) | 2017-11-13 | 2023-01-17 | Mitsubishi Electric Corporation | Object recognition device and object recognition method |
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EP2009464B1 (en) | 2016-04-06 |
US20090040094A1 (en) | 2009-02-12 |
EP2009464A4 (en) | 2011-05-04 |
EP2009464A1 (en) | 2008-12-31 |
WO2007102520A1 (ja) | 2007-09-13 |
JP2007232594A (ja) | 2007-09-13 |
US7889116B2 (en) | 2011-02-15 |
CN101395492A (zh) | 2009-03-25 |
CN101395492B (zh) | 2012-08-22 |
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