JP4513662B2 - 車載レーダ装置、車両制御システム - Google Patents
車載レーダ装置、車両制御システム Download PDFInfo
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- JP4513662B2 JP4513662B2 JP2005175014A JP2005175014A JP4513662B2 JP 4513662 B2 JP4513662 B2 JP 4513662B2 JP 2005175014 A JP2005175014 A JP 2005175014A JP 2005175014 A JP2005175014 A JP 2005175014A JP 4513662 B2 JP4513662 B2 JP 4513662B2
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
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- 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
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- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
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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
- G01S13/88—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
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- 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
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01259—Brakes
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
- G01S2013/464—Indirect determination of position data using multipath signals using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
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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
- G01S13/88—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
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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
- G01S13/88—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
- G01S2013/93185—Controlling the brakes
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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
- G01S13/88—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
- G01S2013/9319—Controlling the accelerator
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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
- G01S13/88—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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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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
- G01S13/88—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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Navigation (AREA)
- Regulating Braking Force (AREA)
Description
なお、送信方向変更手段は、送受信手段(少なくともアンテナ)の向きを機械的に変更するように構成してもよいし、垂直方向にアンテナ素子を並べたアレーアンテナを用いることにより、形成するビームの向きを、電気的に又は計算(ビームフォーミング)によって変更するように構成してもよい。
また、本発明において、送信方向変更手段は、例えば、対象車両抽出手段により道路上に停止している停止車両が対象車両として抽出されていることを、動作切替条件とするように構成することができる。
この場合、前方車両(対象車両)によって生じる死角に存在する物体、例えば、前々方車両の挙動を把握することができるため、前方車両の挙動を推測する際などに有力な情報として用いることができる。
つまり、対象車両の死角に隠れた物体に対する運転者の注意を促すことができるため、その物体の存在によって生じる危険を回避できる可能性を高めることができる。
図1は、本発明が適用された車両制御システム1の構成を示したブロック図である。
図1に示すように、車両制御システム1は、車両の前面に設置され車両前方の所定検出範囲内に位置する物体(先行車両や障害物など)を検出する前方レーダ10を備えている。
次に、S130の物体認識処理で検出された物体の中から、物体の検出結果(物体の位置や速度,大きさ等)の履歴等に基づいて、監視の対象とすべき対象車両(自車両の前方を走行する前方車両や走行路上に停止している停止車両)を抽出する(S140)。
上記実施形態では、通常モードの時には、レーダ波の送信方向を、水平基準方向及び垂直基準方向に固定しているが、前方車両までの距離に応じて垂直角度を変化させるように構成してもよい。
Claims (8)
- 電波からなるレーダ波を送受信する送受信手段と、
該送受信手段からの出力に基づいて、レーダ波を反射した物体を検出する物体検出手段と、
該物体検出手段にて検出された物体から、監視対象となる対象車両を抽出する対象車両抽出手段と、
前記物体検出手段にて検出された物体から、前記対象車両抽出手段にて抽出された対象車両によって死角となる位置に存在する死角物体を抽出する死角物体抽出手段と、
予め設定された動作切替条件が成立する場合、前記対象車両の床下に向けてレーダ波が送信されるように、前記送受信手段から送信されるレーダ波の送信方向の少なくとも垂直角度を変更する送信方向変更手段と、
を備えることを特徴とする車載レーダ装置。 - 前記送信方向変更手段は、前記送受信手段から送信されるレーダ波の送信方向の水平角度も変更することを特徴とする請求項1に記載の車載レーダ装置。
- 前記送信方向変更手段は、前記対象車両抽出手段により、道路上に停止している停止車両が前記対象車両として抽出されていることを前記動作切替条件とすることを特徴とする請求項1または請求項2に記載の車載レーダ装置。
- 前記停止車両が、交差点を右折しようとしている対向車両である場合、
前記送信方向変更手段は、自車両が交差点を右折しようとしていることを、前記動作切替条件に加えることを特徴とする請求項3に記載の車載レーダ装置。 - 前記対象車両抽出手段が抽出する対象車両は、自車両と同一走行路を走行する前方車両であることを特徴とする請求項1ないし請求項4のいずれかに記載の車載レーダ装置。
- 前記対象車両抽出手段は、前記物体検出手段にて検出される物体のうち、該物体からの反射波の受信レベルが予め設定された第1閾値より大きいものの中から前記対象車両を抽出し、
前記死角物体抽出手段は、前記物体検出手段にて検出される物体のうち、前記対象車両より遠方に存在し、且つ該物体からの反射波の受信レベルが、前記第1閾値より小さく設定された第2閾値より大きいものの中から前記死角物体を抽出することを特徴とする請求項1ないし請求項5のいずれかに記載の車載レーダ装置。 - 請求項1ないし請求項6のいずれかに記載の車載レーダ装置と、
前記死角物体抽出手段にて死角物体が抽出された場合に、運転者に対する報知を行う報知手段と、
を備えることを特徴とする車両制御システム。 - 請求項1ないし請求項6のいずれかに記載の車載レーダ装置と、
前記死角物体抽出手段にて死角物体が抽出された場合に、該死角物体の挙動に従って、自車両のアクセル又はブレーキのうち少なくとも一方を制御する制御手段と、
を備えることを特徴とする車両制御システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005175014A JP4513662B2 (ja) | 2005-06-15 | 2005-06-15 | 車載レーダ装置、車両制御システム |
DE102006027678.7A DE102006027678B4 (de) | 2005-06-15 | 2006-06-14 | Fahrzeug-Radarvorrichtung und Fahrzeugsteuerungssystem |
US11/454,175 US7474253B2 (en) | 2005-06-15 | 2006-06-15 | On-vehicle radar device and vehicle control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2005175014A JP4513662B2 (ja) | 2005-06-15 | 2005-06-15 | 車載レーダ装置、車両制御システム |
Publications (2)
Publication Number | Publication Date |
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JP2006349456A JP2006349456A (ja) | 2006-12-28 |
JP4513662B2 true JP4513662B2 (ja) | 2010-07-28 |
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JP2005175014A Active JP4513662B2 (ja) | 2005-06-15 | 2005-06-15 | 車載レーダ装置、車両制御システム |
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US (1) | US7474253B2 (ja) |
JP (1) | JP4513662B2 (ja) |
DE (1) | DE102006027678B4 (ja) |
Families Citing this family (41)
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US7908060B2 (en) * | 2007-07-31 | 2011-03-15 | International Business Machines Corporation | Method and system for blind spot identification and warning utilizing portable and wearable devices |
JP5186953B2 (ja) * | 2008-03-05 | 2013-04-24 | 日産自動車株式会社 | 車両用減速制御装置 |
JP2010127835A (ja) * | 2008-11-28 | 2010-06-10 | Toyota Motor Corp | レーダ装置 |
JP5210994B2 (ja) | 2009-08-18 | 2013-06-12 | 東芝アルパイン・オートモティブテクノロジー株式会社 | 車両用画像表示装置 |
US8692692B2 (en) * | 2010-11-18 | 2014-04-08 | International Business Machines Corporation | Identifying a potential vehicle incident within a communication black spot |
US8432309B2 (en) * | 2010-11-29 | 2013-04-30 | Freescale Semiconductor, Inc. | Automotive radar system and method for using same |
US8618952B2 (en) * | 2011-01-21 | 2013-12-31 | Honda Motor Co., Ltd. | Method of intersection identification for collision warning system |
JP2013097480A (ja) * | 2011-10-31 | 2013-05-20 | Hitachi Consumer Electronics Co Ltd | 車両用衝突危険予測装置及び車両用衝突危険予測システム |
JP5658190B2 (ja) * | 2012-03-23 | 2015-01-21 | オートリブ ディベロップメント エービー | 車両検知装置 |
CN102774379A (zh) * | 2012-07-05 | 2012-11-14 | 徐世贤 | 智能型刹车系统 |
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US20060284760A1 (en) | 2006-12-21 |
JP2006349456A (ja) | 2006-12-28 |
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