JP4518080B2 - 周辺監視装置 - Google Patents
周辺監視装置 Download PDFInfo
- Publication number
- JP4518080B2 JP4518080B2 JP2007001585A JP2007001585A JP4518080B2 JP 4518080 B2 JP4518080 B2 JP 4518080B2 JP 2007001585 A JP2007001585 A JP 2007001585A JP 2007001585 A JP2007001585 A JP 2007001585A JP 4518080 B2 JP4518080 B2 JP 4518080B2
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- Prior art keywords
- approaching
- detected
- monitoring device
- vehicle
- millimeter wave
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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
- G01S13/88—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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
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)
- 車両前方の物体を検知する、ミリ波レーダからなる前方監視装置と、前記前方監視装置とは別に設けられた車両後方の物体を検知する、ミリ波レーダからなる後方監視装置と、を備えた車両の周辺監視装置において、
前記前方監視装置で検知した物体から、車両に接近してくる接近移動物及び車両走行中の停止物を含むものである、前方から車両に接近する前方接近物体を検出する前方接近物体検出手段と、
前記後方監視装置で検知した物体のうち、前記前方接近物体として前記前方接近物体検出手段で検出されていたものを特定する物体特定手段と、
前記後方監視装置で検知した物体から、前記物体特定手段で特定された物体を候補から除外して、車両に接近する後方接近物体を検出する後方接近物体検出手段と、
を備え、
前記物体特定手段は、前記前方監視装置で検知され前記前方接近物体検出手段により検出された前記前方接近物体が前記後方監視装置により検知され始めるタイミングを算出するタイミング算出手段を有し、算出したタイミングで前記後方監視装置により検知され始めた物体を前記前方接近物体として特定するもので、前記タイミング算出手段は、車両前方の道路のカーブの曲率半径、並びに前記前方監視装置が検知した前記前方接近移動物の検知角度、距離、相対速度及び相対加速度に基づいて、前記前方接近移動物が前記後方監視装置に検知され始めるタイミングを算出するものであることを特徴とする周辺監視装置。 - 前記物体特定手段は、算出したタイミングで前記後方監視装置により検知され始めた物体の周波数ピークを、前記前方接近物体による周波数ピークとして特定することを特徴とする請求項1に記載の周辺監視装置。
- 前記物体特定手段は、前記前方接近物体が前記後方監視装置により検知され始めるときのピーク周波数を加味して、物体を特定することを特徴とする請求項2に記載の周辺監視装置。
- 前記物体特定手段は、特定した物体のピーク周波数の移動を、前記後方監視装置と該物体との相対速度に基づいてトラッキングすることを特徴とする請求項2又は3に記載の周辺監視装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007001585A JP4518080B2 (ja) | 2007-01-09 | 2007-01-09 | 周辺監視装置 |
CN200880001596XA CN101578533B (zh) | 2007-01-09 | 2008-01-03 | 车辆用环境监视设备 |
PCT/IB2008/000752 WO2008084408A2 (en) | 2007-01-09 | 2008-01-03 | Surroundings monitoring apparatus for a motor vehicle |
US12/448,051 US8094000B2 (en) | 2007-01-09 | 2008-01-03 | Surroundings monitoring apparatus for a motor vehicle |
EP08719389.2A EP2100164B1 (en) | 2007-01-09 | 2008-01-03 | Surroundings monitoring apparatus for a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007001585A JP4518080B2 (ja) | 2007-01-09 | 2007-01-09 | 周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008171082A JP2008171082A (ja) | 2008-07-24 |
JP4518080B2 true JP4518080B2 (ja) | 2010-08-04 |
Family
ID=39535328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007001585A Active JP4518080B2 (ja) | 2007-01-09 | 2007-01-09 | 周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8094000B2 (ja) |
EP (1) | EP2100164B1 (ja) |
JP (1) | JP4518080B2 (ja) |
CN (1) | CN101578533B (ja) |
WO (1) | WO2008084408A2 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2491560B (en) * | 2011-05-12 | 2014-12-03 | Jaguar Land Rover Ltd | Monitoring apparatus and method |
EP2808217B1 (en) * | 2013-05-27 | 2019-02-27 | Volvo Car Corporation | Vehicle safety arrangement and method |
JP6413240B2 (ja) * | 2014-01-08 | 2018-10-31 | 株式会社デンソー | 車両制御装置および車両 |
US9552732B2 (en) * | 2014-04-02 | 2017-01-24 | Robert Bosch Gmbh | Driver assistance system including warning sensing by vehicle sensor mounted on opposite vehicle side |
JP6408860B2 (ja) * | 2014-10-22 | 2018-10-17 | 株式会社デンソー | 物体検知装置 |
JP6292097B2 (ja) * | 2014-10-22 | 2018-03-14 | 株式会社デンソー | 側方測距センサ診断装置 |
US9868443B2 (en) * | 2015-04-27 | 2018-01-16 | GM Global Technology Operations LLC | Reactive path planning for autonomous driving |
JP6589840B2 (ja) | 2016-12-07 | 2019-10-16 | トヨタ自動車株式会社 | 運転支援装置 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03282707A (ja) * | 1990-03-30 | 1991-12-12 | Mazda Motor Corp | 移動車の環境認識装置 |
JP2003185744A (ja) * | 2001-12-14 | 2003-07-03 | Fujitsu Ten Ltd | レーダ装置 |
JP2004359086A (ja) * | 2003-06-04 | 2004-12-24 | Mitsubishi Electric Corp | 後側方警報装置 |
JP2005032063A (ja) * | 2003-07-08 | 2005-02-03 | Nissan Motor Co Ltd | 車載用障害物検出装置 |
JP2005182198A (ja) * | 2003-12-16 | 2005-07-07 | Fujitsu Ten Ltd | 追突防止装置 |
WO2005103757A1 (de) * | 2004-04-22 | 2005-11-03 | Siemens Aktiengesellschaft | Blindspot-sensorsystem |
JP2006088896A (ja) * | 2004-09-24 | 2006-04-06 | Mitsubishi Electric Corp | 車両用後側方警報装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1057234A (zh) * | 1990-06-11 | 1991-12-25 | 邢伟华 | 汽车防撞雷达 |
CN1198388A (zh) * | 1997-05-05 | 1998-11-11 | 黑龙江省铁力市弘亚实业有限公司 | 汽车防撞雷达 |
DE19806150C1 (de) | 1998-02-14 | 1999-09-16 | Daimler Chrysler Ag | Fahrzeug mit Objekterfassungseinrichtung |
US6784828B2 (en) * | 2000-08-16 | 2004-08-31 | Raytheon Company | Near object detection system |
DE60234911D1 (de) * | 2001-03-15 | 2010-02-11 | Fujitsu Ten Ltd | Signalverarbeitungsverfahren für abtastradar |
CN1224541C (zh) * | 2003-03-20 | 2005-10-26 | 上海交通大学 | 汽车追尾主动防撞装置 |
CN1274536C (zh) * | 2003-07-15 | 2006-09-13 | 范子林 | 智能控制机动车安全行驶系统 |
JP2005271756A (ja) | 2004-03-25 | 2005-10-06 | Toyota Motor Corp | 車両の警報装置 |
JP4298577B2 (ja) * | 2004-05-06 | 2009-07-22 | 三菱電機株式会社 | 車両用警報装置 |
DE102004052521A1 (de) | 2004-10-29 | 2006-05-04 | Robert Bosch Gmbh | FMCW-Radar mit Standzielunterdrückung |
-
2007
- 2007-01-09 JP JP2007001585A patent/JP4518080B2/ja active Active
-
2008
- 2008-01-03 CN CN200880001596XA patent/CN101578533B/zh not_active Expired - Fee Related
- 2008-01-03 WO PCT/IB2008/000752 patent/WO2008084408A2/en active Application Filing
- 2008-01-03 US US12/448,051 patent/US8094000B2/en active Active
- 2008-01-03 EP EP08719389.2A patent/EP2100164B1/en not_active Not-in-force
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03282707A (ja) * | 1990-03-30 | 1991-12-12 | Mazda Motor Corp | 移動車の環境認識装置 |
JP2003185744A (ja) * | 2001-12-14 | 2003-07-03 | Fujitsu Ten Ltd | レーダ装置 |
JP2004359086A (ja) * | 2003-06-04 | 2004-12-24 | Mitsubishi Electric Corp | 後側方警報装置 |
JP2005032063A (ja) * | 2003-07-08 | 2005-02-03 | Nissan Motor Co Ltd | 車載用障害物検出装置 |
JP2005182198A (ja) * | 2003-12-16 | 2005-07-07 | Fujitsu Ten Ltd | 追突防止装置 |
WO2005103757A1 (de) * | 2004-04-22 | 2005-11-03 | Siemens Aktiengesellschaft | Blindspot-sensorsystem |
JP2007533991A (ja) * | 2004-04-22 | 2007-11-22 | シーメンス アクチエンゲゼルシヤフト | ブラインドスポットセンサシステム |
JP2006088896A (ja) * | 2004-09-24 | 2006-04-06 | Mitsubishi Electric Corp | 車両用後側方警報装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101578533A (zh) | 2009-11-11 |
EP2100164A2 (en) | 2009-09-16 |
EP2100164B1 (en) | 2014-10-15 |
WO2008084408A2 (en) | 2008-07-17 |
WO2008084408A3 (en) | 2008-09-04 |
US8094000B2 (en) | 2012-01-10 |
US20100141413A1 (en) | 2010-06-10 |
CN101578533B (zh) | 2012-07-04 |
JP2008171082A (ja) | 2008-07-24 |
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