JP4736777B2 - 車両用道路形状認識装置 - Google Patents
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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
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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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
-
- 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
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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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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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
- G01S2013/9325—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
-
- 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
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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
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
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- 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)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
自車両からの距離と、自車両に対する方位と、からなる極座標系に示される、反射物体認識手段の認識した反射物体の距離及び方位を示す点について、近接する点同士からなる点集合を抽出する点集合抽出手段と、
点集合抽出手段の抽出した点集合について、自車両からの距離の軸方向の長さが一定長さ以上であるかどうかを判定する点集合長さ判定手段と、
点集合長さ判定手段が一定長さ以上であると判定した点集合が道路に沿って設けられたガードレールを表しているとみなし、その点集合に基づいて、自車両の位置する道路の形状を認識する道路形状認識手段と、を備えることを特徴とする。
自車両の位置を原点とし、自車両の前後方向を縦座標軸とし、自車両の横方向を横座標軸とする平面座標系に極座標系を変換する座標変換手段と、
座標変換手段によって変換された平面座標系において、点集合長さ判定手段が一定長さ以上であると判定した点集合の近似曲線を算出する近似曲線算出手段と、
近似曲線の横座標軸における切片の位置から、点集合として表されるガードレールが自車両に対して右側、若しくは左側に存在するのかを判定する点集合左右判定手段と、を備えることを特徴とする。
距離に相当する周波数fb=[ABS(fbu)+ABS(fbd)]/2
(数2)
相対速度に相当する周波数fd=[ABS(fbu)−ABS(fbd)]/2
さらに、これら周波数fb及びfdを次式に代入することで、反射物体までの距離及び相対速度が算出される。なお、次式中のCは光速を示している。
距離=C/(4×ΔF×fm)×fb
(数4)
相対速度=(C/2×f0)×fd
次に、レーダ装置10において、自車両に対する反射物体の方位を測定する原理について説明する。図4に示すように、本実施形態では、送信アンテナ102から送波された送信電波の反射電波を複数の受信アンテナ103によって受信する。そして、各々の受信アンテナ103で受信した受信電波から、自車両に対する反射物体の方位を求める。
XRmin≦Xc≦XRmax
(数6)
XLmin≦Xc≦XLmax
ここで、数式5、若しくは数式6を満たす場合には、ステップS60に処理を進め、数式5、数式6の何れも満たさない場合には、ステップS70へ処理を移行する。ステップS60では、数式5を満たす場合、グループは、自車両の右側に存在する路側物であると特定し、一方、数式6を満たす場合、グループは、自車両の左側に存在する路側物であると特定する。
10 レーダ装置
20 自車両
30 先行車両
101 発振器
102 送信アンテナ
103 受信アンテナ
104 混合器
105 A/D変換器
106 FFT
Claims (5)
- 自車両の周囲に送信電波を送波し、その送信電波を反射する反射物体からの反射電波を受信する電波レーダ手段と、前記電波レーダ手段の受信した反射電波に基づいて、前記自車両からの前記反射物体の距離、及び前記自車両に対する前記反射物体の方位を認識する反射物体認識手段と、を備えた車両用道路形状認識装置であって、
前記自車両からの距離と、前記自車両に対する方位と、からなる極座標系に示される、前記反射物体認識手段の認識した前記反射物体の距離及び方位を示す点について、近接する点同士からなる点集合を抽出する点集合抽出手段と、
前記点集合抽出手段の抽出した点集合について、前記自車両からの距離の軸方向の長さが一定長さ以上であるかどうかを判定する点集合長さ判定手段と、
前記点集合長さ判定手段が一定長さ以上であると判定した点集合が道路に沿って設けられたガードレールを表しているとみなし、その点集合に基づいて、前記自車両の位置する道路の形状を認識する道路形状認識手段と、を備えることを特徴とする車両用道路形状認識装置。 - 前記道路形状認識手段は、
前記自車両の位置を原点とし、前記自車両の前後方向を縦座標軸とし、前記自車両の横方向を横座標軸とする平面座標系に前記極座標系を変換する座標変換手段と、
前記座標変換手段によって変換された平面座標系において、前記点集合長さ判定手段が一定長さ以上であると判定した点集合の近似曲線を算出する近似曲線算出手段と、
前記近似曲線の前記横座標軸における切片の位置から、前記点集合として表されるガードレールが前記自車両に対して右側、若しくは左側に存在するのかを判定する点集合左右判定手段と、を備えることを特徴とする請求項1記載の車両用道路形状認識装置。 - 前記点集合左右判定手段は、前記平面座標系の横座標軸上において、前記自車両の右側及び左側の領域に、前記点集合がガードレールを表している場合に、その点集合の近似曲線の切片となる座標値の範囲を定め、前記横座標軸における近時曲線の切片が、設定された座標値の範囲内に位置するかどうかによって前記ガードレールが右側、若しくは左側に存在するのかを判定することを特徴とする請求項2記載の車両用道路形状認識装置。
- 前記点集合左右判定手段は、前記平面座標系の横座標軸上に設定された座標値の範囲内に前記切片が位置する場合、前記近似曲線を算出する基となった点集合は道路に沿って設けられたガードレールを表しており、前記座標値の範囲外に前記切片が位置する場合、前記点集合はガードレールを表すものではないと判定することを特徴とする請求項3記載の車両用道路形状認識装置。
- 前記点集合抽出手段は、一定方位内で、一定距離内の点同士からなる点集合を抽出することを特徴とする請求項1〜4の何れか1項に記載の車両用道路形状認識装置。
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JP2005362213A JP4736777B2 (ja) | 2005-12-15 | 2005-12-15 | 車両用道路形状認識装置 |
US11/636,789 US20070143004A1 (en) | 2005-12-15 | 2006-12-11 | Road configuration recognizing system for vehicle |
DE102006058900A DE102006058900A1 (de) | 2005-12-15 | 2006-12-13 | Fahrbahnverlauf-Erkennungssystem für ein Fahrzeug |
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JP2005362213A JP4736777B2 (ja) | 2005-12-15 | 2005-12-15 | 車両用道路形状認識装置 |
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JP4736777B2 true JP4736777B2 (ja) | 2011-07-27 |
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DE (1) | DE102006058900A1 (ja) |
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KR101230827B1 (ko) * | 2009-12-04 | 2013-02-07 | 기아자동차주식회사 | 전방 차량 감지시스템 |
US8437939B2 (en) | 2010-01-29 | 2013-05-07 | Toyota Jidosha Kabushiki Kaisha | Road information detecting device and vehicle cruise control device |
JP5229254B2 (ja) * | 2010-03-23 | 2013-07-03 | 株式会社デンソー | 道路形状認識装置 |
US9002630B2 (en) | 2010-11-04 | 2015-04-07 | Toyota Jidosha Kabushiki Kaisha | Road shape estimation apparatus |
JP5594102B2 (ja) * | 2010-12-02 | 2014-09-24 | トヨタ自動車株式会社 | 道路形状推定装置 |
JP5534045B2 (ja) * | 2011-02-03 | 2014-06-25 | トヨタ自動車株式会社 | 道路形状推定装置 |
JP5821276B2 (ja) * | 2011-05-20 | 2015-11-24 | マツダ株式会社 | 移動体の位置および進行方向の検出装置 |
US9297892B2 (en) | 2013-04-02 | 2016-03-29 | Delphi Technologies, Inc. | Method of operating a radar system to reduce nuisance alerts caused by false stationary targets |
EP3236212B1 (en) * | 2016-04-22 | 2023-01-25 | Volvo Car Corporation | Method for generating navigation data and a navigation device for performing the method |
JP6723836B2 (ja) * | 2016-06-03 | 2020-07-15 | 株式会社デンソーテン | レーダ装置および信号処理方法 |
KR101938051B1 (ko) * | 2017-03-21 | 2019-01-14 | 연세대학교 산학협력단 | 레이더를 이용하여 도로의 형상을 예측하는 방법 및 장치 |
KR102112000B1 (ko) * | 2019-11-08 | 2020-05-18 | 동명대학교산학협력단 | 레이더 기반 해상교량 및 해안시설물 충돌 경보 시스템 |
JP7186925B2 (ja) * | 2020-06-12 | 2022-12-09 | 三菱電機株式会社 | 道路形状推定装置、道路形状推定方法及び道路形状推定プログラム |
JPWO2022102371A1 (ja) * | 2020-11-16 | 2022-05-19 | ||
DE102021203808A1 (de) | 2021-04-16 | 2022-10-20 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zum Ermitteln eines Fahrbahnverlaufs |
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JP2002323565A (ja) * | 2001-04-27 | 2002-11-08 | Denso Corp | 障害物認識装置 |
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2005
- 2005-12-15 JP JP2005362213A patent/JP4736777B2/ja active Active
-
2006
- 2006-12-11 US US11/636,789 patent/US20070143004A1/en not_active Abandoned
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH10239436A (ja) * | 1997-02-21 | 1998-09-11 | Mitsubishi Electric Corp | 車間距離検出装置 |
JP2001256600A (ja) * | 2000-03-09 | 2001-09-21 | Denso Corp | 車両用道路形状認識方法及び装置、記録媒体 |
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JP2007161162A (ja) | 2007-06-28 |
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