JP5080082B2 - 距離測定手段と障害物との間の放射された距離を検出するための方法および距離検出装置 - Google Patents
距離測定手段と障害物との間の放射された距離を検出するための方法および距離検出装置 Download PDFInfo
- Publication number
- JP5080082B2 JP5080082B2 JP2006530035A JP2006530035A JP5080082B2 JP 5080082 B2 JP5080082 B2 JP 5080082B2 JP 2006530035 A JP2006530035 A JP 2006530035A JP 2006530035 A JP2006530035 A JP 2006530035A JP 5080082 B2 JP5080082 B2 JP 5080082B2
- Authority
- JP
- Japan
- Prior art keywords
- distance
- obstacle
- measuring means
- distance measuring
- point
- 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
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 10
- 230000005855 radiation Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 230000008033 biological extinction Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
Images
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
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S2013/9314—Parking operations
-
- 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
- G01S2013/9317—Driving backwards
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Description
更に、本発明の上記課題は、プログラムコードを有するコンピュータプログラムおよび距離検出装置によって解決される。これら2つの解決策の利点は、請求された方法に関して上述した利点に対応する。
この方法を図で説明するためには、すべての図2aないし2cでは、自動車両50が、速度Vで、停止しているすなわち固定の障害物200に向かって動くことが例として仮定される。このことは、周知のように、相対移動の特殊な場合に過ぎない。すなわち、相対移動は、障害物200のみが動き、車両50が停止しているとき、あるいは、2つの物体すなわち車両50および障害物200が同時に移動するときにも、生じる。図2では、路面からの距離測定手段110の組み込み位置の高さには、hSが付されている。障害物200の表面上において、距離測定手段110との最短の放射された距離を有する点には、Pが付されている。地面からのまたは路面からのこの点Pの高さには、hPが付されている。
dGr=(hS−hP)/tan(α) (1)
Claims (6)
- 自動車両(50)に組み込まれている距離測定手段(110)と、障害物(200)との間の放射された距離を確定する方法であって、前記障害物(200)は、前記距離測定手段の位置の高さ(hS)よりも低い最大限の高さを有し、その上面に、前記障害物(200)のあらゆる点と前記距離測定手段との最短の放射された距離(d)を有する最近点(P)を有してなる方法において、
以下の工程、すなわち、
障害物(200)の前記最近点(P)が、前記距離測定手段(110)と前記障害物(200)との間の接近の際に、前記距離測定手段(110)の検出領域から姿を消すときの限界時点で、前記障害物(200)の前記最近点(P)と、前記距離測定手段(110)との間の放射された限界距離(dGr)を記憶すること、および
前記障害物(200)の前記最近点(P)が前記距離測定手段(110)の検出領域の外側に位置する限り、前記限界距離(dGr)と、前記距離測定手段(110)および前記障害物(200)の互いの相対移動に関する情報とを用いて、前記障害物(200)の前記最近点(P)と、前記距離測定手段との間の前記放射された距離(d)を確定すること、
を有することを特徴とする方法。 - 障害物(200)の前記最近点(P)が前記距離測定手段(110)の検出領域の内側に位置する限り、前記障害物(200)の前記最近点(P)の位置は、前記距離測定手段(110)によって提供された情報に基づいて確定され、前記障害物(200)の前記最近点(P)の高さ(hP)は、前記限界時点で前記距離測定手段によって提供された情報を使用して確定されることを特徴とする請求項1に記載の方法。
- 障害物の前記最近点(P)が前記距離測定手段(110)の検出領域の内側に位置する限り、前記距離測定手段によって提供された距離情報に基づいて、前記最近点(P)と前記距離測定手段(110)との間の距離を確定することを特徴とする請求項1または2に記載の方法。
- 前記請求項2に記載の方法において、前記検出領域は、実質的に、前記距離測定手段の開き角によって規定されていること、および前記限界距離(dGr)は、地面からの前記最近点の前記高さ(hP)が前記障害物の全体の高さと同一である複数の障害物(200)において、以下の式(1)、すなわち、
dGr=(hS−hP)/tan(α) (1)
に基づいて計算されること、を特徴とし、
但し、hSは地面からの前記距離測定手段の組み込み高さを、αは、前記距離測定手段の、水平線の下方の開き角の成分を表わす。 - プログラムコードを有する、距離検出装置(100)のためのコンピュータプログラムにおいて、このプログラムコードは、請求項1ないし4のいずれか1に記載の方法を実行するために形成されていることを特徴とするコンピュータプログラム。
- 自動車両(50)のための距離検出装置(100)であって、距離測定手段(110)を有し、該距離測定手段は、この距離測定手段と、この距離測定手段の周囲にある障害物との間の距離を確定するためのものであり、前記障害物は最大限の高さ(hP)および最近点を有し、前者の高さは前記距離測定手段の位置の高さよりも低く、後者の最近点は前記障害物のすべての点と前記距離測定手段との最短の放射された距離を有してなる距離検出装置において、
前記障害物(200)の前記最近点(P)が、前記距離測定手段(110)と前記障害物(200)との間の接近の際に、前記距離測定手段(110)の検出領域から姿を消すときの限界時点で、前記障害物(200)の前記最近点(P)と、前記距離測定手段(110)との間の放射された限界距離を記憶するための第2の記憶素子(130)と、
前記障害物(200)の前記最近点(P)が、前記距離測定手段(110)の検出領域の外側に位置しているそのときに、前記距離測定手段(110)と前記障害物(200)との間の相対移動に関する距離情報を確定するための距離情報確定手段(140)と、
前記限界距離(dGr)と、前記距離情報確定手段(140)によって提供された距離情報とを用いて、前記障害物の前記最近点と、前記距離測定手段(110)との間の放射された距離(d)を計算するための計算手段(150)と、
を有することを特徴とする距離検出装置(100)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10346074.8 | 2003-10-04 | ||
DE10346074A DE10346074A1 (de) | 2003-10-04 | 2003-10-04 | Verfahren und Abstandserfassungsvorrichtung zum Erfassen des projizierten Abstandes zwischen einer Abstandsmesseinrichtung und einem Hindernis |
PCT/EP2004/010867 WO2005033735A1 (de) | 2003-10-04 | 2004-09-29 | Verfahren und abstandserfassungsvorrichtung zum erfassen des projizierten abstandes zwischen einer abstandsmesseinrichtung und einem hindernis |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007507692A JP2007507692A (ja) | 2007-03-29 |
JP5080082B2 true JP5080082B2 (ja) | 2012-11-21 |
Family
ID=34353299
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006530035A Expired - Fee Related JP5080082B2 (ja) | 2003-10-04 | 2004-09-29 | 距離測定手段と障害物との間の放射された距離を検出するための方法および距離検出装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7545484B2 (ja) |
EP (1) | EP1668385B1 (ja) |
JP (1) | JP5080082B2 (ja) |
AT (1) | ATE363662T1 (ja) |
DE (2) | DE10346074A1 (ja) |
ES (1) | ES2286667T3 (ja) |
WO (1) | WO2005033735A1 (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10347364A1 (de) * | 2003-10-11 | 2005-05-12 | Valeo Schalter & Sensoren Gmbh | Verfahren zum Detektieren eines Hindernisses in dem Detektionsbereich einer Detektionsvorrichtung |
EP1674885A1 (en) * | 2004-12-21 | 2006-06-28 | Robert Bosch Gmbh | Method for detecting objects in the blind zone of the sensor surroundings |
US8108148B2 (en) * | 2009-02-27 | 2012-01-31 | Toyota Motor Engineering & Manufacturing, North America, Inc. | Method and system for mapping environments containing dynamic obstacles |
US8799201B2 (en) | 2011-07-25 | 2014-08-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for tracking objects |
DE102011112150A1 (de) | 2011-09-01 | 2013-03-07 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Bestimmung eines Ausmaßes eines Objekts in einer Umgebung eines Fahrzeugs sowie eine entsprechende Vorrichtung und ein Fahrzeug mit einer derartigen Vorrichtung. |
JP2014034287A (ja) * | 2012-08-08 | 2014-02-24 | Aisin Seiki Co Ltd | 駐車支援システム |
WO2014038076A1 (ja) * | 2012-09-07 | 2014-03-13 | トヨタ自動車株式会社 | 車間距離制御装置 |
US9589078B2 (en) * | 2012-09-27 | 2017-03-07 | Futurewei Technologies, Inc. | Constructing three dimensional model using user equipment |
RU2510800C1 (ru) * | 2012-10-05 | 2014-04-10 | Владимир Иванович Винокуров | Устройство для определения расстояния между воздушными судами |
DE102015107389A1 (de) * | 2015-05-12 | 2016-11-17 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftfahrzeugs mit Objekterkennung im Nahbereich, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102015118578A1 (de) | 2015-10-30 | 2017-05-04 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Manövrieren eines Kraftfahrzeugs mit Bewegen des Kraftfahrzeugs in eine Erfassungsposition, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102017212868A1 (de) * | 2017-07-26 | 2019-01-31 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Erkennen einer Position eines Objekts |
JP7167751B2 (ja) * | 2019-02-08 | 2022-11-09 | 株式会社アイシン | 物体検出装置 |
CN112415532B (zh) * | 2020-11-30 | 2022-10-21 | 上海炬佑智能科技有限公司 | 灰尘检测方法、距离检测装置以及电子设备 |
FR3139202B1 (fr) * | 2022-08-30 | 2024-07-12 | Psa Automobiles Sa | Procédé et dispositif de détection d’obstacle pour un véhicule avec un capteur radar |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5596475A (en) * | 1979-01-19 | 1980-07-22 | Nissan Motor Co Ltd | Obstacle detector for vehicle |
JPS62170581U (ja) * | 1986-04-18 | 1987-10-29 | ||
JPS63255684A (ja) * | 1987-04-11 | 1988-10-21 | Toyota Motor Corp | 車輌用物体検知装置 |
US5675720A (en) * | 1993-09-14 | 1997-10-07 | Fujitsu Limited | Method of searching for points of closest approach, and preprocessing method therefor |
DE4333357A1 (de) * | 1993-09-30 | 1995-04-06 | Bosch Gmbh Robert | Einparkhilfe mit Radsensor |
US6085151A (en) * | 1998-01-20 | 2000-07-04 | Automotive Systems Laboratory, Inc. | Predictive collision sensing system |
JP3356275B2 (ja) * | 1999-01-21 | 2002-12-16 | シャープ株式会社 | 自律走行ロボット及び距離測定装置 |
DE10151965A1 (de) | 2001-10-20 | 2003-05-08 | Valeo Schalter & Sensoren Gmbh | Verfahren zum Betreiben eines Nahbereichserkennungssystems und Nahbereichserkennungssystem |
US6615138B1 (en) * | 2002-05-30 | 2003-09-02 | Delphi Technologies, Inc. | Collision detection system and method of estimating miss distance employing curve fitting |
JP3994941B2 (ja) * | 2003-07-22 | 2007-10-24 | オムロン株式会社 | 車両用レーダ装置 |
-
2003
- 2003-10-04 DE DE10346074A patent/DE10346074A1/de not_active Withdrawn
-
2004
- 2004-09-29 DE DE502004003986T patent/DE502004003986D1/de not_active Expired - Lifetime
- 2004-09-29 AT AT04765672T patent/ATE363662T1/de not_active IP Right Cessation
- 2004-09-29 US US10/574,229 patent/US7545484B2/en not_active Expired - Fee Related
- 2004-09-29 ES ES04765672T patent/ES2286667T3/es not_active Expired - Lifetime
- 2004-09-29 JP JP2006530035A patent/JP5080082B2/ja not_active Expired - Fee Related
- 2004-09-29 EP EP04765672A patent/EP1668385B1/de not_active Expired - Lifetime
- 2004-09-29 WO PCT/EP2004/010867 patent/WO2005033735A1/de active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
US20080015777A1 (en) | 2008-01-17 |
EP1668385A1 (de) | 2006-06-14 |
EP1668385B1 (de) | 2007-05-30 |
JP2007507692A (ja) | 2007-03-29 |
ATE363662T1 (de) | 2007-06-15 |
US7545484B2 (en) | 2009-06-09 |
WO2005033735A1 (de) | 2005-04-14 |
DE502004003986D1 (de) | 2007-07-12 |
ES2286667T3 (es) | 2007-12-01 |
DE10346074A1 (de) | 2005-04-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5080082B2 (ja) | 距離測定手段と障害物との間の放射された距離を検出するための方法および距離検出装置 | |
JP6926917B2 (ja) | オフライン検証システム | |
KR102126670B1 (ko) | 검출 영역을 최적화하는 장애물 추적 장치 및 방법 | |
KR102208836B1 (ko) | 주차공간 인식장치 및 그의 제어방법 | |
JP5926069B2 (ja) | 障害物判定装置 | |
KR101735732B1 (ko) | 주차 공간 탐색을 위한 모서리 검출 장치 및 방법 | |
KR101377036B1 (ko) | 주차 보조 장치 및 그의 주차 제어 방법 | |
JP6887112B2 (ja) | 駐車支援方法およびそれを利用した駐車支援装置、プログラム | |
KR20150059489A (ko) | 협로 검출 방법과 협로 검출 장치 및 협로 검출 시스템 | |
JP2013239015A (ja) | 駐車支援装置、駐車支援方法およびプログラム | |
KR20140049136A (ko) | 주차 지원 장치 및 방법과 이를 이용한 주차 지원 시스템 | |
KR101712399B1 (ko) | 차량의 후방 장애물 표시 방법 | |
KR20140074343A (ko) | 차량의 포지션 데이터의 결정 방법 | |
TWI596580B (zh) | Obstacle warning system and its operation method | |
KR101745015B1 (ko) | 장애물 감지영역 조절 장치 및 그 방법 | |
JP2002228734A (ja) | 周囲物体認識装置 | |
JP2018125639A (ja) | 熱画像処理装置、赤外線撮像装置、熱画像処理方法、及び熱画像処理プログラム | |
GB2567144B (en) | Apparatus and method for localising a vehicle | |
KR102198809B1 (ko) | 객체 추적 시스템 및 방법 | |
JP7401273B2 (ja) | 移動体の制御装置及び方法 | |
KR102529555B1 (ko) | 자율 긴급 제동 시스템 및 이의 구동 방법 | |
JP2002120679A (ja) | 車両用接触推定装置 | |
KR101977493B1 (ko) | 차량간 거리 측정 장치 및 방법 | |
JP6594565B1 (ja) | 車載装置、情報処理方法及び情報処理プログラム | |
JP2012232672A (ja) | 段差警報システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20070427 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20091209 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20091215 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20100315 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20100323 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100615 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110405 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20110705 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20110712 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20110805 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20110812 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110905 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120214 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120426 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20120529 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120731 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120830 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150907 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |