JP5298155B2 - 接近車両検出装置及び接近車両検出方法 - Google Patents
接近車両検出装置及び接近車両検出方法 Download PDFInfo
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- JP5298155B2 JP5298155B2 JP2011091200A JP2011091200A JP5298155B2 JP 5298155 B2 JP5298155 B2 JP 5298155B2 JP 2011091200 A JP2011091200 A JP 2011091200A JP 2011091200 A JP2011091200 A JP 2011091200A JP 5298155 B2 JP5298155 B2 JP 5298155B2
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- 238000001514 detection method Methods 0.000 title claims description 96
- 230000007423 decrease Effects 0.000 claims description 10
- 238000013459 approach Methods 0.000 description 30
- 238000004364 calculation method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000000926 separation method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source
Description
Claims (3)
- 自車両に搭載される複数の集音器で集音された音に基づいて接近する車両を検出する接近車両検出装置であって、
前記複数の集音器を用いて検知された音源の左右方向の移動方向が自車両に接近する方向か否かを判定する左右方向判定手段と、
前記複数の集音器を用いて検知された音源の上下方向の位置が自車両と同一平面上であるか否かを判定する上下方向判定手段と、
を備え、
前記複数の集音器は、自車両の上下方向の異なる位置かつ左右方向の異なる位置に配置された1対の集音器であり、
前記上下方向判定手段は、前記1対の集音器でそれぞれ集音された各音の到達時間差の時間変化において到達時間差の符号が逆転せずかつ到達時間差の絶対値が小さくなってから大きくなる場合には音源の上下方向の位置が自車両と同一平面上でないと判定し、前記1対の集音器でそれぞれ集音された各音の到達時間差の時間変化において到達時間差の符号が逆転しかつ到達時間差の絶対値が小さくなってから大きくなる場合には音源の上下方向の位置が自車両と同一平面上であると判定し、
前記左右方向判定手段で音源の左右方向の移動方向が自車両に接近する方向と判定しかつ前記上下方向判定手段で音源の上下方向の位置が自車両と同一平面上と判定した場合に当該音源を接近車両として検出することを特徴とする接近車両検出装置。 - 前記1対の集音器において、上側の集音器と下側の集音器とが自車両の前後方向において異なる位置に配置されることを特徴とする請求項1に記載の接近車両検出装置。
- 自車両に搭載される複数の集音器で集音された音に基づいて接近する車両を検出する接近車両検出方法であって、
前記複数の集音器を用いて検知された音源の左右方向の移動方向が自車両に接近する方向か否かを判定する左右方向判定ステップと、
前記複数の集音器を用いて検知された音源の上下方向の位置が自車両と同一平面上であるか否かを判定する上下方向判定ステップと、
を含み、
前記複数の集音器は、自車両の上下方向の異なる位置かつ左右方向の異なる位置に配置された1対の集音器であり、
前記上下方向判定ステップでは、前記1対の集音器でそれぞれ集音された各音の到達時間差の時間変化において到達時間差の符号が逆転せずかつ到達時間差の絶対値が小さくなってから大きくなる場合には音源の上下方向の位置が自車両と同一平面上でないと判定し、前記1対の集音器でそれぞれ集音された各音の到達時間差の時間変化において到達時間差の符号が逆転しかつ到達時間差の絶対値が小さくなってから大きくなる場合には音源の上下方向の位置が自車両と同一平面上であると判定し、
前記左右方向判定ステップで音源の左右方向の移動方向が自車両に接近する方向と判定しかつ前記上下方向判定ステップで音源の上下方向の位置が自車両と同一平面上と判定した場合に当該音源を接近車両として検出することを特徴とする接近車両検出方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011091200A JP5298155B2 (ja) | 2011-04-15 | 2011-04-15 | 接近車両検出装置及び接近車両検出方法 |
EP12722832.8A EP2697664B1 (en) | 2011-04-15 | 2012-04-13 | Approaching vehicle detecting system and approaching vehicle detecting method |
PCT/IB2012/000743 WO2012140498A1 (en) | 2011-04-15 | 2012-04-13 | Approaching vehicle detecting system and approaching vehicle detecting method |
CN201280018702.1A CN103477240B (zh) | 2011-04-15 | 2012-04-13 | 接近车辆检测系统和接近车辆检测方法 |
US14/111,377 US9103903B2 (en) | 2011-04-15 | 2012-04-13 | Approaching vehicle detecting system and approaching vehicle detecting method |
Applications Claiming Priority (1)
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JP2011091200A JP5298155B2 (ja) | 2011-04-15 | 2011-04-15 | 接近車両検出装置及び接近車両検出方法 |
Publications (2)
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JP2012226438A JP2012226438A (ja) | 2012-11-15 |
JP5298155B2 true JP5298155B2 (ja) | 2013-09-25 |
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JP2011091200A Expired - Fee Related JP5298155B2 (ja) | 2011-04-15 | 2011-04-15 | 接近車両検出装置及び接近車両検出方法 |
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Country | Link |
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US (1) | US9103903B2 (ja) |
EP (1) | EP2697664B1 (ja) |
JP (1) | JP5298155B2 (ja) |
CN (1) | CN103477240B (ja) |
WO (1) | WO2012140498A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN104335263B (zh) * | 2012-05-25 | 2016-08-31 | 丰田自动车株式会社 | 接近车辆检测装置及驾驶辅助系统 |
JP5660736B2 (ja) * | 2012-06-19 | 2015-01-28 | ビッグローブ株式会社 | グループ化システム |
US10279742B2 (en) * | 2014-05-29 | 2019-05-07 | Nikon Corporation | Image capture device and vehicle |
JP2016031243A (ja) * | 2014-07-25 | 2016-03-07 | シャープ株式会社 | 位相差算出装置、音源方向検知装置、および位相差算出方法 |
US9873428B2 (en) * | 2015-10-27 | 2018-01-23 | Ford Global Technologies, Llc | Collision avoidance using auditory data |
KR20180039942A (ko) * | 2016-10-11 | 2018-04-19 | 현대오트론 주식회사 | 초음파 센서 장치 및 초음파 센서 장치의 센싱 방법 |
US10055192B1 (en) * | 2017-03-31 | 2018-08-21 | David Shau | Mobile phones with warnings of approaching vehicles |
US10319228B2 (en) | 2017-06-27 | 2019-06-11 | Waymo Llc | Detecting and responding to sirens |
CN109606260B (zh) * | 2018-12-26 | 2020-12-11 | 北京蓦然认知科技有限公司 | 一种车外声音提示的方法及装置 |
JP7120077B2 (ja) * | 2019-02-27 | 2022-08-17 | トヨタ自動車株式会社 | 運転支援システム |
US11958505B2 (en) | 2020-07-21 | 2024-04-16 | Waymo Llc | Identifying the position of a horn honk or other acoustical information using multiple autonomous vehicles |
CN114067612A (zh) * | 2021-11-26 | 2022-02-18 | 山东科技大学 | 一种基于环境声音分析的车辆感知及危险预警方法与系统 |
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US4333170A (en) | 1977-11-21 | 1982-06-01 | Northrop Corporation | Acoustical detection and tracking system |
US4626850A (en) * | 1983-05-16 | 1986-12-02 | David Chey | Vehicle detection and collision avoidance apparatus |
JPH0592767U (ja) | 1992-05-18 | 1993-12-17 | 株式会社豊田中央研究所 | 接近車両認識装置 |
US6195608B1 (en) * | 1993-05-28 | 2001-02-27 | Lucent Technologies Inc. | Acoustic highway monitor |
US6690618B2 (en) * | 2001-04-03 | 2004-02-10 | Canesta, Inc. | Method and apparatus for approximating a source position of a sound-causing event for determining an input used in operating an electronic device |
FR2812402B1 (fr) * | 2000-07-27 | 2005-08-19 | Solutronic | Procede et dispositif de detection par voie acoustique d'un mobile sonore |
JP4210897B2 (ja) | 2002-03-18 | 2009-01-21 | ソニー株式会社 | 音源方向判断装置及び音源方向判断方法 |
JP2005010938A (ja) * | 2003-06-17 | 2005-01-13 | Mazda Motor Corp | 走行支援システム及び車載端末器 |
JP2006167833A (ja) | 2004-12-14 | 2006-06-29 | Honda Motor Co Ltd | ロボット |
JP4715236B2 (ja) | 2005-03-01 | 2011-07-06 | 株式会社デンソー | 超音波センサ装置 |
JP4650899B2 (ja) * | 2006-10-13 | 2011-03-16 | 三菱電機株式会社 | 安全支援情報提供車載システム |
WO2010035434A1 (ja) * | 2008-09-26 | 2010-04-01 | パナソニック株式会社 | 死角車両検出装置及びその方法 |
US9250315B2 (en) * | 2009-03-04 | 2016-02-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Collision avoidance system and method |
-
2011
- 2011-04-15 JP JP2011091200A patent/JP5298155B2/ja not_active Expired - Fee Related
-
2012
- 2012-04-13 EP EP12722832.8A patent/EP2697664B1/en not_active Not-in-force
- 2012-04-13 CN CN201280018702.1A patent/CN103477240B/zh not_active Expired - Fee Related
- 2012-04-13 US US14/111,377 patent/US9103903B2/en not_active Expired - Fee Related
- 2012-04-13 WO PCT/IB2012/000743 patent/WO2012140498A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US9103903B2 (en) | 2015-08-11 |
US20140136096A1 (en) | 2014-05-15 |
CN103477240B (zh) | 2015-08-19 |
EP2697664B1 (en) | 2017-06-14 |
CN103477240A (zh) | 2013-12-25 |
JP2012226438A (ja) | 2012-11-15 |
WO2012140498A1 (en) | 2012-10-18 |
EP2697664A1 (en) | 2014-02-19 |
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