JP5746695B2 - 車両の進行路推定装置 - Google Patents
車両の進行路推定装置 Download PDFInfo
- Publication number
- JP5746695B2 JP5746695B2 JP2012522443A JP2012522443A JP5746695B2 JP 5746695 B2 JP5746695 B2 JP 5746695B2 JP 2012522443 A JP2012522443 A JP 2012522443A JP 2012522443 A JP2012522443 A JP 2012522443A JP 5746695 B2 JP5746695 B2 JP 5746695B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- yaw rate
- stationary object
- traveling path
- stationary
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/24—Curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
-
- 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
-
- 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
- G01S2013/9327—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
- G01S2013/93275—Sensor installation details in the bumper area
Description
y1>y2>y3・・・・>yn (1)
この判定がYesの場合は次のステップS13に進み、Noの場合は処理を終了する。
Y = aX + b (2)
なお、近似直線Aの算出にあたっては最小2乗法等の他の近似関数を求める方法を利用してもよい。
Y = −(1/a)X + c (3)
R=a・c
=XM+aYM (4)
なお、複数の静止物が検知されている場合は、各静止物の軌跡から対応する旋回半径Rが算出される。このように、本発明の一実施形態によれば、基本的にレーダからの検知情報のみに基づき自車両の旋回半径R、進行軌跡Tを推定(算出)することができる。
γ = V / R (5)
ちなみに単位は、R(m)、V(m/s)の場合γ(rad/s)となるので、γ(deg/s)を得るためには(5)式から得られるγ(rad/s)に180/πを乗算する。
12 制御ユニット
14 スピーカ
16 表示装置
16a HUD
20 車両
22 レーダ検知領域
23 検知物体(静止物)
Claims (4)
- 車両の前方の物体を検知する検知手段および制御ユニットを備え、車両に搭載され、該車両の進行路を計算する進行路推定装置であって、該制御ユニットは、
前記検知手段から順次入力を受け取り、該車両の前方の物体を、該車両の位置を原点とする2次元座標上の時系列の位置データとして検出する検出手段と、
前記検出された前記時系列の位置データに基づいて前記車両の前方の物体が静止物であるか否かを判定する判定手段と、
静止物と判定されたなら、前記車両の位置を原点とする2次元座標上に投影された静止物の時系列の位置データから当該静止物の軌跡を示す近似直線を算出する手段と、
前記2次元座標上において、前記静止物の時系列の位置データにおける中点を通り前記近似直線に直交する直交直線を算出する手段と、
前記直交直線とX軸との交点から前記車両の旋回半径を算出する手段と、
から構成されている、車両の進行路推定装置。 - 前記制御ユニットは、さらに、複数の静止物が存在する場合に各静止物について得られる前記旋回半径から前記車両のヨーレートを算出し、算出されたヨーレートの平均値から前記車両の進行路を推定する、よう構成されている、請求項1に記載の車両の進行路推定装置。
- 前記制御ユニットは、さらに、複数の静止物が存在する場合に、各静止物について得られる前記旋回半径と、前記車両の速度とから各静止物に対する前記車両のヨーレートを算出し、
得られた前記各静止物に対する前記車両のヨーレートの平均値を算出する、
よう構成されている、請求項1に記載の車両の進行路推定装置。 - 前記制御ユニットは、さらに、前記車両のヨーレートセンサが検出したヨーレート値と、前記ヨーレートの平均値との差分を算出し、得られた当該差分値を当該ヨーレートセンサの検出値を補正するために利用する、よう構成されている、請求項3に記載の車両の進行路推定装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012522443A JP5746695B2 (ja) | 2010-06-29 | 2011-06-15 | 車両の進行路推定装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010148345 | 2010-06-29 | ||
JP2010148345 | 2010-06-29 | ||
PCT/JP2011/003416 WO2012001896A1 (ja) | 2010-06-29 | 2011-06-15 | 車両の進行路推定装置 |
JP2012522443A JP5746695B2 (ja) | 2010-06-29 | 2011-06-15 | 車両の進行路推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2012001896A1 JPWO2012001896A1 (ja) | 2013-08-22 |
JP5746695B2 true JP5746695B2 (ja) | 2015-07-08 |
Family
ID=45401643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012522443A Active JP5746695B2 (ja) | 2010-06-29 | 2011-06-15 | 車両の進行路推定装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9043132B2 (ja) |
EP (1) | EP2590152B1 (ja) |
JP (1) | JP5746695B2 (ja) |
CN (1) | CN102959600B (ja) |
WO (1) | WO2012001896A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012066777A (ja) * | 2010-09-27 | 2012-04-05 | Mazda Motor Corp | ヨーレートのずれ検出装置 |
EP2942251B1 (en) * | 2014-05-08 | 2017-04-05 | Volvo Car Corporation | Method for providing an object prediction representation |
CN104269070B (zh) * | 2014-08-20 | 2017-05-17 | 东风汽车公司 | 一种车辆主动安全预警方法和运用该方法的安全预警系统 |
JP6418332B2 (ja) * | 2015-08-28 | 2018-11-07 | 日産自動車株式会社 | 車両位置推定装置、車両位置推定方法 |
US9983301B2 (en) * | 2015-10-02 | 2018-05-29 | Delphi Technologies, Inc. | Automated vehicle radar system to determine yaw-rate of a target vehicle |
CN106127883B (zh) * | 2016-06-23 | 2018-11-02 | 北京航空航天大学 | 驾驶事件检测方法 |
WO2018061100A1 (ja) * | 2016-09-28 | 2018-04-05 | 本田技研工業株式会社 | 車両制御装置 |
JP2018055539A (ja) * | 2016-09-30 | 2018-04-05 | パナソニックIpマネジメント株式会社 | 移動体の状態算出装置、状態算出方法、プログラムおよびそれを記録した記録媒体 |
JP6493364B2 (ja) * | 2016-11-18 | 2019-04-03 | トヨタ自動車株式会社 | 運転支援装置 |
EP3415945B1 (en) * | 2017-06-12 | 2024-01-10 | Aptiv Technologies Limited | Method of determining the yaw rate of a target vehicle |
EP3483625B1 (en) * | 2017-11-10 | 2023-01-04 | Denso Corporation | Automotive radar system with direct measurement of yaw rate and/or heading of object vehicle |
DE102017221691A1 (de) * | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Eigenlokalisierung eines Fahrzeugs |
FR3079026B1 (fr) * | 2018-03-15 | 2021-01-01 | Sysnav | Procede de calibration d'un gyrometre equipant un vehicule |
EP3572839A1 (en) | 2018-05-23 | 2019-11-27 | Aptiv Technologies Limited | Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system |
EP3575827A1 (en) | 2018-06-01 | 2019-12-04 | Aptiv Technologies Limited | Method for robust estimation of the velocity of a target using a host vehicle |
EP3611541A1 (en) | 2018-08-16 | 2020-02-19 | Aptiv Technologies Limited | Method of determining an uncertainty estimate of an estimated velocity |
JP2021002112A (ja) * | 2019-06-20 | 2021-01-07 | 三菱電機株式会社 | 自動二輪車の運転支援装置 |
WO2021070140A1 (en) | 2019-10-10 | 2021-04-15 | Thales Canada Inc. | System and method to determine low-speed and stationary state of a rail vehicle |
KR20210097869A (ko) * | 2020-01-30 | 2021-08-10 | 현대자동차주식회사 | 이동체에서 주행 가이드 라인 제어 방법 및 장치 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005332192A (ja) * | 2004-05-19 | 2005-12-02 | Toyota Motor Corp | 操舵支援システム |
JP2007004711A (ja) * | 2005-06-27 | 2007-01-11 | Denso Corp | 車両用進路推定装置 |
JP2007278892A (ja) * | 2006-04-07 | 2007-10-25 | Mazda Motor Corp | 車両の障害物検知装置 |
JP2007280144A (ja) * | 2006-04-07 | 2007-10-25 | Mazda Motor Corp | 車両の障害物検知装置 |
JP2008027309A (ja) * | 2006-07-24 | 2008-02-07 | Sumitomo Electric Ind Ltd | 衝突判定システム、及び衝突判定方法 |
JP2010093610A (ja) * | 2008-10-09 | 2010-04-22 | Hitachi Automotive Systems Ltd | 自動車の外界認識装置及び外界認識方法 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB8909074D0 (en) * | 1989-04-21 | 1989-06-07 | Lotus Group Plc | Vehicle control system |
US5754099A (en) * | 1994-03-25 | 1998-05-19 | Nippondenso Co., Ltd. | Obstacle warning system for a vehicle |
DE4414192C2 (de) * | 1994-04-22 | 1996-06-13 | Siemens Ag | Verfahren zur Ermittlung einer Sicherheitszone um eine selbstbewegliche mobile Einheit |
JPH08132997A (ja) | 1994-09-14 | 1996-05-28 | Mazda Motor Corp | 車両の進行路推定装置及びその推定方法 |
US5745870A (en) * | 1994-09-14 | 1998-04-28 | Mazda Motor Corporation | Traveling-path prediction apparatus and method for vehicles |
JP3257410B2 (ja) * | 1995-11-24 | 2002-02-18 | トヨタ自動車株式会社 | 車載走査型レーダ装置 |
DE19921449C1 (de) * | 1999-05-08 | 2001-01-25 | Daimler Chrysler Ag | Leithilfe bei einem Fahrspurwechsel eines Kraftfahrzeuges |
JP3427809B2 (ja) * | 2000-03-09 | 2003-07-22 | 株式会社デンソー | 車両用道路形状認識方法及び装置、記録媒体 |
JP2001328451A (ja) | 2000-05-18 | 2001-11-27 | Denso Corp | 進行路推定装置、先行車認識装置、及び記録媒体 |
JP2002352399A (ja) * | 2001-05-23 | 2002-12-06 | Mitsubishi Electric Corp | 車両周辺監視装置 |
DE10218924A1 (de) | 2002-04-27 | 2003-11-06 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Kursprädiktion bei Kraftfahrzeugen |
DE102006018974A1 (de) * | 2006-04-25 | 2007-10-31 | Adc Automotive Distance Control Systems Gmbh | Verfahren zur Kalibrierung einer Gierratenmessung |
US7916006B2 (en) * | 2008-06-25 | 2011-03-29 | GM Global Technology Operations LLC | Judgment line calculations for a vehicle safety system |
JP4979644B2 (ja) * | 2008-07-09 | 2012-07-18 | 本田技研工業株式会社 | ナビゲーション装置および車両の走行安全装置 |
EP2169500B1 (en) * | 2008-09-25 | 2012-04-04 | Volvo Car Corporation | Method of assessing vehicle paths in a road environment and a vehicle path assessment system. |
JP4596063B2 (ja) * | 2008-09-30 | 2010-12-08 | 株式会社デンソー | 車両操舵制御装置 |
US8954260B2 (en) * | 2010-06-15 | 2015-02-10 | GM Global Technology Operations LLC | Method and system for collision assessment for vehicles |
JP2012066777A (ja) * | 2010-09-27 | 2012-04-05 | Mazda Motor Corp | ヨーレートのずれ検出装置 |
-
2011
- 2011-06-15 EP EP11800371.4A patent/EP2590152B1/en not_active Not-in-force
- 2011-06-15 US US13/806,897 patent/US9043132B2/en active Active
- 2011-06-15 CN CN201180031577.3A patent/CN102959600B/zh active Active
- 2011-06-15 WO PCT/JP2011/003416 patent/WO2012001896A1/ja active Application Filing
- 2011-06-15 JP JP2012522443A patent/JP5746695B2/ja active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005332192A (ja) * | 2004-05-19 | 2005-12-02 | Toyota Motor Corp | 操舵支援システム |
JP2007004711A (ja) * | 2005-06-27 | 2007-01-11 | Denso Corp | 車両用進路推定装置 |
JP2007278892A (ja) * | 2006-04-07 | 2007-10-25 | Mazda Motor Corp | 車両の障害物検知装置 |
JP2007280144A (ja) * | 2006-04-07 | 2007-10-25 | Mazda Motor Corp | 車両の障害物検知装置 |
JP2008027309A (ja) * | 2006-07-24 | 2008-02-07 | Sumitomo Electric Ind Ltd | 衝突判定システム、及び衝突判定方法 |
JP2010093610A (ja) * | 2008-10-09 | 2010-04-22 | Hitachi Automotive Systems Ltd | 自動車の外界認識装置及び外界認識方法 |
Also Published As
Publication number | Publication date |
---|---|
CN102959600B (zh) | 2015-01-14 |
JPWO2012001896A1 (ja) | 2013-08-22 |
US20130110391A1 (en) | 2013-05-02 |
EP2590152A1 (en) | 2013-05-08 |
WO2012001896A1 (ja) | 2012-01-05 |
EP2590152B1 (en) | 2016-04-20 |
CN102959600A (zh) | 2013-03-06 |
EP2590152A4 (en) | 2014-05-14 |
US9043132B2 (en) | 2015-05-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5746695B2 (ja) | 車両の進行路推定装置 | |
JP7461720B2 (ja) | 車両位置決定方法及び車両位置決定装置 | |
JP6272566B2 (ja) | 経路予測装置 | |
JP2016224718A (ja) | 運転支援装置及び運転支援方法 | |
EP3431926A1 (en) | Road surface shape measuring device, measuring method, and program | |
JPWO2011086661A1 (ja) | 衝突位置予測装置 | |
KR101805377B1 (ko) | 대상물 마킹의 위치를 트래킹하기 위한 방법 및 장치 | |
JP5453765B2 (ja) | 道路形状推定装置 | |
JP2023115057A (ja) | 測定装置、測定方法、及び、プログラム | |
KR20180039900A (ko) | 진행경로 시나리오에 따라 충돌가능성을 판단하고 차량을 제어하는 장치 및 방법 | |
JP5490633B2 (ja) | 車両の進行路推定装置 | |
JP2007085909A (ja) | 他車両位置検出装置 | |
KR102545582B1 (ko) | 교차로 충돌 회피 시스템 및 그 제어 방법 | |
JP2008003662A (ja) | 車両識別システム | |
JP6138293B1 (ja) | 路面起伏推定装置および路面起伏推定方法 | |
JPH0981757A (ja) | 車両位置検出装置 | |
JP2015069287A (ja) | 自車位置認識装置 | |
JP2000002535A (ja) | カーブ路の曲率検出方法及びこれに用いる検出装置 | |
JP6303418B2 (ja) | 車両用走行案内装置および車両用走行案内方法 | |
JP2018084987A (ja) | 物体認識装置 | |
JP6333437B1 (ja) | 物体認識処理装置、物体認識処理方法および車両制御システム | |
JP2019202642A (ja) | 車両用走行制御装置 | |
EP3364211A1 (en) | Method and device for detecting a possible collision, and vehicle | |
KR20150108632A (ko) | 곡선 도로에서 주변 장애물 감지 보정 장치 및 그 동작 방법 | |
JP2021101280A (ja) | 交差点中心検出装置、交差点レーン判定装置、交差点中心検出方法、交差点レーン判定方法およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20130611 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140701 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140820 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140909 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20141104 |
|
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: 20150421 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150508 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5746695 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |