JP5852456B2 - 周辺物体検知装置 - Google Patents
周辺物体検知装置 Download PDFInfo
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- JP5852456B2 JP5852456B2 JP2012016851A JP2012016851A JP5852456B2 JP 5852456 B2 JP5852456 B2 JP 5852456B2 JP 2012016851 A JP2012016851 A JP 2012016851A JP 2012016851 A JP2012016851 A JP 2012016851A JP 5852456 B2 JP5852456 B2 JP 5852456B2
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- 238000001514 detection method Methods 0.000 title claims description 31
- 230000002093 peripheral effect Effects 0.000 title claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 58
- 229910052742 iron Inorganic materials 0.000 description 29
- 238000000034 method Methods 0.000 description 17
- 238000004364 calculation method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 102100024265 Beta-ureidopropionase Human genes 0.000 description 1
- 101000761934 Homo sapiens Beta-ureidopropionase Proteins 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
Images
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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Description
Claims (2)
- 車両に搭載され、前記車両の走行に障害となる物体を検知する周辺物体検知装置であって、
電磁波を送信し、反射してきた電磁波を受信して反射強度を取得するレーダと、
前記レーダで取得した所定区間における反射強度の変化量の積算値を算出し、電磁波の反射点毎に前記車両から前記物体までの相対距離に対する反射強度の傾きを用いて前記所定区間における反射強度のベースアップ量を算出し、算出した前記ベースアップ量を前記積算値から減算して得られる別の積算値に基づいて前記車両の走行に障害とならない下方物を判定する判定手段と、
を備えることを特徴とする周辺物体検知装置。 - 前記判定手段は、前記別の積算値が閾値未満の場合に前記車両の走行に障害とならない下方物と判定することを特徴とする請求項1に記載の周辺物体検知装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012016851A JP5852456B2 (ja) | 2012-01-30 | 2012-01-30 | 周辺物体検知装置 |
PCT/IB2013/000094 WO2013114171A1 (en) | 2012-01-30 | 2013-01-28 | Peripheral object detection apparatus and peripheral object detection method |
US14/374,342 US9606225B2 (en) | 2012-01-30 | 2013-01-28 | Peripheral object detection apparatus and peripheral object detection method |
CN201380006864.8A CN104115027B (zh) | 2012-01-30 | 2013-01-28 | 周边物体检测设备和周边物体检测方法 |
EP13707706.1A EP2810094B1 (en) | 2012-01-30 | 2013-01-28 | Peripheral object detection apparatus and peripheral object detection method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012016851A JP5852456B2 (ja) | 2012-01-30 | 2012-01-30 | 周辺物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013156147A JP2013156147A (ja) | 2013-08-15 |
JP5852456B2 true JP5852456B2 (ja) | 2016-02-03 |
Family
ID=47827386
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012016851A Active JP5852456B2 (ja) | 2012-01-30 | 2012-01-30 | 周辺物体検知装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9606225B2 (ja) |
EP (1) | EP2810094B1 (ja) |
JP (1) | JP5852456B2 (ja) |
CN (1) | CN104115027B (ja) |
WO (1) | WO2013114171A1 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6212860B2 (ja) * | 2012-12-27 | 2017-10-18 | 株式会社デンソー | 車載レーダ装置 |
JP6369035B2 (ja) * | 2013-02-05 | 2018-08-08 | 株式会社デンソー | 物標検出装置 |
DE102013225778A1 (de) * | 2013-12-12 | 2015-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Querführung eines Kraftfahrzeugs, insbesondere zur Ausweichunterstützung |
JP6248778B2 (ja) * | 2014-04-18 | 2017-12-20 | 株式会社デンソー | 物標検出装置 |
DE102014118035B4 (de) * | 2014-12-05 | 2022-11-17 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erkennen einer Abschattung einer Sensoreinrichtung eines Kraftfahrzeugs durch ein Objekt, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
CN107615090B (zh) * | 2015-05-29 | 2021-06-11 | 三菱电机株式会社 | 雷达信号处理装置 |
US9881219B2 (en) * | 2015-10-07 | 2018-01-30 | Ford Global Technologies, Llc | Self-recognition of autonomous vehicles in mirrored or reflective surfaces |
JP6701983B2 (ja) * | 2016-06-02 | 2020-05-27 | 株式会社デンソー | 物標検出装置 |
JP2017223635A (ja) | 2016-06-17 | 2017-12-21 | 株式会社デンソーテン | レーダ装置及び物標判定方法 |
JP6381736B1 (ja) * | 2017-05-24 | 2018-08-29 | 三菱電機株式会社 | 物体検知装置およびこれを用いた自動運転システム |
KR102013224B1 (ko) * | 2017-11-02 | 2019-10-21 | 주식회사 만도 | 긴급 제동 시스템 및 그 제어방법 |
EP3505878B1 (en) * | 2017-12-22 | 2020-10-21 | Endress+Hauser Group Services AG | Method for detecting the tilt of a floating roof floating on a medium stored in a tank |
JP7092529B2 (ja) * | 2018-03-16 | 2022-06-28 | 株式会社デンソーテン | レーダ装置およびレーダ装置の制御方法 |
CN110609285B (zh) * | 2018-06-14 | 2023-07-14 | 安波福电子(苏州)有限公司 | 用于车辆自动制动的控制装置及控制方法 |
JP7199436B2 (ja) | 2018-07-03 | 2023-01-05 | 三菱電機株式会社 | 障害物検知装置及び運転支援装置 |
CN116068557A (zh) * | 2018-12-29 | 2023-05-05 | 百度在线网络技术(北京)有限公司 | 基于雷达的车辆位置检测方法、装置和计算机设备 |
CN112119329A (zh) * | 2019-06-28 | 2020-12-22 | 深圳市大疆创新科技有限公司 | 一种物体识别方法、毫米波雷达及车辆 |
US11866983B2 (en) * | 2020-02-26 | 2024-01-09 | Magna Electronics Inc. | Radar scanning system for static obstacle detection for power door movement |
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JP3750102B2 (ja) * | 1999-11-24 | 2006-03-01 | 富士通テン株式会社 | 車載レーダ装置 |
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JP4905512B2 (ja) | 2009-07-09 | 2012-03-28 | 株式会社デンソー | 物標情報推定装置 |
JP2011122876A (ja) | 2009-12-09 | 2011-06-23 | Toyota Central R&D Labs Inc | 障害物検出装置 |
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-
2012
- 2012-01-30 JP JP2012016851A patent/JP5852456B2/ja active Active
-
2013
- 2013-01-28 US US14/374,342 patent/US9606225B2/en active Active
- 2013-01-28 WO PCT/IB2013/000094 patent/WO2013114171A1/en active Application Filing
- 2013-01-28 EP EP13707706.1A patent/EP2810094B1/en active Active
- 2013-01-28 CN CN201380006864.8A patent/CN104115027B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
EP2810094B1 (en) | 2019-03-20 |
CN104115027A (zh) | 2014-10-22 |
EP2810094A1 (en) | 2014-12-10 |
CN104115027B (zh) | 2017-06-23 |
US9606225B2 (en) | 2017-03-28 |
WO2013114171A1 (en) | 2013-08-08 |
JP2013156147A (ja) | 2013-08-15 |
US20150015434A1 (en) | 2015-01-15 |
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