JP6292184B2 - 衝突回避装置 - Google Patents
衝突回避装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar 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
- 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
-
- B60W2420/408—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- 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
- G01S2013/9315—Monitoring blind spots
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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
- G01S2013/9317—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
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side 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
- 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
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Description
車両の後方に位置する物体を検出すると共に、検出した物体までの距離を検出するレーダと、
前記車両の後方に位置する物体を検出すると共に、検出した物体までの距離を検出する複数の超音波センサであって、それぞれが異なる検出エリアを有する複数の超音波センサと、
前記レーダにより検出される物体の中から、前記車両に接近する接近物を検出する接近物検出部と、
前記複数の超音波センサのうち2以上の超音波センサにより物体が検出された場合、後方から前記車両への接近を遮蔽する遮蔽物が存在すると推定する遮蔽物推定部と、
前記接近物検出部により接近物が検出された場合、前記接近物との衝突回避のための運転支援を実行する制御部であって、前記接近物までの距離が、前記遮蔽物までの距離より所定値以上大きい場合、前記運転支援の実行を制限又は禁止する制御部を備える。
10、10L、10R BSMモジュール
11 BSMレーダ(レーダ)
11L BSMレーダ(第1レーダ)
11R BSMレーダ(第2レーダ)
12、12L、12R BSM−ECU
12a 接近物検出部
12La 接近物検出部(第1接近物検出部)
12Ra 接近物検出部(第2接近物検出部)
12b 遮蔽物推定部
12Lb 遮蔽物推定部(第1遮蔽物推定部)
12Rb 遮蔽物推定部(第2遮蔽物推定部)
12c 警報制御部(制御部)
12Lc 警報制御部(第1制御部)
12Rc 警報制御部(第2制御部)
20 メインスイッチ
30、30L、30R BSMインジケータ
40 BSMブザー
50 クリアランスソナー(超音波センサ)
50La、50Lb クリアランスソナー(第1超音波センサ)
50Ra、50Rb クリアランスソナー(第2超音波センサ)
60 クリソナECU
70 車速センサ
80 シフトポジションセンサ
90 車載LAN
100 車両
Claims (2)
- 車両の後方に位置する物体を検出すると共に、検出した物体までの距離を検出するレーダと、
前記車両の後方に位置する物体を検出すると共に、検出した物体までの距離を検出する複数の超音波センサであって、それぞれが異なる検出エリアを有する複数の超音波センサと、
前記レーダにより検出される物体の中から、前記車両に接近する接近物を検出する接近物検出部と、
前記複数の超音波センサのうち2以上の超音波センサにより物体が検出された場合、後方から前記車両への接近を遮蔽する遮蔽物が存在すると推定する遮蔽物推定部と、
前記接近物検出部により接近物が検出された場合、前記接近物との衝突回避のための運転支援を実行する制御部であって、前記接近物までの距離が、前記遮蔽物までの距離より所定値以上大きい場合、前記運転支援の実行を制限又は禁止する制御部を備える、
衝突回避装置。 - 前記レーダは、
前記車両の左後側方に位置する物体を検出する第1レーダと、
前記車両の右後側方に位置する物体を検出する第2レーダを含み、
前記複数の超音波センサは、
前記車両の左後側方に位置する物体を検出する複数の第1超音波センサと、
前記車両の右後側方に位置する物体を検出する複数の第2超音波センサを含み、
前記接近物検出部は、
前記第1レーダにより検出された物体の中から、前記車両の左後側方に位置して前記車両に接近する第1接近物を検出する第1接近物検出部と、
前記第2レーダにより検出された物体の中から、前記車両の右後側方に位置して前記車両に接近する第2接近物を検出する第2接近物検出部を含み、
前記遮蔽物推定部は、
前記複数の第1超音波センサのうち2以上の第1超音波センサにより物体が検出された場合、左後側方から前記車両への接近を遮蔽する第1遮蔽物が存在すると推定する第1遮蔽物推定部と、
前記複数の第2超音波センサのうち2以上の第2超音波センサにより物体が検出された場合、右後側方から前記車両への接近を遮蔽する第2遮蔽物が存在すると推定する第2遮蔽物推定部を含み、
前記制御部は、
前記第1接近物検出部により前記第1接近物が検出された場合、前記第1接近物との衝突回避のための第1運転支援を実行する第1制御部であって、前記第1接近物までの距離が、前記第1遮蔽物までの距離より所定値以上大きい場合、前記第1運転支援の実行を制限又は禁止する第1制御部と、
前記第2接近物検出部により前記第2接近物が検出された場合、前記第2接近物との衝突回避のための第2運転支援を実行する第2制御部であって、前記第2接近物までの距離が、前記第2遮蔽物までの距離より所定値以上大きい場合、前記第2運転支援の実行を制限又は禁止する第2制御部を含む、
請求項1に記載の衝突回避装置。
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JP2015135480A JP6292184B2 (ja) | 2015-07-06 | 2015-07-06 | 衝突回避装置 |
CN201610525193.1A CN106335428B (zh) | 2015-07-06 | 2016-07-05 | 防碰撞系统 |
US15/201,729 US10011278B2 (en) | 2015-07-06 | 2016-07-05 | Collision avoidance system |
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JP2015135480A JP6292184B2 (ja) | 2015-07-06 | 2015-07-06 | 衝突回避装置 |
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JP6292184B2 true JP6292184B2 (ja) | 2018-03-14 |
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JP (1) | JP6292184B2 (ja) |
CN (1) | CN106335428B (ja) |
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CN113119963B (zh) * | 2017-07-28 | 2024-03-26 | 现代摩比斯株式会社 | 智能超声系统、车辆后方碰撞警告装置及其控制方法 |
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JP2023064008A (ja) | 2021-10-25 | 2023-05-10 | パナソニックIpマネジメント株式会社 | 車両制御装置、車両、車両制御方法および車両制御プログラム |
JP2023064009A (ja) | 2021-10-25 | 2023-05-10 | パナソニックIpマネジメント株式会社 | 車両制御装置、車両、車両制御方法および車両制御プログラム |
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JP2006306233A (ja) * | 2005-04-27 | 2006-11-09 | Nippon Soken Inc | 駐車位置調整システム |
DE102005027653A1 (de) * | 2005-06-15 | 2006-12-21 | Robert Bosch Gmbh | Vorrichtung zur Ortung von Objekten im Toten Winkel eines Fahrzeugs |
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US20080306666A1 (en) * | 2007-06-05 | 2008-12-11 | Gm Global Technology Operations, Inc. | Method and apparatus for rear cross traffic collision avoidance |
US8552848B2 (en) * | 2007-08-16 | 2013-10-08 | Ford Global Technologies, Llc | System and method for combined blind spot detection and rear crossing path collision warning |
JP5195587B2 (ja) * | 2009-03-31 | 2013-05-08 | 株式会社デンソー | 超音波センサ |
JP2013045142A (ja) | 2011-08-22 | 2013-03-04 | Toyota Motor Corp | 接近警報装置、接近警報方法、プログラム及び媒体 |
FR2993845B1 (fr) * | 2012-07-25 | 2014-08-15 | Peugeot Citroen Automobiles Sa | Systeme d’assistance au changement de voie pour un vehicule |
WO2014150908A1 (en) * | 2013-03-15 | 2014-09-25 | Autoliv Asp, Inc. | Vehicle radar system with blind spot detection |
US9305463B1 (en) * | 2015-01-02 | 2016-04-05 | Atieva, Inc. | Automatically activated in-cabin vehicle camera system |
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JP2017013756A (ja) | 2017-01-19 |
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