JP6413621B2 - 車載用物体判別装置 - Google Patents

車載用物体判別装置 Download PDF

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Publication number
JP6413621B2
JP6413621B2 JP2014215713A JP2014215713A JP6413621B2 JP 6413621 B2 JP6413621 B2 JP 6413621B2 JP 2014215713 A JP2014215713 A JP 2014215713A JP 2014215713 A JP2014215713 A JP 2014215713A JP 6413621 B2 JP6413621 B2 JP 6413621B2
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Japan
Prior art keywords
obstacle
sensor
vehicle
detection state
unit
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Active
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JP2014215713A
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English (en)
Japanese (ja)
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JP2016085037A (ja
JP2016085037A5 (enExample
Inventor
田中　秀典
秀典 田中
明宏 貴田
明宏 貴田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to JP2014215713A priority Critical patent/JP6413621B2/ja
Priority to CN201580055005.7A priority patent/CN106796291B/zh
Priority to DE112015004823.5T priority patent/DE112015004823B4/de
Priority to US15/520,323 priority patent/US10451722B2/en
Priority to PCT/JP2015/005303 priority patent/WO2016063532A1/ja
Publication of JP2016085037A publication Critical patent/JP2016085037A/ja
Publication of JP2016085037A5 publication Critical patent/JP2016085037A5/ja
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Publication of JP6413621B2 publication Critical patent/JP6413621B2/ja
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
JP2014215713A 2014-10-22 2014-10-22 車載用物体判別装置 Active JP6413621B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2014215713A JP6413621B2 (ja) 2014-10-22 2014-10-22 車載用物体判別装置
CN201580055005.7A CN106796291B (zh) 2014-10-22 2015-10-21 车载用物体判别装置
DE112015004823.5T DE112015004823B4 (de) 2014-10-22 2015-10-21 Fahrzeugobjektermittlungsvorrichtung
US15/520,323 US10451722B2 (en) 2014-10-22 2015-10-21 In-vehicle object determining apparatus
PCT/JP2015/005303 WO2016063532A1 (ja) 2014-10-22 2015-10-21 車載用物体判別装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014215713A JP6413621B2 (ja) 2014-10-22 2014-10-22 車載用物体判別装置

Publications (3)

Publication Number Publication Date
JP2016085037A JP2016085037A (ja) 2016-05-19
JP2016085037A5 JP2016085037A5 (enExample) 2016-11-04
JP6413621B2 true JP6413621B2 (ja) 2018-10-31

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JP2014215713A Active JP6413621B2 (ja) 2014-10-22 2014-10-22 車載用物体判別装置

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US (1) US10451722B2 (enExample)
JP (1) JP6413621B2 (enExample)
CN (1) CN106796291B (enExample)
DE (1) DE112015004823B4 (enExample)
WO (1) WO2016063532A1 (enExample)

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JP6303975B2 (ja) 2014-10-22 2018-04-04 株式会社デンソー 障害物警報装置
JP6292097B2 (ja) 2014-10-22 2018-03-14 株式会社デンソー 側方測距センサ診断装置
CN108961528B (zh) * 2017-05-27 2021-04-13 山东新北洋信息技术股份有限公司 硬币分离装置及分离方法
US11453123B2 (en) * 2017-12-27 2022-09-27 Stmicroelectronics, Inc. Robotic device with time-of-flight proximity sensing system
WO2019176028A1 (ja) * 2018-03-14 2019-09-19 本田技研工業株式会社 鞍乗り型車両の情報報知装置、鞍乗り型車両、および情報報知方法
CN108802762A (zh) * 2018-05-17 2018-11-13 四川斐讯信息技术有限公司 一种智能行李箱的避障装置及避障方法
CN109061655B (zh) * 2018-06-01 2022-09-06 湖南工业大学 一种智能驾驶车辆全声频感知系统及其智能控制方法
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CN112896070A (zh) * 2021-01-19 2021-06-04 香港中文大学（深圳） 一种车位障碍物检测方法、装置及计算机可读存储介质
JP7567724B2 (ja) * 2021-08-31 2024-10-16 株式会社デンソー 物体検知装置、物体検知方法
CN116540243A (zh) * 2023-05-11 2023-08-04 智己汽车科技有限公司 基于超声波传感器的车辆盲点检测方法与系统

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JP6292097B2 (ja) 2014-10-22 2018-03-14 株式会社デンソー 側方測距センサ診断装置

Also Published As

Publication number Publication date
JP2016085037A (ja) 2016-05-19
WO2016063532A1 (ja) 2016-04-28
US10451722B2 (en) 2019-10-22
CN106796291B (zh) 2019-03-22
DE112015004823T5 (de) 2017-07-06
US20170322299A1 (en) 2017-11-09
CN106796291A (zh) 2017-05-31
DE112015004823B4 (de) 2022-10-06

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