JP6617677B2 - 車両制御装置、車両制御方法 - Google Patents

車両制御装置、車両制御方法 Download PDF

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Publication number
JP6617677B2
JP6617677B2 JP2016205051A JP2016205051A JP6617677B2 JP 6617677 B2 JP6617677 B2 JP 6617677B2 JP 2016205051 A JP2016205051 A JP 2016205051A JP 2016205051 A JP2016205051 A JP 2016205051A JP 6617677 B2 JP6617677 B2 JP 6617677B2
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Japanese (ja)
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JP2018067130A (ja
JP2018067130A5 (enExample
Inventor
崇弘 馬場
崇弘 馬場
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Denso Corp
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Denso Corp
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Priority to JP2016205051A priority Critical patent/JP6617677B2/ja
Priority to PCT/JP2017/037064 priority patent/WO2018074330A1/ja
Priority to US16/343,663 priority patent/US11407390B2/en
Publication of JP2018067130A publication Critical patent/JP2018067130A/ja
Publication of JP2018067130A5 publication Critical patent/JP2018067130A5/ja
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    • 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
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • 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
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B60T8/172—Determining control parameters 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision 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
    • 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
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
JP2016205051A 2016-10-19 2016-10-19 車両制御装置、車両制御方法 Active JP6617677B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016205051A JP6617677B2 (ja) 2016-10-19 2016-10-19 車両制御装置、車両制御方法
PCT/JP2017/037064 WO2018074330A1 (ja) 2016-10-19 2017-10-12 車両制御装置、車両制御方法
US16/343,663 US11407390B2 (en) 2016-10-19 2017-10-12 Vehicle control apparatus and vehicle control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016205051A JP6617677B2 (ja) 2016-10-19 2016-10-19 車両制御装置、車両制御方法

Publications (3)

Publication Number Publication Date
JP2018067130A JP2018067130A (ja) 2018-04-26
JP2018067130A5 JP2018067130A5 (enExample) 2019-01-17
JP6617677B2 true JP6617677B2 (ja) 2019-12-11

Family

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JP2016205051A Active JP6617677B2 (ja) 2016-10-19 2016-10-19 車両制御装置、車両制御方法

Country Status (3)

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US (1) US11407390B2 (enExample)
JP (1) JP6617677B2 (enExample)
WO (1) WO2018074330A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102555916B1 (ko) * 2018-12-12 2023-07-17 현대자동차주식회사 Odm 정보 신뢰성 판단 장치 및 그의 판단 방법과 그를 이용하는 차량
KR102794170B1 (ko) * 2019-11-18 2025-04-09 현대모비스 주식회사 후방 교차 충돌 감지 시스템 및 방법
JP7533180B2 (ja) * 2020-12-03 2024-08-14 株式会社豊田自動織機 動作予測装置、動作予測方法、及び動作予測プログラム
US12259470B2 (en) * 2021-03-30 2025-03-25 Panasonic Automotive Systems Co., Ltd. Object detection device, vehicle, method of setting wave receiving period in object detection device, and method of setting detection sensitivity in object detection device

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3915746B2 (ja) * 2003-07-01 2007-05-16 日産自動車株式会社 車両用外界認識装置
JP4469980B2 (ja) * 2004-12-21 2010-06-02 国立大学法人静岡大学 移動体追跡のための画像処理方法
JP2007188417A (ja) * 2006-01-16 2007-07-26 Fujitsu Ten Ltd 画像認識装置、画像認識方法および画像認識プログラム
DE102007018470A1 (de) * 2007-04-19 2008-10-23 Robert Bosch Gmbh Fahrerassistenzsystem und Verfahren zur Objektplausibilisierung
JP5048609B2 (ja) * 2008-08-01 2012-10-17 株式会社豊田中央研究所 対象物追跡装置及びプログラム
JP2010237872A (ja) * 2009-03-30 2010-10-21 Sogo Keibi Hosho Co Ltd 人物領域検出装置、人物領域検出方法、及び人物領域検出プログラム
JP5904925B2 (ja) * 2012-10-25 2016-04-20 本田技研工業株式会社 車両周辺監視装置
JP6075408B2 (ja) 2012-11-22 2017-02-08 株式会社デンソー 物標検出装置
JP5812064B2 (ja) 2012-11-22 2015-11-11 株式会社デンソー 物標検出装置
JP5842862B2 (ja) * 2013-05-14 2016-01-13 株式会社デンソー 衝突緩和装置
US9230442B2 (en) * 2013-07-31 2016-01-05 Elwha Llc Systems and methods for adaptive vehicle sensing systems
JP6394228B2 (ja) 2014-09-24 2018-09-26 株式会社デンソー 物体検出装置

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Publication number Publication date
US11407390B2 (en) 2022-08-09
JP2018067130A (ja) 2018-04-26
US20200055494A1 (en) 2020-02-20
WO2018074330A1 (ja) 2018-04-26

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