JP6650344B2 - 物体検出装置及び物体検出方法 - Google Patents

物体検出装置及び物体検出方法 Download PDF

Info

Publication number
JP6650344B2
JP6650344B2 JP2016100331A JP2016100331A JP6650344B2 JP 6650344 B2 JP6650344 B2 JP 6650344B2 JP 2016100331 A JP2016100331 A JP 2016100331A JP 2016100331 A JP2016100331 A JP 2016100331A JP 6650344 B2 JP6650344 B2 JP 6650344B2
Authority
JP
Japan
Prior art keywords
cluster
unit
sub
speed
detection device
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
Application number
JP2016100331A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017067756A (ja
Inventor
偉傑 劉
偉傑 劉
中川　洋一
洋一 中川
安木　慎
慎 安木
笠原　稔弘
稔弘 笠原
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.)
Panasonic Corp
Panasonic Holdings Corp
Original Assignee
Panasonic Corp
Matsushita Electric Industrial Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Panasonic Corp, Matsushita Electric Industrial Co Ltd filed Critical Panasonic Corp
Priority to CN201610681850.1A priority Critical patent/CN106646449B/zh
Priority to US15/265,199 priority patent/US10274593B2/en
Publication of JP2017067756A publication Critical patent/JP2017067756A/ja
Application granted granted Critical
Publication of JP6650344B2 publication Critical patent/JP6650344B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • 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
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
JP2016100331A 2015-10-02 2016-05-19 物体検出装置及び物体検出方法 Active JP6650344B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201610681850.1A CN106646449B (zh) 2015-10-02 2016-08-17 物体检测装置及物体检测方法
US15/265,199 US10274593B2 (en) 2015-10-02 2016-09-14 Object detection device and object detection method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015197017 2015-10-02
JP2015197017 2015-10-02

Publications (2)

Publication Number Publication Date
JP2017067756A JP2017067756A (ja) 2017-04-06
JP6650344B2 true JP6650344B2 (ja) 2020-02-19

Family

ID=58492371

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016100331A Active JP6650344B2 (ja) 2015-10-02 2016-05-19 物体検出装置及び物体検出方法

Country Status (2)

Country Link
JP (1) JP6650344B2 (zh)
CN (1) CN106646449B (zh)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3367121B1 (en) * 2017-02-23 2020-04-08 Veoneer Sweden AB Inverted synthetic aperture radar for a vehicle radar system
JP6937600B2 (ja) * 2017-04-07 2021-09-22 リオン株式会社 ドローン検出システム及びドローン検出方法
US10139833B1 (en) * 2017-05-17 2018-11-27 GM Global Technology Operations LLC Six-dimensional point cloud system for a vehicle
JP6773606B2 (ja) * 2017-06-06 2020-10-21 株式会社東芝 レーダ装置及びそのレーダ信号処理方法
CN110604577B (zh) * 2018-06-15 2022-03-15 富士通株式会社 生命体征检测系统的控制方法、控制装置和电子设备
DE102018118150A1 (de) * 2018-07-26 2020-01-30 S.M.S Smart Microwave Sensors Gmbh System zum Steuern einer Verkehrsführung an einer Kreuzung
JP7205179B2 (ja) * 2018-11-19 2023-01-17 株式会社Ihi 監視システム
JP7205181B2 (ja) * 2018-11-19 2023-01-17 株式会社Ihi 監視システム及び処理装置
JP7205180B2 (ja) * 2018-11-19 2023-01-17 株式会社Ihi 監視システム及び処理装置
JP7186414B2 (ja) * 2018-12-07 2022-12-09 学校法人早稲田大学 移動物体の速度検出システム、速度検出装置及びそのプログラム
GB2590115B (en) * 2019-09-13 2023-12-06 Motional Ad Llc Extended object tracking using radar
DE102019214383A1 (de) * 2019-09-20 2021-03-25 Conti Temic Microelectronic Gmbh Verfahren zur Objektverfolgung
JP7306192B2 (ja) * 2019-09-27 2023-07-11 沖電気工業株式会社 合成処理装置、合成処理システム及び合成処理方法
JP2021059172A (ja) * 2019-10-04 2021-04-15 Ｊｒ東日本コンサルタンツ株式会社 進入検知装置、進入検知システム、及び、進入検知方法
WO2021095269A1 (ja) * 2019-11-15 2021-05-20 住友電気工業株式会社 情報生成装置、情報生成方法、及びコンピュータプログラム
JP7338497B2 (ja) * 2020-02-06 2023-09-05 株式会社デンソー 信号処理装置
JP7464436B2 (ja) 2020-04-22 2024-04-09 日本無線株式会社 物標識別装置及び物標識別プログラム
JP7338559B2 (ja) * 2020-05-26 2023-09-05 株式会社デンソー 信号処理装置
CN113721253B (zh) * 2021-08-30 2024-03-15 杭州视光半导体科技有限公司 基于fmcw激光雷达的运动物体速度检测方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3356058B2 (ja) * 1998-05-27 2002-12-09 三菱自動車工業株式会社 車両用後方モニタシステム
JP3512066B2 (ja) * 1998-12-10 2004-03-29 トヨタ自動車株式会社 車載用レーダ装置
US7586436B2 (en) * 2003-09-11 2009-09-08 Mitsubishi Denki Kabushiki Kaisha Radar device
US7567203B2 (en) * 2005-04-11 2009-07-28 Raytheon Canada Limited Classification system for radar and sonar applications
GB0701869D0 (en) * 2007-01-31 2007-03-14 Cambridge Consultants Adaptive radar
CN100538399C (zh) * 2007-09-27 2009-09-09 武汉大学 高分辨率遥感影像的分割和分类及变化检测一体化方法
JP2010032430A (ja) * 2008-07-30 2010-02-12 Toyota Motor Corp 物体検出装置
FR2940465B1 (fr) * 2008-12-18 2010-12-31 Valeo Vision Sas Procede de detection d'un objet cible pour vehicule automobile
JP4680294B2 (ja) * 2008-12-26 2011-05-11 トヨタ自動車株式会社 物体検出装置および物体検出方法
CN101672916B (zh) * 2009-09-17 2011-11-09 中国海洋大学 机械扫描式成像声呐的运动失真补偿方法
KR101201979B1 (ko) * 2010-10-21 2012-11-15 주식회사 애트랩 입력 장치 및 이 장치의 접촉 위치 검출 방법
SI2538238T1 (sl) * 2011-06-21 2014-03-31 Kapsch Trafficcom Ag Naprava in postopek za zaznavanje koles
JP2013096828A (ja) * 2011-10-31 2013-05-20 Panasonic Corp ドップラーレーダシステム、及び物体検知方法
CN102695237B (zh) * 2012-01-10 2014-10-22 南京邮电大学 一种支持随机移动的移动传感网路由方法
JP2013238442A (ja) * 2012-05-14 2013-11-28 Oki Electric Ind Co Ltd 推定装置、推定方法及びプログラム
US20140266860A1 (en) * 2013-03-14 2014-09-18 Gaddi BLUMROSEN Method and system for activity detection and classification
JP6283189B2 (ja) * 2013-10-09 2018-02-21 住友電気工業株式会社 電波センサおよび検知方法
CN104359432B (zh) * 2014-12-02 2017-04-12 中电科信息产业有限公司 电磁超声波测厚方法及装置

Also Published As

Publication number Publication date
CN106646449B (zh) 2022-04-26
CN106646449A (zh) 2017-05-10
JP2017067756A (ja) 2017-04-06

Similar Documents

Publication Publication Date Title
JP6650344B2 (ja) 物体検出装置及び物体検出方法
US10274593B2 (en) Object detection device and object detection method
US10451720B2 (en) Object detection apparatus and object detection method
US10061023B2 (en) Object detection apparatus and method
US10139833B1 (en) Six-dimensional point cloud system for a vehicle
JP6593588B2 (ja) 物体検出装置および物体検出方法
JP6410178B2 (ja) 物体検出装置および物体検出方法
US10605896B2 (en) Radar-installation-angle calculating device, radar apparatus, and radar-installation-angle calculating method
JP6659367B2 (ja) 物体検出装置および物体検出方法
CN104573646A (zh) 基于激光雷达和双目相机的车前行人检测方法及系统
US20200371228A1 (en) Yaw rate from radar data
CN107103275B (zh) 使用雷达和视觉基于车轮进行的车辆检测和追踪
EP3631363A1 (en) Device and method for detection and localization of vehicles
WO2018137135A1 (en) System and method of radar-based obstacle avoidance for unmanned aerial vehicles
JP2007257536A (ja) ミリ波レーダによる道路交通監視装置
CN1940591A (zh) 使用传感器融合进行目标跟踪的系统和方法
Shao et al. A grid projection method based on ultrasonic sensor for parking space detection
US11709260B2 (en) Data driven resolution function derivation
WO2023147160A1 (en) Radar object classification based on radar cross-section data
CN106240454B (zh) 提供车辆碰撞预警的系统及车载设备
JP2018005786A (ja) レーダ交通量計測装置及び方法
CN110095776A (zh) 用于确定对象的存在和/或特性的方法和周围环境识别设备
JP2018118595A (ja) 踏切障害物検知装置
Graves et al. Design Flow of mmWave Radar and Machine Vision Fusion for Pedestrian Collision Warning
Seo et al. Detection and tracking of the vanishing point on a horizon for automotive applications

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20181130

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20190718

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20191108

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20191121

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: 20200107

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200120

R150 Certificate of patent or registration of utility model

Ref document number: 6650344

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150