JP6900894B2 - 物体検知装置 - Google Patents

物体検知装置 Download PDF

Info

Publication number
JP6900894B2
JP6900894B2 JP2017244295A JP2017244295A JP6900894B2 JP 6900894 B2 JP6900894 B2 JP 6900894B2 JP 2017244295 A JP2017244295 A JP 2017244295A JP 2017244295 A JP2017244295 A JP 2017244295A JP 6900894 B2 JP6900894 B2 JP 6900894B2
Authority
JP
Japan
Prior art keywords
distance
object detection
short
distance determination
range
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
JP2017244295A
Other languages
English (en)
Japanese (ja)
Other versions
JP2019109214A5 (https=
JP2019109214A (ja
Inventor
威夫 都築
威夫 都築
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
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to JP2017244295A priority Critical patent/JP6900894B2/ja
Priority to DE112018006490.5T priority patent/DE112018006490B4/de
Priority to PCT/JP2018/042355 priority patent/WO2019123919A1/ja
Priority to CN201880082407.XA priority patent/CN111492259A/zh
Publication of JP2019109214A publication Critical patent/JP2019109214A/ja
Publication of JP2019109214A5 publication Critical patent/JP2019109214A5/ja
Priority to US16/905,682 priority patent/US11492003B2/en
Application granted granted Critical
Publication of JP6900894B2 publication Critical patent/JP6900894B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • 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
    • 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
    • G01S7/56—Display arrangements
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • 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
    • B60W2050/143—Alarm means
    • 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
    • B60W2050/146—Display means
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/20—Static objects
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
JP2017244295A 2017-12-20 2017-12-20 物体検知装置 Active JP6900894B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2017244295A JP6900894B2 (ja) 2017-12-20 2017-12-20 物体検知装置
DE112018006490.5T DE112018006490B4 (de) 2017-12-20 2018-11-15 Objektabtastvorrichtung
PCT/JP2018/042355 WO2019123919A1 (ja) 2017-12-20 2018-11-15 物体検知装置
CN201880082407.XA CN111492259A (zh) 2017-12-20 2018-11-15 物体检测装置
US16/905,682 US11492003B2 (en) 2017-12-20 2020-06-18 Object sensing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017244295A JP6900894B2 (ja) 2017-12-20 2017-12-20 物体検知装置

Publications (3)

Publication Number Publication Date
JP2019109214A JP2019109214A (ja) 2019-07-04
JP2019109214A5 JP2019109214A5 (https=) 2020-04-02
JP6900894B2 true JP6900894B2 (ja) 2021-07-07

Family

ID=66993265

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017244295A Active JP6900894B2 (ja) 2017-12-20 2017-12-20 物体検知装置

Country Status (5)

Country Link
US (1) US11492003B2 (https=)
JP (1) JP6900894B2 (https=)
CN (1) CN111492259A (https=)
DE (1) DE112018006490B4 (https=)
WO (1) WO2019123919A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6874647B2 (ja) * 2017-11-07 2021-05-19 株式会社デンソー 送受信制御装置
TWI750901B (zh) * 2020-11-18 2021-12-21 同致電子企業股份有限公司 超音波傳感器之表面異物偵測系統
CN113942452A (zh) * 2021-11-25 2022-01-18 上海电机学院 一种基于超声波阵列的汽车盲区检测装置

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6333684A (ja) * 1986-07-28 1988-02-13 Matsushita Electric Works Ltd 超音波物体検知器
JP2001221848A (ja) * 2000-02-04 2001-08-17 Nippon Soken Inc 超音波ソナー及び超音波ソナーの超音波送信方法
US6431001B1 (en) * 2000-08-31 2002-08-13 Denso Corporation Obstacle detecting system having snow detecting function
JP2003248050A (ja) * 2002-02-26 2003-09-05 Denso Corp 障害物検出装置
US20030222782A1 (en) * 2002-06-04 2003-12-04 Sylvain Gaudreau Method and apparatus for pool alarm system
JP4760272B2 (ja) * 2005-09-30 2011-08-31 アイシン精機株式会社 車両周辺監視装置及びセンサユニット
DE102006037591A1 (de) * 2006-08-11 2008-02-14 Robert Bosch Gmbh Vorrichtung zur Erfassung eines bewegten Objektes
JP2009300210A (ja) * 2008-06-12 2009-12-24 Alpine Electronics Inc 車両周辺監視装置
US8656781B2 (en) * 2010-10-18 2014-02-25 Ford Global Technologies, Llc Method and system for compensation of ultrasonic sensor
CN104136282B (zh) * 2012-02-27 2016-07-27 日产自动车株式会社 行驶控制装置以及行驶控制方法
EP2927082B1 (en) * 2012-11-27 2017-08-02 Nissan Motor Co., Ltd Vehicule acceleration suppression device and vehicle acceleration suppression method
JP5541381B2 (ja) * 2013-02-20 2014-07-09 セイコーエプソン株式会社 超音波センサーユニット、検出装置及び電子機器
JP6149616B2 (ja) * 2013-08-30 2017-06-21 トヨタ自動車株式会社 運転支援装置
JP2016016723A (ja) * 2014-07-08 2016-02-01 株式会社デンソー 走行支援装置
JP6387786B2 (ja) * 2014-10-22 2018-09-12 株式会社デンソー 超音波式物体検知装置
JP6412469B2 (ja) 2015-06-30 2018-10-24 株式会社デンソー 運転支援装置及び運転支援方法
CN105242276A (zh) * 2015-09-15 2016-01-13 清华大学苏州汽车研究院（吴江） 一种基于超声波传感器的泊车辅助系统
JP6672729B2 (ja) * 2015-11-17 2020-03-25 株式会社デンソーウェーブ レーザレーダ装置の着雪検出方法、着雪検出装置、着雪検出プログラム

Also Published As

Publication number Publication date
CN111492259A (zh) 2020-08-04
US20200317217A1 (en) 2020-10-08
DE112018006490T5 (de) 2020-10-22
JP2019109214A (ja) 2019-07-04
WO2019123919A1 (ja) 2019-06-27
DE112018006490B4 (de) 2023-08-31
US11492003B2 (en) 2022-11-08

Similar Documents

Publication Publication Date Title
JP6900894B2 (ja) 物体検知装置
AU2015295788B2 (en) Enhanced blind spot detection for vehicle with trailer
US20170300062A1 (en) Parking assistance device for vehicle and parking control method thereof
CN105522998B (zh) 物体识别装置
JP6146228B2 (ja) 物体検知装置及び物体検知システム
JP6303975B2 (ja) 障害物警報装置
JP6412469B2 (ja) 運転支援装置及び運転支援方法
KR100902021B1 (ko) 차량용 초음파 물체 감지 시스템
WO2018110607A1 (ja) 車両における衝突回避装置および衝突回避方法
JP2014029324A (ja) 並走車検出装置
JP2011039003A (ja) 超音波センサ
KR101747818B1 (ko) 지능형 차량경보 장치 및 그 방법
JP4971227B2 (ja) 車両用障害物監視装置
JP4750641B2 (ja) 障害物検出装置
JP6686856B2 (ja) 物体検知装置
CN116148858A (zh) 一种盲区障碍物预警方法、装置、电子设备及存储介质
KR102131450B1 (ko) 주차 보조 장치 및 그 동작 방법
KR20160015752A (ko) 차량 주변의 초근거리 장애물을 감지하는 기능을 갖는 차량용 주차 보조 시스템 및 그 동작 방법
JP7192647B2 (ja) 付着検知装置および付着検知方法
KR101674592B1 (ko) 차량용 장애물 경보장치
WO2023032567A1 (ja) 物体検知装置、物体検知方法、および物体検知プログラム
JP7200818B2 (ja) 障害物検出装置及び障害物検出方法
KR20180007211A (ko) 차량의 후방 추돌경보시스템
JP5048561B2 (ja) 車両用障害物監視装置
JP7567684B2 (ja) 制動制御装置および制動制御プログラム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200219

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20200630

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210126

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210326

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: 20210518

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210531

R151 Written notification of patent or utility model registration

Ref document number: 6900894

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250