JP6967157B2 - 横方向移動の妥当性をチェックするための方法および装置 - Google Patents
横方向移動の妥当性をチェックするための方法および装置 Download PDFInfo
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- JP6967157B2 JP6967157B2 JP2020539763A JP2020539763A JP6967157B2 JP 6967157 B2 JP6967157 B2 JP 6967157B2 JP 2020539763 A JP2020539763 A JP 2020539763A JP 2020539763 A JP2020539763 A JP 2020539763A JP 6967157 B2 JP6967157 B2 JP 6967157B2
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- lateral movement
- radar
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- lateral
- radar signal
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
-
- 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
-
- 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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-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
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- 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
- G01S2013/9318—Controlling the steering
-
- 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
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S2013/93271—Sensor installation details in the front of the vehicles
Description
発信するレーダー信号は、一定の信号周波数を有する送信シーケンスを表し、この送信シーケンスは、好ましくは、FMCW変調レーダー信号の個々のランプの持続時間を明らかに超える持続時間を特徴とする。したがって、一定の信号周波数を有するレーダー信号を使用することにより、FMCW変調レーダー信号によって可能な速度分解能よりも著しく高い速度分解能を達成することができる。例えば、一定の信号周波数を有するレーダー信号は、約0.1m/sのレンジの分解能に対応する20ミリ秒の持続時間を有することができる。
Claims (5)
- 物体(7)の最初に分かっている横方向移動の妥当性をチェックする方法であって、
レーダー装置(2)によって、一定の信号周波数を有するレーダー信号を発信し、一定の信号周波数を有するレーダー信号の反射を受信し、
一定の信号周波数を有する反射レーダー信号のスペクトル内で、最初に分かっている横方向移動に対応する周波数範囲を分析することによって物体(7)の横方向移動の妥当性をチェックする、
方法において、
最初に分かっている横方向移動をFMCWレーダーデータに基づいて計算する、方法。 - 請求項1に記載の方法において、
反射レーダー信号のスペクトルに基づいて前記物体(7)の相対速度および/または方位角を計算し、物体(7)の横方向移動の妥当性をチェックすることが、レーダー信号に基づいて計算した相対速度および/または方位角と、計算した横方向移動との比較を含む、方法。 - 請求項2に記載の方法において、
前記物体(7)の最初に分かっている横方向移動を、レーダー信号に基づいて計算した相対速度および/またはレーダー信号に基づいて計算した方位角を使用して補正する、方法。 - 請求項1〜3のいずれか一項に記載の方法において、
横方向移動が前記物体(7)の横方向速度を含む、方法。 - 請求項1〜4のいずれか一項に記載の方法において、
前記レーダー装置(2)を車両(6)に配置し、前記横方向移動が、前記車両(6)の車線に対する前記物体(7)との側方間隔を含む、方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018200755.1 | 2018-01-18 | ||
DE102018200755.1A DE102018200755A1 (de) | 2018-01-18 | 2018-01-18 | Verfahren und Vorrichtung zum Plausibilisieren einer Querbewegung |
PCT/EP2018/082298 WO2019141414A1 (de) | 2018-01-18 | 2018-11-22 | Verfahren und vorrichtung zum plausibilisieren einer querbewegung |
Publications (2)
Publication Number | Publication Date |
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JP2021511507A JP2021511507A (ja) | 2021-05-06 |
JP6967157B2 true JP6967157B2 (ja) | 2021-11-17 |
Family
ID=64477150
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2020539763A Active JP6967157B2 (ja) | 2018-01-18 | 2018-11-22 | 横方向移動の妥当性をチェックするための方法および装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11624818B2 (ja) |
EP (1) | EP3740781A1 (ja) |
JP (1) | JP6967157B2 (ja) |
KR (1) | KR20200104916A (ja) |
CN (1) | CN111630411A (ja) |
DE (1) | DE102018200755A1 (ja) |
WO (1) | WO2019141414A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US11126197B2 (en) * | 2018-11-19 | 2021-09-21 | Waymo Llc | Verification of iterative closest point alignments for autonomous vehicles |
CN115704897A (zh) * | 2021-08-13 | 2023-02-17 | 上海禾赛科技有限公司 | 激光雷达及其测量运动速度的方法和装置、控制系统 |
Family Cites Families (28)
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DE19949409A1 (de) | 1999-10-13 | 2001-04-19 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Objektdetektierung |
JP3489514B2 (ja) * | 1999-12-09 | 2004-01-19 | 株式会社デンソー | Fmcwレーダ装置 |
DE10312249A1 (de) | 2003-03-19 | 2004-09-30 | Ibeo Automobile Sensor Gmbh | Verfahren zur gemeinsamen Verarbeitung von tiefenaufgelösten Bildern und Videobildern |
US7151483B2 (en) * | 2004-05-03 | 2006-12-19 | Raytheon Company | System and method for concurrent operation of multiple radar or active sonar systems on a common frequency |
DE102004024706B4 (de) * | 2004-05-19 | 2021-07-22 | Robert Bosch Gmbh | Radarsensor für Kraftfahrzeuge |
JP5003674B2 (ja) * | 2006-03-27 | 2012-08-15 | 株式会社村田製作所 | レーダ装置および移動体 |
CN100492437C (zh) * | 2007-06-01 | 2009-05-27 | 清华大学 | 一种目标车换道工况下的快速识别方法 |
JP2009041981A (ja) * | 2007-08-07 | 2009-02-26 | Nissan Motor Co Ltd | 物体検出装置および方法、ならびに物体検出装置を備えた車両 |
DE102007058242A1 (de) * | 2007-12-04 | 2009-06-10 | Robert Bosch Gmbh | Verfahren zur Messung von Querbewegungen in einem Fahrerassistenzsystem |
JP4753053B2 (ja) | 2008-02-15 | 2011-08-17 | 本田技研工業株式会社 | 物体種別判定装置、物体種別判定方法、及び物体種別判定用プログラム |
JP4788798B2 (ja) | 2009-04-23 | 2011-10-05 | トヨタ自動車株式会社 | 物体検出装置 |
DE102009029465A1 (de) * | 2009-09-15 | 2011-04-21 | Robert Bosch Gmbh | Verfahren zur Bestimmung von Bewegungsrichtung und Relativgeschwindigkeit |
JP2011080902A (ja) * | 2009-10-08 | 2011-04-21 | Fujitsu Ten Ltd | 信号処理装置、及びレーダ装置 |
DE102010045980A1 (de) * | 2010-09-18 | 2011-05-12 | Daimler Ag | Radarverfahren und Radarsystem |
JP6004694B2 (ja) * | 2012-03-26 | 2016-10-12 | 富士通テン株式会社 | レーダ装置およびターゲット検出方法 |
DE102012212888A1 (de) * | 2012-07-23 | 2014-01-23 | Robert Bosch Gmbh | Detektion von Radarobjekten mit einem Radarsensor eines Kraftfahrzeugs |
DE102012024998A1 (de) * | 2012-12-19 | 2014-06-26 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Bestimmen einer lateralen Geschwindigkeit eines Zielobjekts relativ zu einem Kraftfahrzeug mit Hilfe eines Radarsensors, Fahrerassistenzsystem und Kraftfahrzeug |
CN103091667B (zh) * | 2013-01-10 | 2014-12-10 | 清华大学 | 一种车载雷达标定装置及标定方法 |
US9383442B2 (en) * | 2014-05-12 | 2016-07-05 | Autoliv Asp, Inc. | Radar system and method for determining range, relative velocity and bearing of an object using continuous-wave and chirp signals |
CN104101878B (zh) * | 2014-06-23 | 2017-02-15 | 北京智行者科技有限公司 | 一种车辆前方目标识别系统及识别方法 |
US9506796B2 (en) * | 2014-10-10 | 2016-11-29 | Rosemount Tank Radar Ab | FMCW based guided wave radar level gauge |
US9977116B2 (en) * | 2015-10-05 | 2018-05-22 | Analog Devices, Inc. | Scaling fixed-point fast Fourier transforms in radar and sonar applications |
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EP3252501B1 (en) | 2016-06-03 | 2022-06-08 | Veoneer Sweden AB | Enhanced object detection and motion state estimation for a vehicle environment detection system |
JP2017223461A (ja) * | 2016-06-13 | 2017-12-21 | パナソニックIpマネジメント株式会社 | レーダ装置および検出方法 |
JP6560165B2 (ja) * | 2016-07-08 | 2019-08-14 | 株式会社Soken | レーダ装置 |
US10444325B2 (en) * | 2016-12-09 | 2019-10-15 | GM Global Technology Operations LLC | Method for LFM radar accuracy improvement without increasing FFT length |
DE102017204495A1 (de) * | 2017-03-17 | 2018-09-20 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln von transversalen Relativgeschwindigkeitskomponenten von Radarzielen |
-
2018
- 2018-01-18 DE DE102018200755.1A patent/DE102018200755A1/de active Pending
- 2018-11-22 KR KR1020207023521A patent/KR20200104916A/ko not_active Application Discontinuation
- 2018-11-22 WO PCT/EP2018/082298 patent/WO2019141414A1/de unknown
- 2018-11-22 US US16/767,373 patent/US11624818B2/en active Active
- 2018-11-22 JP JP2020539763A patent/JP6967157B2/ja active Active
- 2018-11-22 EP EP18808309.1A patent/EP3740781A1/de active Pending
- 2018-11-22 CN CN201880086894.7A patent/CN111630411A/zh active Pending
Also Published As
Publication number | Publication date |
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WO2019141414A1 (de) | 2019-07-25 |
DE102018200755A1 (de) | 2019-07-18 |
US20200386881A1 (en) | 2020-12-10 |
US11624818B2 (en) | 2023-04-11 |
CN111630411A (zh) | 2020-09-04 |
KR20200104916A (ko) | 2020-09-04 |
EP3740781A1 (de) | 2020-11-25 |
JP2021511507A (ja) | 2021-05-06 |
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