JP7002910B2 - 物体検知装置 - Google Patents

物体検知装置 Download PDF

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Publication number
JP7002910B2
JP7002910B2 JP2017203493A JP2017203493A JP7002910B2 JP 7002910 B2 JP7002910 B2 JP 7002910B2 JP 2017203493 A JP2017203493 A JP 2017203493A JP 2017203493 A JP2017203493 A JP 2017203493A JP 7002910 B2 JP7002910 B2 JP 7002910B2
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target
unit
score
information
reliability
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Japanese (ja)
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JP2019078554A (ja
JP2019078554A5 (cg-RX-API-DMAC7.html
Inventor
勝彦 近藤
悠介 赤峰
康之 三宅
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Denso Corp
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Denso Corp
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Priority to JP2017203493A priority Critical patent/JP7002910B2/ja
Priority to PCT/JP2018/038697 priority patent/WO2019078266A1/ja
Publication of JP2019078554A publication Critical patent/JP2019078554A/ja
Publication of JP2019078554A5 publication Critical patent/JP2019078554A5/ja
Priority to US16/851,952 priority patent/US11614536B2/en
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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
    • G01S13/88—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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • 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
    • G01S13/862—Combination of radar systems with sonar 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S15/66—Sonar tracking 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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Radar Systems Or Details Thereof (AREA)
JP2017203493A 2017-10-20 2017-10-20 物体検知装置 Active JP7002910B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017203493A JP7002910B2 (ja) 2017-10-20 2017-10-20 物体検知装置
PCT/JP2018/038697 WO2019078266A1 (ja) 2017-10-20 2018-10-17 物体検知装置
US16/851,952 US11614536B2 (en) 2017-10-20 2020-04-17 Object detection apparatus based on scoring reliability and increasing relative range rate

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017203493A JP7002910B2 (ja) 2017-10-20 2017-10-20 物体検知装置

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JP2019078554A JP2019078554A (ja) 2019-05-23
JP2019078554A5 JP2019078554A5 (cg-RX-API-DMAC7.html) 2020-01-23
JP7002910B2 true JP7002910B2 (ja) 2022-01-20

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US (1) US11614536B2 (cg-RX-API-DMAC7.html)
JP (1) JP7002910B2 (cg-RX-API-DMAC7.html)
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Families Citing this family (10)

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KR102555916B1 (ko) * 2018-12-12 2023-07-17 현대자동차주식회사 Odm 정보 신뢰성 판단 장치 및 그의 판단 방법과 그를 이용하는 차량
JP7623782B2 (ja) * 2019-09-05 2025-01-29 株式会社デンソーテン 異常検出装置および異常検出方法
JP7232166B2 (ja) * 2019-10-18 2023-03-02 本田技研工業株式会社 予測装置、車両システム、予測方法、およびプログラム
JP7277412B2 (ja) * 2020-04-10 2023-05-18 株式会社Soken 物標追跡装置
JP7638143B2 (ja) * 2021-04-28 2025-03-03 日立Astemo株式会社 外界認識装置、および、外界認識システム
CN113361364B (zh) * 2021-05-31 2022-11-01 北京市商汤科技开发有限公司 目标行为检测方法、装置、设备及存储介质
JP7715585B2 (ja) * 2021-09-15 2025-07-30 株式会社Soken 物体認識装置
CN114966653A (zh) * 2022-06-10 2022-08-30 深圳海星智驾科技有限公司 基于超声波雷达的目标检测方法、装置、介质及电子设备
JP7564301B1 (ja) 2023-07-07 2024-10-08 Ｎｅｃプラットフォームズ株式会社 予測装置、予測システム、予測装置の予測方法およびプログラム
JP2025158469A (ja) * 2024-04-04 2025-10-17 オムロン株式会社 物体検出装置、物体検出方法、および制御プログラム

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JP2000199788A (ja) 1999-01-05 2000-07-18 Mitsubishi Electric Corp 目標追尾装置
JP2006099715A (ja) 2004-09-06 2006-04-13 Daihatsu Motor Co Ltd 衝突予測方法及び衝突予測装置
JP2007022471A (ja) 2005-07-21 2007-02-01 Alpine Electronics Inc 周辺他車通知装置
JP3903856B2 (ja) 2002-06-14 2007-04-11 株式会社デンソー 車両制御装置，プログラム
JP2009075650A (ja) 2007-09-18 2009-04-09 Toyota Motor Corp 衝突判定装置
JP2013092983A (ja) 2011-10-27 2013-05-16 Toyota Motor Corp 運転支援装置および運転支援方法
JP2014067276A (ja) 2012-09-26 2014-04-17 Fuji Heavy Ind Ltd 車両の衝突判定装置
JP2015215873A (ja) 2014-05-07 2015-12-03 ホンダ リサーチ インスティテュート ヨーロッパ ゲーエムベーハーＨｏｎｄａ Ｒｅｓｅａｒｃｈ Ｉｎｓｔｉｔｕｔｅ Ｅｕｒｏｐｅ ＧｍｂＨ 予測的レーン変更支援のための方法及びシステム、プログラムソフトウェア製品、並びに乗り物
JP2015225615A (ja) 2014-05-29 2015-12-14 トヨタ自動車株式会社 運転支援装置

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JP3576031B2 (ja) 1999-03-30 2004-10-13 三菱電機株式会社 ビン設定処理装置、ビン設定処理方法及び航空機監視システム
US20110025548A1 (en) * 2009-07-31 2011-02-03 Gm Global Technology Operations, Inc. System and method for vehicle sensor fusion
JP6092596B2 (ja) * 2012-11-28 2017-03-08 富士通テン株式会社 レーダ装置、および、信号処理方法
JP6358017B2 (ja) * 2014-09-30 2018-07-18 株式会社デンソー 運転支援装置
JP6484000B2 (ja) * 2014-10-22 2019-03-13 株式会社デンソー 物体検知装置
JP6493196B2 (ja) * 2015-12-17 2019-04-03 株式会社デンソー 制御装置、制御方法
US10718864B2 (en) * 2016-06-17 2020-07-21 Fujitsu Ten Limited Radar device and information transfer method

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000199788A (ja) 1999-01-05 2000-07-18 Mitsubishi Electric Corp 目標追尾装置
JP3903856B2 (ja) 2002-06-14 2007-04-11 株式会社デンソー 車両制御装置，プログラム
JP2006099715A (ja) 2004-09-06 2006-04-13 Daihatsu Motor Co Ltd 衝突予測方法及び衝突予測装置
JP2007022471A (ja) 2005-07-21 2007-02-01 Alpine Electronics Inc 周辺他車通知装置
JP2009075650A (ja) 2007-09-18 2009-04-09 Toyota Motor Corp 衝突判定装置
JP2013092983A (ja) 2011-10-27 2013-05-16 Toyota Motor Corp 運転支援装置および運転支援方法
JP2014067276A (ja) 2012-09-26 2014-04-17 Fuji Heavy Ind Ltd 車両の衝突判定装置
JP2015215873A (ja) 2014-05-07 2015-12-03 ホンダ リサーチ インスティテュート ヨーロッパ ゲーエムベーハーＨｏｎｄａ Ｒｅｓｅａｒｃｈ Ｉｎｓｔｉｔｕｔｅ Ｅｕｒｏｐｅ ＧｍｂＨ 予測的レーン変更支援のための方法及びシステム、プログラムソフトウェア製品、並びに乗り物
JP2015225615A (ja) 2014-05-29 2015-12-14 トヨタ自動車株式会社 運転支援装置

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US20200241131A1 (en) 2020-07-30
US11614536B2 (en) 2023-03-28
WO2019078266A1 (ja) 2019-04-25
JP2019078554A (ja) 2019-05-23

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