JP7077408B2 - 車載レーダシステム - Google Patents
車載レーダシステム Download PDFInfo
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- JP7077408B2 JP7077408B2 JP2020541058A JP2020541058A JP7077408B2 JP 7077408 B2 JP7077408 B2 JP 7077408B2 JP 2020541058 A JP2020541058 A JP 2020541058A JP 2020541058 A JP2020541058 A JP 2020541058A JP 7077408 B2 JP7077408 B2 JP 7077408B2
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- laser
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- laser radar
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- 238000001514 detection method Methods 0.000 claims description 95
- 239000013589 supplement Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 16
- 230000004048 modification Effects 0.000 description 11
- 238000012986 modification Methods 0.000 description 11
- 238000013500 data storage Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
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Classifications
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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
-
- 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
- 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
- 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
- G01S17/87—Combinations of 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
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
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)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Description
2A~2M レーザレーダ
3,3A 制御装置
9 自車速度検出器
10 他車(物体)
11 不検知領域
12 物体
Claims (2)
- 車両の周囲にレーザ光を照射し、前記車両の周囲に存在する物体で反射された光を受光する複数のレーザレーダと、
前記複数のレーザレーダを制御すると共に、前記複数のレーザレーダの受光結果に基づいて前記物体を認識する制御装置とを備えた車載レーダシステムにおいて、
前記制御装置は、
前記物体の認識結果に基づき、前記複数のレーザレーダのうちのいずれかのレーザ光が前記物体で遮られて不検知領域が生じているかどうかを判定し、
前記複数のレーザレーダのうちの一のレーザレーダに対して不検知領域が生じていない場合、前記一のレーザレーダに隣り合う他のレーザレーダの検知範囲を初期設定値とし、前記検知範囲の初期設定値に基づいて前記他のレーザレーダを駆動させ、
前記複数のレーザレーダのうちの一のレーザレーダのレーザ光が前記物体で遮られて不検知領域が生じている場合、前記不検知領域の少なくとも一部が検知可能となるように、前記一のレーザレーダに隣り合う他のレーザレーダの検知範囲を前記初期設定値より拡大し、前記拡大された検知範囲に基づいて前記他のレーザレーダを駆動させることを特徴とする車載レーダシステム。 - 請求項1に記載の車載レーダシステムにおいて、
前記制御装置は、
前記複数のレーザレーダの受光結果に基づき、前記複数のレーザレーダのうちのいずれかに障害が発生しているかどうかを判定し、
前記複数のレーザレーダのうちの一のレーザレーダに障害が発生している場合、前記一のレーザレーダの検知範囲を補うように、前記一のレーザレーダに隣り合う他のレーザレーダの検知範囲を拡大させることを特徴とする車載レーダシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018164736 | 2018-09-03 | ||
JP2018164736 | 2018-09-03 | ||
PCT/JP2019/029369 WO2020049892A1 (ja) | 2018-09-03 | 2019-07-26 | 車載レーダシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2020049892A1 JPWO2020049892A1 (ja) | 2021-08-26 |
JP7077408B2 true JP7077408B2 (ja) | 2022-05-30 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020541058A Active JP7077408B2 (ja) | 2018-09-03 | 2019-07-26 | 車載レーダシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US11892540B2 (ja) |
JP (1) | JP7077408B2 (ja) |
CN (1) | CN112400120B (ja) |
DE (1) | DE112019003459T5 (ja) |
WO (1) | WO2020049892A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022021826A (ja) * | 2020-07-22 | 2022-02-03 | 株式会社デンソー | 測距装置 |
JP2022185369A (ja) * | 2021-06-02 | 2022-12-14 | 日立Astemo株式会社 | 電子制御装置及び制御方法 |
US20240264273A1 (en) * | 2021-08-25 | 2024-08-08 | Hitachi Kokusai Electric Inc. | Radar system, radar device, and monitoring method |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000321350A (ja) | 1999-05-13 | 2000-11-24 | Tokyu Car Corp | レーダ故障診断機能付き自動走行車 |
JP2006258604A (ja) | 2005-03-17 | 2006-09-28 | Sanyo Electric Co Ltd | 検出装置 |
JP2010018244A (ja) | 2008-07-14 | 2010-01-28 | Toyota Motor Corp | 物体検出装置 |
JP2011112503A (ja) | 2009-11-26 | 2011-06-09 | Denso Wave Inc | 物体検出システム |
US20160146941A1 (en) | 2014-11-24 | 2016-05-26 | Conti Temic Microelectronic Gmbh | Vehicle Environment Scanning by a Phase-Controlled Laser |
WO2017108247A1 (de) | 2015-12-22 | 2017-06-29 | Robert Bosch Gmbh | Lidar-abtasteinrichtung an einem kraftfahrzeug |
US20180039273A1 (en) | 2016-08-08 | 2018-02-08 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for adjusting the position of sensors of an automated vehicle |
WO2018079297A1 (ja) | 2016-10-27 | 2018-05-03 | 日立オートモティブシステムズ株式会社 | 故障検知装置 |
WO2018150591A1 (ja) | 2017-02-20 | 2018-08-23 | 三菱電機株式会社 | センサデータ統合装置、センサデータ統合方法及びセンサデータ統合プログラム |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2758308B2 (ja) * | 1992-04-15 | 1998-05-28 | 三菱電機株式会社 | レーダー装置 |
JP2824005B2 (ja) | 1993-04-28 | 1998-11-11 | 本田技研工業株式会社 | 車載用レーダ装置 |
US5798942A (en) * | 1994-04-05 | 1998-08-25 | Trw Inc. | N-best feasible hypotheses multitarget tracking system for space-based early warning systems |
JP3351696B2 (ja) | 1996-12-09 | 2002-12-03 | 三菱電機株式会社 | 車両用距離測定装置 |
JP2004317134A (ja) * | 2003-04-11 | 2004-11-11 | Daihatsu Motor Co Ltd | 車両の物体認識装置及び物体認識方法 |
JP2012215521A (ja) * | 2011-04-01 | 2012-11-08 | Denso Corp | レーザレーダ装置 |
US9097800B1 (en) * | 2012-10-11 | 2015-08-04 | Google Inc. | Solid object detection system using laser and radar sensor fusion |
CN114910884A (zh) | 2015-10-06 | 2022-08-16 | 日本先锋公司 | 信息处理装置、信息处理方法和程序 |
KR101714233B1 (ko) * | 2015-10-06 | 2017-03-08 | 현대자동차주식회사 | 도로상의 물체 검출 장치 및 그 방법 |
JP2018059846A (ja) * | 2016-10-06 | 2018-04-12 | オムロンオートモーティブエレクトロニクス株式会社 | レーザレーダシステム |
CN106872995B (zh) * | 2017-04-14 | 2019-09-20 | 北京佳讯飞鸿电气股份有限公司 | 一种激光雷达探测方法及装置 |
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2019
- 2019-07-26 WO PCT/JP2019/029369 patent/WO2020049892A1/ja active Application Filing
- 2019-07-26 CN CN201980047043.6A patent/CN112400120B/zh active Active
- 2019-07-26 JP JP2020541058A patent/JP7077408B2/ja active Active
- 2019-07-26 US US17/266,818 patent/US11892540B2/en active Active
- 2019-07-26 DE DE112019003459.6T patent/DE112019003459T5/de active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000321350A (ja) | 1999-05-13 | 2000-11-24 | Tokyu Car Corp | レーダ故障診断機能付き自動走行車 |
JP2006258604A (ja) | 2005-03-17 | 2006-09-28 | Sanyo Electric Co Ltd | 検出装置 |
JP2010018244A (ja) | 2008-07-14 | 2010-01-28 | Toyota Motor Corp | 物体検出装置 |
JP2011112503A (ja) | 2009-11-26 | 2011-06-09 | Denso Wave Inc | 物体検出システム |
US20160146941A1 (en) | 2014-11-24 | 2016-05-26 | Conti Temic Microelectronic Gmbh | Vehicle Environment Scanning by a Phase-Controlled Laser |
WO2017108247A1 (de) | 2015-12-22 | 2017-06-29 | Robert Bosch Gmbh | Lidar-abtasteinrichtung an einem kraftfahrzeug |
US20180039273A1 (en) | 2016-08-08 | 2018-02-08 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for adjusting the position of sensors of an automated vehicle |
WO2018079297A1 (ja) | 2016-10-27 | 2018-05-03 | 日立オートモティブシステムズ株式会社 | 故障検知装置 |
WO2018150591A1 (ja) | 2017-02-20 | 2018-08-23 | 三菱電機株式会社 | センサデータ統合装置、センサデータ統合方法及びセンサデータ統合プログラム |
Also Published As
Publication number | Publication date |
---|---|
DE112019003459T5 (de) | 2021-04-01 |
CN112400120B (zh) | 2024-06-04 |
US20210349208A1 (en) | 2021-11-11 |
WO2020049892A1 (ja) | 2020-03-12 |
CN112400120A (zh) | 2021-02-23 |
US11892540B2 (en) | 2024-02-06 |
JPWO2020049892A1 (ja) | 2021-08-26 |
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