JP7193234B2 - 物体検出装置、物体検出システム - Google Patents
物体検出装置、物体検出システム Download PDFInfo
- Publication number
- JP7193234B2 JP7193234B2 JP2018018868A JP2018018868A JP7193234B2 JP 7193234 B2 JP7193234 B2 JP 7193234B2 JP 2018018868 A JP2018018868 A JP 2018018868A JP 2018018868 A JP2018018868 A JP 2018018868A JP 7193234 B2 JP7193234 B2 JP 7193234B2
- Authority
- JP
- Japan
- Prior art keywords
- detection
- range
- radiation
- object detection
- wave
- 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
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
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S7/52004—Means for monitoring or calibrating
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S15/87—Combinations of 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
- 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
- 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
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52007—Means for monitoring or calibrating involving adjustment of transmitted power
-
- 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
- G01S2013/9315—Monitoring blind spots
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
-
- 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
- G01S2013/93274—Sensor installation details on the side of the 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
- G01S7/4013—Means for monitoring or calibrating of parts of a radar system of transmitters involving adjustment of the transmitted power
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
10 制御装置
11 メイン制御部
12 メイン記憶部
13 メイン通信部
100a 第1の物体検出装置
100b 第2の物体検出装置
101a サブ制御部
102a サブ記憶部
103a サブ通信部
104a 放射部
105a 放射範囲調整部
106a 検出部
Z 移動体
Claims (8)
- 検出波を放射する放射部と、
前記検出波の反射波を検出する検出部と、
前記反射波の到来方向および飛行距離を推定する制御部と、
を備え、
前記制御部は、前記到来方向および前記飛行距離があらかじめ設定された検出対象範囲に含まれる場合のみ、前記反射波の検出結果に対して物体検出処理を行い、
前記制御部は、前記検出対象範囲に基づいて、前記検出波の、前記放射部により垂直方向において放射される角度範囲である放射範囲を決定する処理を行い、
前記放射範囲を決定する処理は、前記放射範囲が前記検出対象範囲の上端水平面よりも高い位置まで広がっている場合に、前記放射部により前記検出対象範囲の上端水平面に対して最も大きい角度で斜め上方に放射される検出波の放射角度が減少して、前記検出対象範囲と前記放射範囲とが互いに重複する割合が増加するように前記放射範囲を変更する処理を含む、
物体検出装置。 - 前記制御部は、前記検出対象範囲を含むように前記放射範囲を決定する、
請求項1に記載の物体検出装置。 - 前記制御部は、前記検出対象範囲と前記放射範囲とが互いに最も多く重複するように前記放射範囲を決定する、
請求項1または2に記載の物体検出装置。 - 移動体に搭載され、
前記放射部は、前記移動体の右側面または左側面に沿って、決定された前記放射範囲で前記検出波を放射する、
請求項1乃至3いずれか1項に記載の物体検出装置。 - 前記制御部は、前記反射波の強度値が所定強度値以上の場合、前記到来方向の前記飛行距離に物体を検出する、
請求項1乃至4いずれか1項に記載の物体検出装置。 - 前記検出波は、電磁波または超音波を含む、
請求項1乃至5いずれか1項に記載の物体検出装置。 - 検出波を放射する放射部と、
前記検出波の反射波を検出する検出部と、
前記反射波の到来方向および飛行距離を推定する制御部と、
を備え、
前記制御部は、前記到来方向および前記飛行距離があらかじめ設定された検出対象範囲に含まれる場合のみ、前記反射波の検出結果に対して物体検出処理を行い、
前記制御部は、前記検出対象範囲に基づいて、前記検出波の、前記放射部により垂直方向において放射される角度範囲である放射範囲を決定する処理を行い、
前記放射範囲を決定する処理は、前記放射範囲が前記検出対象範囲の上端水平面よりも高い位置まで広がっている場合に、前記放射部により前記検出対象範囲の上端水平面に対して最も大きい角度で斜め上方に放射される検出波の放射角度が減少して、前記検出対象範囲と前記放射範囲とが互いに重複する割合が増加するように前記放射範囲を変更する処理を含む、
物体検出システム。 - 検出波を放射する放射部と、
前記検出波の反射波を検出する検出部と、
前記反射波の到来方向および飛行距離を推定するサブ制御部と、
前記到来方向および前記飛行距離があらかじめ設定された検出対象範囲に含まれる場合のみ、前記反射波の検出結果に対して物体検出処理を行うメイン制御部と、
を備え、
前記サブ制御部は、前記検出対象範囲に基づいて、前記検出波の、前記放射部により垂直方向において放射される角度範囲である放射範囲を決定する処理を行い、
前記放射範囲を決定する処理は、前記放射範囲が前記検出対象範囲の上端水平面よりも高い位置まで広がっている場合に、前記放射部により前記検出対象範囲の上端水平面に対して最も大きい角度で斜め上方に放射される検出波の放射角度が減少して、前記検出対象範囲と前記放射範囲とが互いに重複する割合が増加するように前記放射範囲を変更する処理を含む、
物体検出システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018018868A JP7193234B2 (ja) | 2018-02-06 | 2018-02-06 | 物体検出装置、物体検出システム |
CN201980011524.1A CN111699405A (zh) | 2018-02-06 | 2019-02-04 | 物体检测装置以及物体检测系统 |
US16/967,718 US11846698B2 (en) | 2018-02-06 | 2019-02-04 | Object detection apparatus and object detection system |
PCT/JP2019/003876 WO2019156025A1 (ja) | 2018-02-06 | 2019-02-04 | 物体検出装置および物体検出システム |
EP19750761.9A EP3751310A4 (en) | 2018-02-06 | 2019-02-04 | OBJECT DETECTION DEVICE AND OBJECT DETECTION SYSTEM |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018018868A JP7193234B2 (ja) | 2018-02-06 | 2018-02-06 | 物体検出装置、物体検出システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019138636A JP2019138636A (ja) | 2019-08-22 |
JP7193234B2 true JP7193234B2 (ja) | 2022-12-20 |
Family
ID=67547985
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018018868A Active JP7193234B2 (ja) | 2018-02-06 | 2018-02-06 | 物体検出装置、物体検出システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US11846698B2 (ja) |
EP (1) | EP3751310A4 (ja) |
JP (1) | JP7193234B2 (ja) |
CN (1) | CN111699405A (ja) |
WO (1) | WO2019156025A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022122196A (ja) * | 2021-02-09 | 2022-08-22 | 株式会社アイシン | 物体検出装置及び移動体制御装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000315299A (ja) | 1999-05-06 | 2000-11-14 | Nissan Motor Co Ltd | 先行車認識装置 |
WO2012164729A1 (ja) | 2011-06-02 | 2012-12-06 | トヨタ自動車株式会社 | 車両用視界支援装置 |
JP2015078925A (ja) | 2013-10-17 | 2015-04-23 | 株式会社デンソー | 周辺監視装置及び周辺監視システム |
JP2017150902A (ja) | 2016-02-23 | 2017-08-31 | 株式会社Ihiエアロスペース | 車載レーザレーダ装置 |
JP2017219502A (ja) | 2016-06-10 | 2017-12-14 | 株式会社リコー | 物体検出装置、センシング装置及び移動体装置 |
Family Cites Families (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0216484A (ja) * | 1988-07-04 | 1990-01-19 | Nissan Motor Co Ltd | 車両用レーダ装置 |
JP2910377B2 (ja) * | 1992-01-20 | 1999-06-23 | 日産自動車株式会社 | 車両用レーダ装置 |
JPH09178849A (ja) * | 1995-12-25 | 1997-07-11 | Toyota Motor Corp | 車載レーダ装置 |
JP3114849B2 (ja) * | 1995-12-25 | 2000-12-04 | 本田技研工業株式会社 | 車両用障害物検知装置の検知範囲調整機構 |
US6025796A (en) * | 1996-12-09 | 2000-02-15 | Crosby, Ii; Robert G. | Radar detector for pre-impact airbag triggering |
US7852462B2 (en) * | 2000-05-08 | 2010-12-14 | Automotive Technologies International, Inc. | Vehicular component control methods based on blind spot monitoring |
AU2001290533A1 (en) * | 2000-08-16 | 2002-02-25 | Raytheon Company | Automotive radar systems and techniques |
US6707419B2 (en) * | 2000-08-16 | 2004-03-16 | Raytheon Company | Radar transmitter circuitry and techniques |
US6838981B2 (en) * | 2003-03-28 | 2005-01-04 | Visteon Global Technologies, Inc. | Stopped object filtering for side object detection system |
DE10352800A1 (de) * | 2003-11-12 | 2005-06-23 | Robert Bosch Gmbh | Vorrichtung zur Detektion von bewegten Objekten |
DE102004048013A1 (de) * | 2004-10-01 | 2006-04-06 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrerunterstützung |
US7495550B2 (en) * | 2005-12-28 | 2009-02-24 | Palo Alto Research Center Incorporated | Method and apparatus for rear-end collision warning and accident mitigation |
US20080018523A1 (en) * | 2006-07-18 | 2008-01-24 | Kelly Jr Thomas M | Method and system for radar processing |
US7830243B2 (en) * | 2007-02-02 | 2010-11-09 | Chrysler Group Llc | Dual mode vehicle blind spot system |
US20080306666A1 (en) * | 2007-06-05 | 2008-12-11 | Gm Global Technology Operations, Inc. | Method and apparatus for rear cross traffic collision avoidance |
US8552848B2 (en) * | 2007-08-16 | 2013-10-08 | Ford Global Technologies, Llc | System and method for combined blind spot detection and rear crossing path collision warning |
JP5697904B2 (ja) * | 2010-06-16 | 2015-04-08 | 株式会社豊田中央研究所 | レーダ装置及び検知方法 |
JP5435172B2 (ja) * | 2011-04-20 | 2014-03-05 | トヨタ自動車株式会社 | 車両用周辺警戒装置 |
US9318023B2 (en) * | 2011-08-31 | 2016-04-19 | GM Global Technology Operations LLC | System and method for collision avoidance maneuver path determination with jerk limit |
JP5558440B2 (ja) | 2011-09-08 | 2014-07-23 | 三菱電機株式会社 | 物体検出装置 |
KR101512659B1 (ko) * | 2011-09-26 | 2015-04-16 | 도요타 지도샤(주) | 후측방 접근 경보 장치 |
JP6116126B2 (ja) * | 2012-03-29 | 2017-04-19 | パナソニック株式会社 | レーダ装置 |
JP6027365B2 (ja) * | 2012-07-30 | 2016-11-16 | 富士通テン株式会社 | レーダ装置、車両制御システム、および、信号処理方法 |
DE102012022276A1 (de) * | 2012-11-14 | 2014-05-28 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Warnung vor Querverkehr bei Ausparksituationen |
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 |
JP6245140B2 (ja) * | 2014-10-27 | 2017-12-13 | 株式会社デンソー | 対象物識別装置、運転支援システム、車両および対象物識別方法 |
JP2017125702A (ja) * | 2016-01-12 | 2017-07-20 | トヨタ自動車株式会社 | 物体検出装置 |
US10351129B2 (en) * | 2017-01-13 | 2019-07-16 | Ford Global Technologies, Llc | Collision mitigation and avoidance |
US11127297B2 (en) * | 2017-07-17 | 2021-09-21 | Veoneer Us, Inc. | Traffic environment adaptive thresholds |
-
2018
- 2018-02-06 JP JP2018018868A patent/JP7193234B2/ja active Active
-
2019
- 2019-02-04 US US16/967,718 patent/US11846698B2/en active Active
- 2019-02-04 WO PCT/JP2019/003876 patent/WO2019156025A1/ja unknown
- 2019-02-04 CN CN201980011524.1A patent/CN111699405A/zh active Pending
- 2019-02-04 EP EP19750761.9A patent/EP3751310A4/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000315299A (ja) | 1999-05-06 | 2000-11-14 | Nissan Motor Co Ltd | 先行車認識装置 |
WO2012164729A1 (ja) | 2011-06-02 | 2012-12-06 | トヨタ自動車株式会社 | 車両用視界支援装置 |
JP2015078925A (ja) | 2013-10-17 | 2015-04-23 | 株式会社デンソー | 周辺監視装置及び周辺監視システム |
JP2017150902A (ja) | 2016-02-23 | 2017-08-31 | 株式会社Ihiエアロスペース | 車載レーザレーダ装置 |
JP2017219502A (ja) | 2016-06-10 | 2017-12-14 | 株式会社リコー | 物体検出装置、センシング装置及び移動体装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2019138636A (ja) | 2019-08-22 |
EP3751310A1 (en) | 2020-12-16 |
US20210041551A1 (en) | 2021-02-11 |
WO2019156025A1 (ja) | 2019-08-15 |
EP3751310A4 (en) | 2021-11-03 |
CN111699405A (zh) | 2020-09-22 |
US11846698B2 (en) | 2023-12-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR102456896B1 (ko) | 지도, 차량 상태, 및 환경에 맞게 센서 방출 전력의 조정 | |
US11099262B2 (en) | Distance sensor, and calibration method performed by device and system including the distance sensor | |
US10509121B2 (en) | Dynamic range setting for vehicular radars | |
US11960028B2 (en) | Determining specular reflectivity characteristics using LiDAR | |
JP6791718B2 (ja) | 通信装置、車載システムおよび通信方法 | |
EP2529975A2 (en) | Light distribution pattern control using object detection and electrowetting lenses | |
JPWO2018021457A1 (ja) | 移動体誘導システム、移動体、誘導装置およびコンピュータプログラム | |
US11256013B2 (en) | Dynamic matrix filter for vehicle image sensor | |
US20200191921A1 (en) | Lidar 3d design using a polygon mirror | |
KR101840628B1 (ko) | 전방향 장애물 감지 장치, 이를 이용한 자율 이동 로봇 및 자율 이동 로봇의 장애물 감지 방법 | |
JP7193234B2 (ja) | 物体検出装置、物体検出システム | |
KR20210072225A (ko) | 자율주행 차량의 원거리와 근거리 주변 환경 감지시스템 | |
JP2018017716A (ja) | モバイルナビゲーション方法及びシステム | |
US20230090576A1 (en) | Dynamic control and configuration of autonomous navigation systems | |
JP2015138384A (ja) | 接近車両検出システム | |
KR20150098439A (ko) | 레이더 기반 종방향 차량 검지 장치 및 방법 | |
WO2018088991A1 (en) | Lidar system providing a conic scan | |
US20240107635A1 (en) | Radiant heater for defogging lidar aperture window | |
KR20180081007A (ko) | 광각 라이더 장치 및 이의 동작 방법 | |
US20230213623A1 (en) | Systems and methods for scanning a region of interest using a light detection and ranging scanner | |
KR20240057029A (ko) | 라이다 장치 | |
WO2020202559A1 (ja) | 自律移動体の移動支援装置、自律移動体、および地図情報配信装置 | |
US20200217954A1 (en) | Systems and methods for a configurable sensor system | |
WO2024063918A1 (en) | Radiant heater for defogging lidar aperture window | |
JP2002274302A (ja) | 障害物検知システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20181030 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200710 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210810 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211008 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220315 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220502 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220906 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20221018 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20221102 |
|
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: 20221122 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221208 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7193234 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |