JPWO2013168246A1 - 運転支援装置 - Google Patents
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- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B60—VEHICLES IN GENERAL
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- 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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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- 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
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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
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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
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- 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
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- 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
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- B60—VEHICLES IN GENERAL
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- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/805—Azimuth angle
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- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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- B60W2720/106—Longitudinal acceleration
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- B60W2754/00—Output or target parameters relating to objects
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- B60W2754/00—Output or target parameters relating to objects
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Abstract
Description
Claims (11)
- 移動体の周辺の物体を認識して前記移動体の運転を支援する運転支援装置であって、
周辺の物体を検出する物体検出部と、
周辺の立体物を検出する立体物検出部と、
前記物体検出部により検出された物体の位置を記憶する第1の記憶部と、
前記立体物検出部により検出された立体物の位置を記憶する第2の記憶部と、
前記物体検出部および前記立体物検出部の両方による検出が為された所定の検出位置において、前記第1の記憶部に物体の位置が記憶されており、かつ前記第2の記憶部に立体物の位置が記憶されていない場合、前記所定の検出位置における物体を非障害物として認識する物体認識部と、
を備える運転支援装置。 - 前記物体認識部は、前記第1の記憶部により記憶されている物体の位置に前記立体物検出部により立体物が検出されない場合、前記物体検出部により検出される物体を非障害物として認識する、請求項1に記載の運転支援装置。
- 前記物体認識部は、前記物体検出部により検出される物体の位置が前記第2の記憶部により立体物の位置として記憶されていない場合、前記物体検出部により検出される物体を非障害物として認識する、請求項1または2に記載の運転支援装置。
- 前記物体検出部および前記立体物検出部のそれぞれの検出可能範囲における、少なくとも前記移動体の前方方向の検出可能範囲に関して、前記物体検出部による前記移動体から最も離れた位置の検出可能範囲が、前記立体物検出部による前記移動体から最も離れた位置の検出可能範囲よりも、前記移動体に対して遠方に設定されている、請求項1〜3のいずれか一項に記載の運転支援装置。
- 前記物体認識部は、前記物体検出部の検出範囲と前記立体物検出部の検出範囲のうち、検出範囲が狭い方または検出距離が短い方の検出範囲において、物体の位置と立体物の位置を比較する、請求項1〜4のいずれか一項に記載の運転支援装置。
- 前記物体検出部は、レーダセンサである、請求項1〜5のいずれか一項に記載の運転支援装置。
- 前記物体認識部は、前記物体検出部により検出される物体の位置に前記立体物検出部により立体物が検出されており、前記物体検出部により検出される物体からの反射波の強度が設定閾値未満である場合、前記物体検出部により検出される物体を障害物として認識する、請求項6に記載の運転支援装置。
- 移動体の周辺の物体を認識して前記移動体の運転を支援する運転支援装置であって、
周辺の物体を検出する物体検出部と、
周辺の固定物の位置を記憶する記憶部と、
前記物体検出部により検出される物体の位置が前記記憶部により非障害物の位置として記憶されている場合、前記物体検出部により検出される物体を非障害物として認識する物体認識部と、
を備える運転支援装置。 - 前記物体認識部は、前記物体検出部により検出される物体の位置が前記記憶部により非障害物の位置として記憶されている場合でも、前記物体検出部により検出される物体が移動物である場合、前記物体検出部により検出される物体を非障害物として認識しない、請求項8に記載の運転支援装置。
- 前記物体検出部がレーダセンサであり、
前記物体認識部は、前記物体検出部により検出される物体の位置が前記記憶部により障害物の位置として記憶されており、前記物体検出部により検出される物体からの反射波の強度が設定閾値以上である場合、前記物体検出部により検出される物体を障害物として認識する、請求項8に記載の運転支援装置。 - 前記物体認識部は、前記記憶部に記憶されている固定物の位置に前記物体検出部により物体が検出されない場合、または前記記憶部に記憶されていない固定物の位置に前記物体検出部により物体が検出される場合、前記固定物の位置を更新する、請求項8に記載の運転支援装置。
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PCT/JP2012/061897 WO2013168246A1 (ja) | 2012-05-09 | 2012-05-09 | 運転支援装置 |
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JP6780611B2 (ja) | 2017-08-25 | 2020-11-04 | トヨタ自動車株式会社 | 自動運転装置 |
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EP2849166A1 (en) | 2015-03-18 |
JP5884902B2 (ja) | 2016-03-15 |
US20150109118A1 (en) | 2015-04-23 |
WO2013168246A1 (ja) | 2013-11-14 |
EP2849166B1 (en) | 2020-08-26 |
EP2849166A4 (en) | 2016-07-06 |
US20160355180A1 (en) | 2016-12-08 |
US20180029594A1 (en) | 2018-02-01 |
US9802608B2 (en) | 2017-10-31 |
US9446711B2 (en) | 2016-09-20 |
US9981659B2 (en) | 2018-05-29 |
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