JPWO2016038773A1 - 衝突防止装置 - Google Patents
衝突防止装置 Download PDFInfo
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- JPWO2016038773A1 JPWO2016038773A1 JP2016547662A JP2016547662A JPWO2016038773A1 JP WO2016038773 A1 JPWO2016038773 A1 JP WO2016038773A1 JP 2016547662 A JP2016547662 A JP 2016547662A JP 2016547662 A JP2016547662 A JP 2016547662A JP WO2016038773 A1 JPWO2016038773 A1 JP WO2016038773A1
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- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
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- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
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- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
Description
<衝突防止装置の構成>
本発明の実施の形態1に係る衝突防止装置100の構成について、図1、図2、図3を参照しながら、詳細に説明する。図1は本実施の形態に係る衝突防止装置100のブロック図である。図2、図3は、衝突防止装置100から送信される超音波の障害物検出エリアを示す図であり、図2は車両側方からの視点で、図3は車両上方からの視点で、それぞれ示している。
次に、衝突防止装置100の動作について、図4を参照しながら、以下に詳細に説明する。図4は衝突防止装置100の動作を示すフローチャートである。
<衝突防止装置の構成>
本発明の実施の形態2に係る衝突防止装置700の構成について、図7を参照しながら、以下に詳細に説明する。図7は本実施の形態に係る衝突防止装置700のブロック図である。図8は衝突防止装置700から送信される超音波の障害物検出エリアを車両上方からの視点で示す図である。なお、図7、図8において、図1、図3と同一構成と機能である部分については符号のみ変えて、その説明を省略する場合がある。
次に、衝突防止装置700の動作について、図9を参照しながら、以下に詳細に説明する。図9は、衝突防止装置700の動作を示すフローチャートである。
101 超音波センサ
102 送信部
103 受信部
104 障害物検出エリア設定部(設定部)
105,709 障害物検出部(検出部)
106 車両制御部
201 車体
202 バンパ
203,801,804 第2の障害物検出エリア
204,802,803 第1の障害物検出エリア
205 縁石
206 路面
301,800 最小検出距離境界
310,807 最大検出距離境界
320 直線
701 第1の超音波センサ
702 第1の送信部
703 第1の受信部
704 第1の障害物検出エリア設定部(第1の設定部)
705 第2の超音波センサ
706 第2の送信部
707 第2の受信部
708 第2の障害物検出エリア設定部(第2の設定部)
710 車両制御部
805 最近傍点
806 最遠方点
Claims (10)
- 車両に搭載され、前記車両の駆動系を制御することによって障害物との衝突を防止する衝突防止装置であって、
所定の障害物検出エリアに光波、電波、または超音波を送信し、その反射波を受信する障害物センサと、
前記障害物センサの前記障害物検出エリアを設定する障害物検出エリア設定部と、
前記障害物センサの検出結果に基づいて前記障害物検出エリア内の障害物を検出する検出部と、
前記検出部の検出結果に基づき、かつ、前記障害物検出エリア設定部で設定された前記障害物検出エリアに応じて前記車両の前記駆動系を制御する車両制御部と、を備えた、
衝突防止装置。 - 前記障害物検出エリア設定部は、前記障害物検出エリアとして、路面から所定の高さ以下の物体を検出不能な第1の障害物検出エリアと、前記第1の障害物検出エリアよりも広く、前記物体を検出可能な第2の障害物検出エリアとを切り替えて設定可能であり、
前記車両制御部は、前記検出部が前記第1の障害物検出エリアで障害物を検出した場合にブレーキ制御を行い、前記検出部が前記第2の障害物検出エリアで障害物を検出した場合にトルク抑制制御を行う、
請求項1に記載の衝突防止装置。 - 前記検出部が前記第1の障害物検出エリアで前記障害物を検出しない場合、前記障害物検出エリア設定部は前記障害物検出エリアを前記第1の障害物検出エリアから前記第2の障害物検出エリアに変更する、
請求項2に記載の衝突防止装置。 - 前記障害物検出エリア設定部は、前記衝突防止装置起動時、前記車両の前進開始時、または前記車両の後退開始時に前記障害物検出エリアを前記第1の障害物検出エリアに設定する、
請求項3に記載の衝突防止装置。 - 前記第1の障害物検出エリアは、前記障害物センサの最小検出距離境界において車幅領域を包含するエリアに設定される、
請求項2に記載の衝突防止装置。 - 前記障害物センサを複数備えた、
請求項2に記載の衝突防止装置。 - 前記複数の障害物センサのそれぞれの前記第1の障害物検出エリアの合成エリアは、前記複数の障害物センサのそれぞれの最小検出距離境界において車幅領域を包含するエリアに設定される、
請求項6に記載の衝突防止装置。 - 前記合成エリアは、前記複数の障害物センサのそれぞれの最小検出距離境界と、前記複数の障害物センサのそれぞれの最大検出距離境界と、前記車幅領域とで囲まれる領域を包含する、
請求項7に記載の衝突防止装置。 - 前記障害物検出エリア設定部は、ゲイン制御または検出閾値制御によって前記障害物検出エリアを設定する、
請求項1に記載の衝突防止装置。 - 前記障害物センサは超音波を送信し、その反射波を受信する、
請求項1に記載の衝突防止装置。
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CN109061614A (zh) * | 2018-08-03 | 2018-12-21 | 上海有个机器人有限公司 | 物体探测方法及系统、超声波传感装置、机器人及无人车 |
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