KR100513523B1 - 차간 거리 제어장치 - Google Patents
차간 거리 제어장치 Download PDFInfo
- Publication number
- KR100513523B1 KR100513523B1 KR10-2003-0034409A KR20030034409A KR100513523B1 KR 100513523 B1 KR100513523 B1 KR 100513523B1 KR 20030034409 A KR20030034409 A KR 20030034409A KR 100513523 B1 KR100513523 B1 KR 100513523B1
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- inter
- distance
- driving state
- vehicle distance
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000005312 nonlinear dynamic Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/17—Magnetic/Electromagnetic
- B60G2401/174—Radar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/166—Platooning
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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
- B60W2554/00—Input parameters relating to objects
-
- 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
- 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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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- G01S13/02—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
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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
- G01S2013/93185—Controlling the brakes
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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
- G01S2013/9319—Controlling the accelerator
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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
- 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
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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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- 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
- G01S2013/93275—Sensor installation details in the bumper area
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (6)
- 삭제
- 삭제
- 삭제
- 차간 거리 제어장치에 있어서,차량의 주행상태를 검출하는 차량 주행 정보 검출부;차량의 전방 중앙부에 장착되는 원거리용 레이더 센서로 구성되어 선행 차량과의 전방 차간 거리를 검출하는 제1 차간 거리 검출부;상기 제1 차간 거리 검출부의 장착 위치를 기준으로 좌우측에 대칭되도록 장착되는 근거리용 초음파 센서로 구성되어 선행 차량과의 전방 차간 거리를 검출하는 제2 차간 거리 검출부;상기 차량의 전방 좌우측 양단에 각각 장착되어 상기 차량의 주행방향으로 진입하는 타 차량과의 측방 차간 거리를 검출하는 제3, 제4 차간 거리 검출부;상기 제1 차간 거리 검출부로부터 입력되는 제1 전방 차간 거리 신호와, 상기 제2 차간 거리 검출부로부터 입력되는 제2 전방 차간 거리 신호를 각각 분석하고, 상기 차량 주행 정보 검출부를 통해 입력되는 차량의 주행상태 신호를 분석하여 선행 차량과의 거리 신호값 유무(선행 차량의 유무)에 따라 차량의 주행상태를 미리 설정된 상태로 제어하도록 해당되는 차량 주행상태 제어신호를 발생하는 차간 거리 제어부;상기 차간 거리 제어부로부터 공급되는 차량 주행상태 제어신호의 입력에 따라 구동되어 상기 차량의 주행상태를 단속하여 선행 차량과의 차간 거리를 조절하는 차간 거리 조절 액츄에이터를 포함하는 차간 거리 제어장치.
- 제4항에 있어서,상기 제3, 제4 차간 거리 검출부는 근거리용 초음파 센서로 구성하는 차간 거리 제어장치.
- 제4항에 있어서,상기 차간 거리 제어부는 상기 제3, 제4 차간 거리 검출부로부터 각각 입력되는 제3, 제4 측방 차간 거리 신호를 각각 분석하고, 상기 차량 주행 정보 검출부를 통해 입력되는 차량의 주행상태 신호를 분석하여 타 차량과의 거리 신호값 유무(타 차량의 유무)에 따라 차량의 주행상태를 미리 설정된 상태로 제어하도록 해당되는 차량 주행상태 제어신호를 발생하는 차간 거리 제어장치.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2003-0034409A KR100513523B1 (ko) | 2003-05-29 | 2003-05-29 | 차간 거리 제어장치 |
JP2003398899A JP3978170B2 (ja) | 2003-05-29 | 2003-11-28 | 車両の車間距離制御装置 |
DE10356176.5A DE10356176B4 (de) | 2003-05-29 | 2003-12-02 | Vorrichtung zur Steuerung eines Fahrzeugabstandes eines Fahrzeugs |
US10/746,927 US7100726B2 (en) | 2003-05-29 | 2003-12-23 | Apparatus for controlling distance between vehicles |
CNB2003101234272A CN100366457C (zh) | 2003-05-29 | 2003-12-26 | 用于控制车辆的车辆间距离的装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2003-0034409A KR100513523B1 (ko) | 2003-05-29 | 2003-05-29 | 차간 거리 제어장치 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20040102803A KR20040102803A (ko) | 2004-12-08 |
KR100513523B1 true KR100513523B1 (ko) | 2005-09-07 |
Family
ID=33448296
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR10-2003-0034409A KR100513523B1 (ko) | 2003-05-29 | 2003-05-29 | 차간 거리 제어장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7100726B2 (ko) |
JP (1) | JP3978170B2 (ko) |
KR (1) | KR100513523B1 (ko) |
CN (1) | CN100366457C (ko) |
DE (1) | DE10356176B4 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101829672B1 (ko) | 2016-12-19 | 2018-02-19 | 조선대학교산학협력단 | 자율 주행 차량에 대한 침입 탐지 장치 및 그 동작 방법 |
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US20090254260A1 (en) * | 2008-04-07 | 2009-10-08 | Axel Nix | Full speed range adaptive cruise control system |
US8095276B2 (en) * | 2008-10-15 | 2012-01-10 | Autoliv Asp, Inc. | Sensor system including a confirmation sensor for detecting an impending collision |
US9283910B2 (en) * | 2008-12-09 | 2016-03-15 | Toyota Jidosha Kabushiki Kaisha | Object detection apparatus and object detection method |
JPWO2012077202A1 (ja) * | 2010-12-08 | 2014-05-19 | トヨタ自動車株式会社 | 車両用情報伝達装置 |
US8972147B2 (en) * | 2011-01-10 | 2015-03-03 | Bendix Commercial Vehicle Systems Llc | ACC and AM braking range variable based on internal and external factors |
US8543309B2 (en) * | 2011-01-10 | 2013-09-24 | Bendix Commercial Vehicle Systems Llc | ACC and AM braking range variable based on lateral and longitudinal position of forward vehicle and curvature of road |
PL2723615T3 (pl) * | 2011-06-24 | 2023-06-26 | Surveillance Guard Co Limited | System zapobiegania wypadkom i pojazd zawierający system zapobiegania wypadkom |
KR101361360B1 (ko) * | 2011-12-26 | 2014-02-11 | 현대자동차주식회사 | 측후방 감지센서를 이용한 차간거리 제어 시스템 및 그 제어 방법 |
US20140063355A1 (en) * | 2012-08-30 | 2014-03-06 | Silicon Touch Technology Inc. | Space positioning method having liquid crystal lens camera |
DE102013011549A1 (de) * | 2013-07-11 | 2015-01-15 | Man Truck & Bus Ag | Verfahren zur Regelung des Abstands eines Fahrzeugs zu einem vorausfahrenden Fahrzeug |
DE102013214308A1 (de) * | 2013-07-22 | 2015-01-22 | Robert Bosch Gmbh | Abstandsregler für Kraftfahrzeuge |
JP5870985B2 (ja) * | 2013-10-23 | 2016-03-01 | トヨタ自動車株式会社 | 運転支援装置 |
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- 2003-05-29 KR KR10-2003-0034409A patent/KR100513523B1/ko active IP Right Grant
- 2003-11-28 JP JP2003398899A patent/JP3978170B2/ja not_active Expired - Fee Related
- 2003-12-02 DE DE10356176.5A patent/DE10356176B4/de not_active Expired - Lifetime
- 2003-12-23 US US10/746,927 patent/US7100726B2/en active Active
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KR101829672B1 (ko) | 2016-12-19 | 2018-02-19 | 조선대학교산학협력단 | 자율 주행 차량에 대한 침입 탐지 장치 및 그 동작 방법 |
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JP3978170B2 (ja) | 2007-09-19 |
KR20040102803A (ko) | 2004-12-08 |
DE10356176B4 (de) | 2016-05-19 |
JP2004352217A (ja) | 2004-12-16 |
CN1572576A (zh) | 2005-02-02 |
US20040238249A1 (en) | 2004-12-02 |
US7100726B2 (en) | 2006-09-05 |
CN100366457C (zh) | 2008-02-06 |
DE10356176A1 (de) | 2004-12-30 |
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