KR100803414B1 - 근거리 물체 감지 시스템 - Google Patents
근거리 물체 감지 시스템 Download PDFInfo
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- KR100803414B1 KR100803414B1 KR1020037002235A KR20037002235A KR100803414B1 KR 100803414 B1 KR100803414 B1 KR 100803414B1 KR 1020037002235 A KR1020037002235 A KR 1020037002235A KR 20037002235 A KR20037002235 A KR 20037002235A KR 100803414 B1 KR100803414 B1 KR 100803414B1
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- object detection
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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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- 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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- 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
- G01S13/04—Systems determining presence of a target
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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
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
- G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
- G01S13/282—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using a frequency modulated carrier wave
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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
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- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/346—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using noise modulation
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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
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- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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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
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- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- 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
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
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- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
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- H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
- H01Q3/40—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means with phasing matrix
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Abstract
Description
Claims (15)
- 다수의 자동차 시스템을 가진 자동차에 연결되는 근거리 물체 감지 시스템으로서,다수의 사전 설정된 커버리지 영역중 하나의 영역내의 범위 셀과 연관된 데이터를 각각 제공하는 다수의 센서;상기 다수의 센서중 하나 이상의 센서로부터 범위 셀 데이터를 수신하여 처리하는 프로세서를 포함하는데, 상기 프로세서는 상기 다수의 자동차 시스템중 하나 이상에 프로세서 출력 신호를 제공하며, 또한 상기 프로세서는 다수의 타겟으로부터의 트랙 정보를 유지하는 타겟 트래커부를 포함하며, 상기 트랙 정보는 상기 다수의 센서중 하나 이상의 센서에 의하여 제공된 상기 범위 셀 데이터로부터 발생되며; 및상기 다수의 센서의 각각에 그리고 상기 프로세서에 연결되고 상기 다수의 센서중 적어도 일부 센서간의 정보를 공유하는 수단을 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 1항에 있어서, 상기 프로세서는 상기 다수의 센서의 각각에 연결된 중앙 센서 프로세서에 대응하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 1항에 있어서, 상기 프로세서는 다수의 센서 프로세서로부터 제공된 분산 프로세서로서 제공되며, 상기 다수의 센서 프로세서의 각각은 상기 다수의 센서의 대응 센서에 배치되며, 상기 다수의 센서 프로세서의 각각은 정보가 상기 다수의 센서 프로세서의 적어도 일부사이에서 공유되도록 하는 통신 수단을 가지는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 자동차용 근거리 물체 감지 시스템으로서,상기 자동차의 주변에 배치되고, 상기 자동차의 주변의 다수의 사전 설정된 커버리지 영역의 각각의 영역내의 범위 셀과 연관된 데이터를 각각 제공하는 다수의 센서를 포함하는데, 상기 다수의 센서의 각각은 각각의 커버리지 영역 요건에 기초하여 각각의 사전 설정된 범위, 각도 범위, 및 속도 범위를 가지며; 및상기 다수의 센서중 하나 이상에 연결되고, 상기 다수의 센서중 하나 이상의 센서로부터 제공되는 범위 셀 데이터를 수신하여 처리하는 프로세서를 포함하며, 상기 프로세서는 다수의 타겟으로부터의 트랙 정보를 유지하는 타겟 트래커부를 포함하며, 상기 트랙 정보는 상기 범위 셀 데이터로부터 발생되는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 4항에 있어서, 상기 다수의 사전 설정된 커버리지 영역은 적응성 항법 제어 및 야간 가시 영역, 항로 유지 영역, 도로 이탈 영역, 측면 물체 감지 영역, 백업 및 주차 보조 영역 및 신호규제 영역을 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 근거리 물체 감지 시스템으로서,다수의 사전 설정된 커버리지 영역의 각각의 영역에 감지 커버리지를 각각 제공하는 다수의 센서;데이터 연관성, 해상도 및 데이터 품질에 대한 가설을 만들기 위하여 상기 다수의 센서의 각각으로부터의 데이터를 처리하는 다중 가설 트래커;상기 다중 가설 트래커에 연결되고 상기 다수의 센서를 스케줄링하는 예상 필터;상기 다수의 센서에 연결되고, 상기 다수의 센서의 동작을 제어하는 데이터를 발생시키는 공용 트랙 발생기;상기 공용 트랙 발생기에 연결된 평가기/최상 상태 벡터 부시스템; 및상기 평가기/최상 상태 벡터 부시스템 및 상기 공용 트랙 발생기에 연결된 자동차 제어 충돌 관리 인터페이스를 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 6항에 있어서, 상기 다수의 사전 설정된 커버리지 영역은 적응성 항법 제어 및 야간 가시 영역, 항로 유지 영역, 도로 이탈 영역, 측면 물체 감지 영역, 백업 및 주차 보조 영역, 및 신호 규제 영역중 두개 이상을 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 1항에 있어서,상기 프로세서는 상기 다수의 센서의 성능을 향상시키기 위하여 공용 필터내에 상기 다수의 트랙 정보를 융합하는 데이터 융합부(data fuser portion)를 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 1항에 있어서, 상기 다수의 센서는 각각 적외선(IR) 감지기 및 레이더 감지기중 적어도 하나를 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 9항에 있어서, 상기 다수의 센서중 적어도 하나는,다수의 송신 빔으로 FMCW 주파수를 송신하는 송신 안테나; 및상기 다수의 송신 빔과 조합하여 상기 다수의 사전 설정된 커버리지 영역을 제공하는 다수의 수신 빔으로 상기 FMCW 주파수를 수신하는 수신 안테나를 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 10항에 있어서, 적어도 하나의 송신 빔 및 적어도 하나의 수신 빔을 가지는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 10항에 있어서, 상기 다수의 사전 설정된 커버리지 영역의 각각은 각각의 영역 특성을 가지며, 상기 영역 특성중 적어도 하나는 변화될 수 있는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 12항에 있어서, 상기 영역 특성중 적어도 하나는 상기 다수의 센서중 적어도 하나가 특정 송신 빔 및 특정 수신 빔을 처리하는 시간 주기의 변경을 제공하도록 동적으로 변화될 수 있는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 9항에 있어서, 상기 프로세서는 중앙 프로세서로부터 제공되는 것을 특징으로 하는 근거리 물체 감지 시스템.
- 제 9항에 있어서, 상기 프로세서는 두개 이상의 분산 시스템을 포함하는 것을 특징으로 하는 근거리 물체 감지 시스템.
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KR1020037002235A KR100803414B1 (ko) | 2000-08-16 | 2001-08-16 | 근거리 물체 감지 시스템 |
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EP (1) | EP1309882B1 (ko) |
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AU (1) | AU2001288268A1 (ko) |
DE (1) | DE60107692T2 (ko) |
WO (1) | WO2002014898A2 (ko) |
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US6670910B2 (en) | 2003-12-30 |
EP1309882B1 (en) | 2004-12-08 |
DE60107692T2 (de) | 2005-12-15 |
JP5063851B2 (ja) | 2012-10-31 |
AU2001288268A1 (en) | 2002-02-25 |
US20020067287A1 (en) | 2002-06-06 |
US20020147534A1 (en) | 2002-10-10 |
DE60107692D1 (de) | 2005-01-13 |
KR20030034143A (ko) | 2003-05-01 |
EP1309882A2 (en) | 2003-05-14 |
WO2002014898A2 (en) | 2002-02-21 |
US6784828B2 (en) | 2004-08-31 |
WO2002014898A3 (en) | 2002-08-08 |
JP2004506908A (ja) | 2004-03-04 |
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