KR101801041B1 - Vehicle where shadow region of laser distance sensor is eliminated - Google Patents

Vehicle where shadow region of laser distance sensor is eliminated Download PDF

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Publication number
KR101801041B1
KR101801041B1 KR1020150112601A KR20150112601A KR101801041B1 KR 101801041 B1 KR101801041 B1 KR 101801041B1 KR 1020150112601 A KR1020150112601 A KR 1020150112601A KR 20150112601 A KR20150112601 A KR 20150112601A KR 101801041 B1 KR101801041 B1 KR 101801041B1
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distance sensor
laser
laser distance
vehicle
vehicle body
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KR1020150112601A
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Korean (ko)
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KR20170018674A (en
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김창환
박성기
황중원
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한국과학기술연구원
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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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • B60W2550/10—

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The vehicle includes a vehicle body running on the ground, a laser distance sensor coupled to the vehicle body, and a computer for processing information collected by the laser distance sensor to ascertain the presence of an obstacle around the vehicle body, Determines whether or not a shadow region of the laser distance sensor occurs when the laser irradiated by the laser distance sensor does not reach the maximum effective distance and collides with the ground and if it is determined that the shadow region occurs, The position of the laser distance sensor or information collected by the laser distance sensor is adjusted.

Description

[0001] The present invention relates to a vehicle in which a shadow region of a laser distance sensor is removed,

The present invention relates to a vehicle having a function of identifying an obstacle by using a laser distance sensor, and more particularly, to a vehicle in which a shadow area of a laser distance sensor is removed and an obstacle detection efficiency is increased.

Recently, as interest in safety has increased, obstacle identification technology using a laser distance sensor has been applied to many vehicles.

In particular, in the case of an autonomous vehicle that runs on its own without a driver, precise information about obstacles and road areas must be collected for safe operation.

However, when the laser irradiated by the laser distance sensor does not reach the effective distance by hitting the road other than the obstacle due to the inclination of the road or the ground, a so-called "shadow area of the laser distance sensor" occurs.

When a shadow area occurs, the autonomous vehicle system of the vehicle mistakes the information on the shadow area and the information on the unspecified obstacle, so that accurate information collection is difficult.

Korean Patent Publication No. 10-1998-068399

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle in which a corresponding shaded area is appropriately erased when it is determined that a shaded area is generated in the laser distance sensor.

According to an aspect of the present invention, there is provided an information processing apparatus comprising: a vehicle body traveling on a ground; a laser distance sensor coupled to the vehicle body; Wherein the computer determines whether a shadow region of the laser distance sensor is generated by collision with a ground without reaching a maximum effective distance of the laser irradiated by the laser distance sensor, When it is determined that a shaded area is generated, a vehicle is provided in which the position of the laser distance sensor or information collected by the laser distance sensor is adjusted such that the shaded area is erased.

According to one embodiment, when it is determined that the shaded area is generated, the computer sets a reliable effective distance of the laser distance sensor to a distance shorter than the maximum effective distance, and ignores sensor information over the reliable effective distance.

According to one embodiment, according to one embodiment, the vehicle further includes a camera for photographing the vicinity of the vehicle body, and when the shade area is determined to have occurred, the camera is operated, The presence or absence of an obstacle around the vehicle body is checked.

According to one embodiment, when it is determined that the shade area has occurred, the height of the laser distance sensor with respect to the vehicle body is raised.

According to one embodiment, the vehicle is a vehicle that autonomously runs a predetermined path, and when the computer divides the path into N sections (N is a natural number of 2 or more), the tilt angle information of each section is stored, The computer determines that a shaded area occurs when the difference in inherent gradient of each section ("relative slope difference") with respect to the gradient of the start section of the path is equal to or greater than a predetermined value.

According to one embodiment, the computer calculates the height of the end point of each of the sections based on the starting point of the path through the inclination angle information of each section, and the height of the laser distance sensor is not less than a maximum value of the height of the end points .

1 is a conceptual view of a vehicle according to an embodiment of the present invention.
Fig. 2 shows a state in which the laser distance sensor of the vehicle of Fig. 1 irradiates the laser.
FIG. 3 is a graph illustrating a method for determining the presence of an obstacle based on information collected by the laser distance sensor of FIG. 2;
Fig. 4 shows a state in which the vehicle of Fig. 1 travels on a sloping ground.
FIG. 5 shows a case where a shadow region is formed in the laser distance sensor according to FIG.
FIG. 6 shows a state in which the vehicle of FIG. 1 autonomously travels.
Fig. 7 shows a state in which the vehicle of Fig. 1 autonomously travels on a predetermined path.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and action are not limited by this embodiment.

1 is a conceptual diagram of a vehicle 1 according to an embodiment of the present invention.

The vehicle 1 includes a vehicle body 10 running on the ground, a laser distance sensor 20 disposed toward the front of the vehicle body 10, and a vehicle body 10 And a camera 30 disposed toward the front of the vehicle.

In addition, the vehicle body 10 includes a computer (not shown) for processing information collected by the laser distance sensor 20 to check for the presence of an obstacle around the vehicle body. Although the computer is described as being formed inside the vehicle body 10, the computer may be provided separately from the vehicle body 10 together with the controller so that the vehicle 1 can be controlled from the outside. The vehicle body 10 may be provided with a communication device capable of wireless and wired communication with the computer.

The vehicle 10 according to the present embodiment is an autonomous vehicle that runs on its own without a driver.

As shown in Fig. 1, the laser distance sensor 20 according to the present embodiment is coupled to a predetermined height h from the ground at the front lower side of the vehicle. The laser distance sensor 20 irradiates the laser in parallel with a plane surface without inclination.

2 shows a state in which the laser is irradiated by using the laser distance sensor 20. As shown in Fig.

2, the laser distance sensor 20 according to the present embodiment irradiates a plurality of lasers (i) around the vehicle 10 and irradiates a two-dimensional laser beam It is a distance sensor. The two-dimensional laser distance sensor is very inexpensive compared with the three-dimensional laser distance sensor which irradiates the laser light from the sensor in all directions.

A plurality of lasers may be irradiated at one time or sequentially at predetermined time intervals. Each laser has an interval of 0.5 degree, and when it is sequentially irradiated, it is irradiated about 30 ~ 60 times per second.

The laser distance sensor 20 obtains distance information from the vehicle body 10 to a feature around the vehicle through a laser which is irradiated by a laser distance sensor and then reflected and returned to a feature around the vehicle, The presence of an obstacle around the vehicle is confirmed through the information.

The laser can be irradiated away, but it must be able to sense the reflected laser light coming back from the obstacle. Therefore, the laser distance sensor 20 determines the maximum effective distance L specified by a predetermined distance from the laser distance sensor 20 so that the confidence interval required for calculating the distance from the collected reflected laser light is determined.

The size of the maximum effective distance L depends on the performance of the laser distance sensor 20 and the like.

2, when the obstacle M exists in the maximum effective distance L of the laser distance sensor 20, the computer detects the presence of the obstacle M through the reflection phenomenon of the laser irradiated by the laser distance sensor 20 M) and the distance to the obstacle.

FIG. 3 is a graph for explaining a method for determining the presence of an obstacle based on information collected by the laser distance sensor 20. FIG.

3, the y-axis direction is the forward direction of the vehicle body 10, and the x-axis direction is the width direction of the vehicle body 10. [ The point O in the graph indicates the center position of the laser distance sensor 20.

3 (a) shows a case where no obstacle M is present in front of the vehicle body 10.

In the absence of the obstacle M, all the lasers extend to the maximum effective distance L, and no reflected light is collected in the laser distance sensor 20.

Of course, theoretically, the laser can proceed to a maximum effective distance L or more, and the reflected light reflected by the obstacle farther than the maximum effective distance L can be collected in the laser distance sensor 20. [ However, the computer determines that the reflected light information returned from the maximum effective distance L is unreliable information, and does not consider the information as an obstacle presence determination.

Therefore, the computer determines that there is no obstacle in front of the vehicle body 10 as shown in Fig. 3 (a). 3, the dotted line indicates the maximum effective distance of the laser light irradiated by the laser distance sensor 20.

3 (b) shows a case where an obstacle M exists in front of the vehicle body 10 as shown in FIG.

Some of the laser beams irradiated by the laser distance sensor 20 continue to the maximum effective distance L and the laser beam hitting the obstacle M is reflected and returned to the laser distance sensor 20.

The laser which does not hit the obstacle M extends to the maximum effective distance L and the reflected light for the laser is not collected.

On the other hand, the laser hitting the obstacle M does not advance to the maximum effective distance L, and is reflected by the laser distance sensor 20 and returns. The computer determines the presence of the obstacle (M) and the distance to the obstacle through the information of the reflected laser.

In Fig. 3 (b), the solid line indicates the position of the obstacle M. In FIG. 3 (b), information about the obstacle M is indicated by a solid line, but it should be understood that the information about the obstacle M is actually intermittent information by a plurality of lasers.

As the number, spacing, and frequency of the laser beams irradiated per one cycle of the laser distance sensor 20 are improved, intermittent information by each of the plurality of lasers is reduced to an obstacle M indicated by a solid line in FIG. 3 (b) It will be cool with information about.

The above-described method of identifying the obstacle by the laser distance sensor 20 is an ideal situation when the environment in which the vehicle 1 travels is completely flat.

However, the road on which the vehicle 1 travels is mostly inclined, and a situation occurs in which information collected from the laser distance sensor 20 is disturbed by such inclination.

Fig. 4 shows the appearance of the vehicle 1 running on the ground G with the inclination.

As shown in Fig. 4, the laser distance sensor 20 of the vehicle 1 irradiates the laser with the maximum effective distance L. As shown in Fig. The entire area in which the laser irradiated from the laser distance sensor 20 can travel to the maximum effective distance L is referred to as a total sensing area S 1 .

However, it may happen that the laser collides with the ground G before reaching the maximum effective distance by the inclination of the ground G. [ Therefore, the laser is reflected at the ground without reaching the maximum effective distance, and the information is received by the laser distance sensor 20. [

At this time, an area where the laser has advanced to the ground is referred to as a detection area S 2 , and a region where the laser does not advance by the ground is referred to as a "shade area S 3 ".

If the reflected laser beam returns to the laser distance sensor 20 as it is, the information about the irradiated laser beam is analyzed for one cycle, and it can be analyzed that the cause of the shadow area S 3 is caused by the inclination of the ground surface There will be.

However, the laser beam striking the ground due to the state of the ground or the like is irregularly reflected, and the laser distance sensor 20 can not fully return.

5 shows a case where the laser range sensor 20 is provided with a shaded area S 3 .

If, when the ground only the altitude at the current position (O) of the laser distance sensor 20 in a flat state without jagged a high surface present in the front of the vehicle (1), the boundary of the area (S 2) in Fig. 5 Should be sensed to form a smooth solid line in the form of an arc.

However, in reality, very irregular reflection laser light information is collected in the laser distance sensor 20 due to diffuse reflection due to the ground, etc., and some are not collected by the laser distance sensor 20 even though the laser is reflected. Thus, for example, as shown in Fig. 5, partially interrupted and highly irregular reflected light information is collected in the laser distance sensor 20.

Based on such information, the computer can mistakenly think that the information is caused by a number of obstacles (for example, when a crowd crosses the road).

Therefore, an error may occur in the autonomous-running control of the vehicle 1, such as when the vehicle 1 stops unnecessarily.

However, if the information is treated as being caused by the shaded area by the ground, it may not be prepared against actual obstacles and may cause a fatal safety accident.

Therefore, according to the present embodiment, the computer of the vehicle 1 judges whether or not the shaded area of the laser distance sensor occurring when the laser irradiated by the laser distance sensor 20 reaches the maximum effective distance and strikes the ground , And if it is determined that a shaded area is generated, the shaded area is erased.

For example, if the computer can not reach the maximum effective distance among the plurality of irradiated lasers for one period and the number of reflected lasers is more than a predetermined rate (for example, 30%), the shaded area S 3 is generated .

Alternatively, since the intensity and frequency of the reflected laser beam are known when the laser advances by a specific distance and then returns, the computer calculates the intensity or frequency of the reflected laser beam reflected back from a specific distance among the plurality of irradiated lasers for one period It can be determined that the shaded area S 3 has occurred at the corresponding distance.

According to an embodiment of the present invention, when it is determined that the shaded area S 3 has occurred, the computer sets the distance that is shorter than the maximum effective distance L to the reliable effective distance of the laser distance sensor, Can be ignored.

5, the reliability effective distance is set to a distance shorter than the distance at which the shadow area S 3 is determined to have occurred, and the region where the laser has traveled by the reliable effective distance becomes the adjusted total sensing area S a .

According to such a configuration, although the total sensing area sensed by the laser distance sensor 20 is reduced, information about the shaded area S 3 can be erased, thereby avoiding misjudgment in autonomous driving.

However, according to the present embodiment, since the total sensing area sensed through the laser distance sensor 20 is reduced, it may be necessary to supplement it.

Fig. 6 shows a state in which the vehicle 1 travels autonomously according to the present embodiment.

If it is determined that the obstacle M exists at a remote location by the laser distance sensor 20, it is determined that the obstacle M exists in the vehicle body 10 to the camera 30. The camera 30 is difficult to accurately determine the distance to the obstacle M, but the detection area is wider than the laser distance sensor 20.

The presence of an obstacle can be confirmed by extracting the obstacle M from the image information collected from the camera 30 through the pattern recognition technique. Therefore, the vehicle 10 can avoid the obstacle M, for example, by reducing the speed in advance, and prepare to travel safely. The technique of detecting an obstacle in the image extracted by the camera 30 is already known, so a detailed description will be omitted.

According to an embodiment of the present invention, in addition to adjusting the information collected by the laser distance sensor 20, it is also possible to erase the shadow area S 3 by adjusting the position of the laser distance sensor 20 have.

For example, if it is determined that the shaded area S 3 has occurred, the computer can raise the height h of the laser distance sensor 20 to cause the shaded area S 3 to be erased. That is, the detection area S 2 is maximally expanded to remove the shadow area S 3 as much as possible. The adjustment of the height h of the laser distance sensor 20 may be performed automatically by computer control or manually by the operator's operation when the operator is notified of the possibility of existence of the shaded area S 3 .

In the above example, the presence or absence of the shadow area S 3 is determined in real time, but the present invention is not limited thereto.

For example, the vehicle 1 may be a vehicle autonomously traveling on a predetermined route 40 (e.g., a golf cart car, etc.).

Fig. 7 shows a vehicle 1 autonomously traveling along a predetermined path 40. Fig.

For example, the horizontal plate corresponding to the distance (axial distance) between the front wheel 10 and the rear wheel 20 of the vehicle 1 is moved along the predetermined path 40 and is high on the ground, (50-1, 50-2, ..., 50-N) is obtained by dividing the path (40) into N sections (N is a natural number of 2 or more) The gradient information (? 1 ,? 2 , ...,? N ) can be obtained. The tilt angle information is stored in the computer.

The computer calculates the difference ("relative slope difference") of the inherent slope of each section with respect to the slope (? O ) of the start section of the path 40 expressed by the following equation (1).

[Equation 1]

Figure 112015077369686-pat00001
, Where n is a natural number from 1 to N

According to the experimental data, when the height h of the laser distance sensor 20 is 0.5 m, it is calculated that a shaded area occurs when?

According to the present embodiment, when the height h of the laser distance sensor 20 is 0.5 m, the computer determines that the shadow area is generated in the corresponding section by extracting a section of 2? Or more.

On the other hand, the computer calculates the height of the end point of each section based on the calculated starting point of the path 40 through the calculated inclination angle information of each section, and calculates the height of the end point of each section Extract the maximum value.

&Quot; (2) "

Figure 112015077369686-pat00002

The term " right " in Equation (2) means the height of the end point of each section.

According to the present embodiment, the inventors have found that when the height h of the laser distance sensor 20 is set to be higher than the maximum height H of the road 40 to be driven before the vehicle 1 runs, I found that the probability is greatly reduced.

Therefore, according to the present embodiment, the maximum height value is extracted from the path 40 to be driven before the vehicle 1 starts running, and the height h of the laser distance sensor 20 is set to a maximum value H), and the shaded area is erased.

According to the present embodiment, it is possible to determine the position of the optimal laser distance sensor 20 that does not generate a shaded area, predict a section in which a shaded area occurs by using the slope information of a specific area, As shown in Fig.

Claims (6)

A vehicle having an obstacle identification function,
A vehicle body running on the ground;
A laser distance sensor coupled to the vehicle body and configured to irradiate a laser in a forward direction parallel to the flat surface when the vehicle body is placed on a flat surface ("flat"
A computer for processing the information collected by the laser distance sensor to check for the presence of an obstacle in the vicinity of the vehicle body; And
And a camera for photographing the surroundings of the vehicle body,
Wherein the computer determines whether a shadow region of the laser distance sensor occurs when the laser irradiated by the laser distance sensor does not reach the maximum effective distance and collides with the ground,
If the shade area is determined to occur, the shade area is erased by adjusting the height of the laser distance sensor with respect to the vehicle body or the information collected by the laser distance sensor, thereby eliminating the obstacle identification error caused by the ground do or,
If it is determined that the shadow area is generated, the computer sets the distance that is shorter than the maximum effective distance to the reliable effective distance of the laser distance sensor so that the sensor information over the effective distance is ignored, And the presence or absence of an obstacle is confirmed through a pattern recognition technique. delete delete The method according to claim 1,
If it is determined that the shaded area has occurred,
And a height of the laser distance sensor with respect to the vehicle body is raised. The method according to claim 1,
The vehicle is a vehicle that autonomously travels on a predetermined path,
The computer stores the inclination angle information of each section when the path is divided into N sections (N is a natural number of 2 or more)
Wherein the computer determines that a shaded area occurs when the difference in inherent gradient of each section relative to the gradient of the start section of the path ("relative gradient difference") is greater than or equal to a predetermined value. 6. The method of claim 5,
The computer calculates the height of the end point of each of the sections based on the starting point of the path through the inclination angle information of each section,
Wherein the height of the laser distance sensor is adjusted to be equal to or greater than a maximum value of the height of the end point.
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JP2007271298A (en) 2006-03-30 2007-10-18 Fujitsu Ten Ltd On-vehicle radar system

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KR19980068399A (en) 1997-02-19 1998-10-15 김영환 Vehicle autonomous driving device and control method

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Publication number Priority date Publication date Assignee Title
JP2007271298A (en) 2006-03-30 2007-10-18 Fujitsu Ten Ltd On-vehicle radar system

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