WO2009069646A1 - Obstacle detection device for vehicle - Google Patents

Obstacle detection device for vehicle Download PDF

Info

Publication number
WO2009069646A1
WO2009069646A1 PCT/JP2008/071430 JP2008071430W WO2009069646A1 WO 2009069646 A1 WO2009069646 A1 WO 2009069646A1 JP 2008071430 W JP2008071430 W JP 2008071430W WO 2009069646 A1 WO2009069646 A1 WO 2009069646A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
angular acceleration
yaw rate
risk determination
detects
Prior art date
Application number
PCT/JP2008/071430
Other languages
French (fr)
Japanese (ja)
Inventor
Nobuhiro Hayashida
Original Assignee
Isuzu Motors Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Isuzu Motors Limited filed Critical Isuzu Motors Limited
Publication of WO2009069646A1 publication Critical patent/WO2009069646A1/en

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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

Abstract

An object detection sensor (4) detects information on the position of an object relative to a vehicle (1). A vehicle speed sensor (2) detects the speed of the vehicle (1). A rotational angular velocity sensor (3) detects the yaw rate of the vehicle (1). An ECU (5) estimates a driving route of the vehicle (1) from the vehicle speed and the yaw rate, calculates the angular acceleration of the vehicle from the yaw rate, calculates the amount of offset of the object from the estimated driving route, decides, based on previously stored correlations, a risk determination range corresponding to the calculated angular acceleration, and, when the amount of offset of the object is within the risk determination range, determines that the object is an obstacle having a possibility of collision with the vehicle (1). The risk determination range is set such that, when the vehicle (1) undergoes angular acceleration, the range is shifted more in the direction of generation of angular acceleration in the forward direction of advance of the vehicle (1) than in the case where the vehicle does not undergo angular acceleration.
PCT/JP2008/071430 2007-11-30 2008-11-26 Obstacle detection device for vehicle WO2009069646A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007311370A JP5403386B2 (en) 2007-11-30 2007-11-30 Vehicle obstacle detection device
JP2007-311370 2007-11-30

Publications (1)

Publication Number Publication Date
WO2009069646A1 true WO2009069646A1 (en) 2009-06-04

Family

ID=40678541

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/071430 WO2009069646A1 (en) 2007-11-30 2008-11-26 Obstacle detection device for vehicle

Country Status (2)

Country Link
JP (1) JP5403386B2 (en)
WO (1) WO2009069646A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05264730A (en) * 1992-03-17 1993-10-12 Nissan Motor Co Ltd Radar apparatus for automobile
JPH08124100A (en) * 1994-10-28 1996-05-17 Nikon Corp Monitoring device for distance between vehicles
JPH1096775A (en) * 1996-09-24 1998-04-14 Honda Access Corp Collision warning system for vehicle
JP2004038245A (en) * 2002-06-28 2004-02-05 Nissan Motor Co Ltd Obstacle detector for vehicle
JP2004230947A (en) * 2003-01-28 2004-08-19 Toyota Motor Corp Collision determining device
JP2006168628A (en) * 2004-12-17 2006-06-29 Daihatsu Motor Co Ltd Collision prevention supporting method and device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001034898A (en) * 1999-07-21 2001-02-09 Toyota Central Res & Dev Lab Inc Investigation disable area estimating device and driving support system
JP4387287B2 (en) * 2004-11-05 2009-12-16 三菱電機株式会社 Vehicle accident analysis device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05264730A (en) * 1992-03-17 1993-10-12 Nissan Motor Co Ltd Radar apparatus for automobile
JPH08124100A (en) * 1994-10-28 1996-05-17 Nikon Corp Monitoring device for distance between vehicles
JPH1096775A (en) * 1996-09-24 1998-04-14 Honda Access Corp Collision warning system for vehicle
JP2004038245A (en) * 2002-06-28 2004-02-05 Nissan Motor Co Ltd Obstacle detector for vehicle
JP2004230947A (en) * 2003-01-28 2004-08-19 Toyota Motor Corp Collision determining device
JP2006168628A (en) * 2004-12-17 2006-06-29 Daihatsu Motor Co Ltd Collision prevention supporting method and device

Also Published As

Publication number Publication date
JP5403386B2 (en) 2014-01-29
JP2009133781A (en) 2009-06-18

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